JP2021081294A - Route guidance device and data structure of map data - Google Patents

Abstract

To provide a route guidance device and a data structure effective for suppressing the influence exerted by U-turn of a vehicle upon the traffic of other vehicles.SOLUTION: A route guidance device 100 comprises: a U-turn point selection unit 115 which, when a traveling direction needs to be reversed at one point at least in order to reach a destination, selects one candidate point from a plurality of candidate points as a U-turn point, on the basis of the score of the possibility of U-turn of a vehicle at the plurality of candidate points where U-turn for reversing the traveling direction is possible affecting the traffic of other vehicles; and a route output unit 116 for outputting, on the basis of map data, a route reaching the destination including the reversing of traveling direction by U-turn at the U-turn point.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to processing equipment, programs and / or data.

Patent Document 1 describes a U-turn information acquisition means for acquiring U-turn information indicating a U-turn possible intersection where a U-turn was made in the past, and a guidance means for guiding a U-turn possible intersection based on the U-turn information. The navigation system provided is disclosed.

Japanese Unexamined Patent Publication No. 2016-45035

The present disclosure provides guidance devices and data structures that are effective for proper guidance of vehicles.

The route guidance device according to one aspect of the present disclosure is a plurality of candidate points capable of making a U-turn for reversing the traveling direction when it is necessary to reverse the traveling direction at at least one point in order to reach the destination. A U-turn point selection unit that selects one candidate point from a plurality of candidate points as a U-turn point based on the score of the possibility that the U-turn of the vehicle in the above affects the passage of other vehicles, and the U at the U-turn point. It is provided with a route output unit that outputs a route to reach the destination based on map data, including reversal of the traveling direction due to a turn. The U-turn point selection unit may select the candidate point having the lowest score from a plurality of candidate points as the U-turn point.

The candidate point evaluation unit determines that the candidate point is located in a section with a median strip when any of the candidate points is located in a section without a median strip, as compared with the case where the candidate point is located in a section without a median strip. The score of the point may be evaluated low.

The candidate point evaluation unit considers that when any of the candidate points of the plurality of candidate points is located in the section with the right turn dedicated lane, the candidate point is located in the section without the right turn dedicated lane. The score of the point may be evaluated low.

When a right turn dedicated period is provided by a traffic light at any of a plurality of candidate points, the candidate point evaluation unit determines that the candidate point has a right turn dedicated period as compared with the case where the right turn dedicated period is not provided at the candidate point. The score may be underestimated.

The route guidance device according to the other aspect of the present disclosure needs to reverse the direction of travel at at least one point in order to reach the destination, and the first candidate point of the first distance from one point and the first candidate point of the first point to the first point. A U-turn for reversing the direction of travel is possible with the second candidate point of two distances, the second distance is larger than the first distance, and the first candidate point is located in a section that does not include the right turn dedicated lane. When the second candidate point is located in the section including the right turn dedicated lane, the purpose includes the U-turn point selection unit that selects the second candidate point as the U-turn point and the reversal of the traveling direction due to the U-turn at the U-turn point. It is provided with a route output unit that outputs a route to reach the ground.

The data structure of the map data according to still another aspect of the present disclosure is network data indicating a road network including a plurality of U-turnable points, and for each of the plurality of U-turnable points, the U-turn of the vehicle is that of another vehicle. A U-turn for reversing the direction of travel, including score data showing scores that may affect traffic, if a reversal of the direction of travel is required at at least one point to reach the destination. Reach the destination including selecting one candidate point from multiple candidate points as a U-turn point based on the scores of multiple candidate points that can be used, and reversing the direction of travel due to a U-turn at the U-turn point. It is used to output the route to be used and to guide the route including.

It is a block diagram which illustrates the functional structure of the route guidance system. It is a schematic diagram which illustrates network data. It is a table exemplifying the linked feature data. It is a table exemplifying node feature data. It is a table exemplifying the score data. It is a block diagram which illustrates the hardware configuration of the route guidance system. It is a flowchart which illustrates the score data construction procedure. It is a schematic diagram which shows the determination example of whether or not a U-turn is possible. It is a flowchart which illustrates the scoring processing procedure. It is a flowchart which illustrates the scoring processing procedure. It is a schematic diagram which shows the example of scoring. It is a schematic diagram which shows the example of scoring. It is a schematic diagram which shows the example of scoring. It is a schematic diagram which shows the example of scoring. It is a schematic diagram which shows the example of scoring. It is a flowchart which illustrates the route guidance procedure.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted.

[Route guidance system]
The route guidance system (route guidance system) according to the present embodiment is a system that derives a route from the current location of the vehicle to the destination and outputs the route to the driver of the vehicle or the driving system of the vehicle. As shown in FIG. 1, the route guidance system 1 includes a route guidance device 100 and a map server 200. The map server 200 provides map data for route search to the route guidance device 100. For example, the map server 200 has a map data storage unit 211, a candidate point extraction unit 212, and a candidate point evaluation unit 213 as a functional configuration (hereinafter, referred to as “functional block”). Hereinafter, each functional block will be described. The process executed by each functional block corresponds to the process executed by the map server 200.

The map data storage unit 211 stores map data. The map data includes network data 220, feature data 230, and score data 240. The network data 220 is data used for route search from the current location to the destination, and indicates a road network including a plurality of U-turn possible points. For example, the network data 220 includes a plurality of nodes associated with each of the plurality of points, and a link indicating a movement route between the plurality of nodes. The network data 220 may have links for the same road in each direction of travel. In this case, the network data 220 is a two-row data indicating a road that can travel in both directions with a two-row link.

FIG. 2 is a schematic diagram illustrating network data 220, which is two-row data. The node N10 in FIG. 2 is a node associated with the intersection CP10 of the roads R100 and R200. The node N20 is a node associated with the intersection CP20 of the roads R100 and R300.

The links L111, L112, and L113 are links associated with the upward lanes shown on the road R100. The link L112 connects the node N10 and the node N20. The link L111 is connected to the link L112 via the node N10. The link L113 is connected to the link L112 via the node N20.

The links L121, L122, and L123 are links associated with the downward lanes shown on the road R100. The link L122 connects the node N10 and the node N20. The link L121 is connected to the link L122 via the node N10. The link L123 is connected to the link L122 via the node N20.

The links L211 and L212 are links associated with the lanes heading to the right in the drawing on the road R200. The links L211 and L212 are connected via the node N10. The links L221 and L222 are links associated with lanes heading to the left in the drawing on the road R200. The links L221 and L222 are connected via the node N10.

Links L311 and L312 are links associated with lanes heading to the right in the drawing on road R300. The links L311 and L312 are connected via the node N20. The links L321 and L322 are links associated with lanes heading to the left in the drawing on the road R300. The links L321 and L222 are connected via the node N20.

Node N10 includes links NL11, NL12, NL13, NL14 indicating a movement route within the intersection CP10. The link NL11 connects the links L111 and L112. The link NL12 connects the links L121 and L122. The link NL13 connects the links L211 and L212. The link NL14 connects the links L221 and L222.

Node N20 includes links NL21, NL22, NL23, NL24 indicating a movement route within the intersection CP20. The link NL21 connects the links L112 and L113. The link NL22 connects the links L122 and L123. The link NL23 connects the links L311 and L312. The link NL24 connects the links L321 and L322.

The feature data 230 is data in which the feature information is associated with the network data 220. The feature includes anything involved in the passage of the route indicated by the network data 220. Specific examples of features include road lanes, medians, sidewalks, curbs, traffic lights, road signs, and sign marks on roads. The feature data 230 includes the link feature data 231 shown in FIG. 3 and the node feature data 232 shown in FIG.

As shown in FIG. 3, the link feature data 231 associates a feature existing in the lane with the link. According to the table of FIG. 3, it is shown that there are two straight lanes, a median strip, and a speed sign in the lane corresponding to the link L111. It is shown that there are two straight lanes and a median strip in the lane corresponding to link L112. It is shown that there are two straight lanes and a median strip in the lane corresponding to link L113.

As shown in FIG. 4, the node feature data 232 associates a feature existing at a point such as an intersection with a node. As an example, node feature data 232 associates with any of a plurality of access routes to a node. According to the table of FIG. 4, it is shown that there are a red light, a yellow light, a green light, a left turn / straight line lane, a straight line dedicated lane, a right turn dedicated lane, and a right turn dedicated signal in the approach route from the link L111 to the node N10. Has been done. It is shown that there are a red light, a yellow light, a green light, a left turn / straight line lane, a straight line dedicated lane, a right turn dedicated lane, and a right turn dedicated signal in the approach route from the link L122 to the node N10. It is shown that there are a red light, a yellow light, a green light, a left turn / straight going lane, a turn prohibition sign, and a turn prohibition mark on the road surface in the approach route from the link L211 to the node N10. It is shown that there are a red light, a yellow light, a green light, a left turn / straight ahead lane, a turn prohibition sign, and a turn prohibition mark on the road surface in the approach route from the link L222 to the node N10.

The score data 240 shows the score of the possibility that the U-turn of the vehicle affects the passage of other vehicles at each of the plurality of U-turn possible points in the road network (road network indicated by the network data 220). In the network data 220, at least some nodes can be U-turn possible points. As shown in FIG. 5, the score data 240 indicates whether or not a U-turn is possible and the above score when a U-turn is possible for each point specified by a node or the like. When the U-turn possible point is an intersection, the score data 240 indicates whether or not a U-turn is possible and the above score when a U-turn is possible for each approach route to the intersection.

Returning to FIG. 1, the candidate point extraction unit 212 extracts a candidate point (hereinafter, referred to as “candidate point”) as a U-turn possible point in the network data 220. For example, the candidate point extraction unit 212 extracts a point where a U-turn of the vehicle is physically possible as a candidate point. A point where a vehicle can make a U-turn is a point that meets at least the following requirements.
Condition 1) Being located on a road that can travel in both directions.
Condition 2) There is no obstacle for vehicle migration (for example, median strip) to the oncoming lane.

For example, an intersection on a road that can travel in both directions can be a physically U-turnable point. A point where a break larger than the vehicle width exists in the median strip between the traveling lane and the oncoming lane can be a point where a U-turn is physically possible. On a road where there is no obstacle such as a median strip between the traveling lane and the oncoming lane, any point can be a point where a U-turn can be physically made.

The candidate point evaluation unit 213 determines whether or not a U-turn is possible for each candidate point extracted by the candidate point extraction unit 212. The candidate point evaluation unit 213 scores the possibility that the U-turn of the vehicle affects the passage of other vehicles at each candidate point (U-turn possible point) determined to be U-turn possible. When the U-turn possible point is an intersection, the candidate point evaluation unit 213 determines whether or not the U-turn is possible and scores the above possibility for each approach route to the U-turn possible point.

Whether or not a vehicle can make a U-turn can be determined based on the presence or absence of a turning prohibition sign, a turning prohibition mark, or the like. The presence or absence of the turning prohibition sign, the turning prohibition mark, etc. can be determined based on the feature data 230. Therefore, the candidate point evaluation unit 213 determines whether or not a U-turn is possible, at least based on the feature data 230.

Factors involved in the possibility that the U-turn of a vehicle may affect the passage of other vehicles include the presence or absence of a median strip in the section where the candidate point is located, the lane structure of the road, the specifications of traffic lights, and the like. Information on these factors can be obtained based on feature data 230. Therefore, the candidate point evaluation unit 213 scores the above possibility based on at least the feature data 230.

For example, when making a U-turn in a section with a median strip, it is possible to wait for the U-turn in a state of being retracted at the break of the median strip. In comparison, it can be said that the U-turn of a vehicle is unlikely to affect the passage of other vehicles. Therefore, the candidate point evaluation unit 213 can make a U-turn when the U-turn possible point is located in a section having a median strip, as compared with the case where the U-turn possible point is located in a section without a median strip. The score of the point may be evaluated low.

Note that "the U-turn possible point is located in a section with a median strip" does not mean that the U-turn possible point itself has a median strip, but that the U-turn is possible in the section including the U-turn possible point. It means that there is a median strip before and after the possible point. "When the U-turn possible point is located in a section without a median strip" means that the U-turn is in a virtual section where all the conditions other than the point without a median strip match the above "section with a median strip". It means that the turnable point is located.

Also, when making a U-turn in a section with a right-turn dedicated lane, it is possible to wait for a U-turn in the right-turn dedicated lane, so compared to making a U-turn in a section without a right-turn dedicated lane, the vehicle It can be said that the U-turn is unlikely to affect the passage of other vehicles traveling straight through the U-turn possible point. In addition, since it is necessary to wait for a right turn in a situation where a U-turn wait is required, it can be said that the U-turn wait in the right turn dedicated lane does not easily affect the passage of other vehicles turning right at the U-turn possible point. Therefore, the candidate point evaluation unit 213 can make a U-turn when the U-turn possible point is located in a section having a right turn dedicated lane, as compared with a case where the U-turn possible point is located in a section without a right turn dedicated lane. The score of the point may be evaluated low. In addition, "when the U-turn possible point is located in a section without a right turn dedicated lane" is a virtual section in which all conditions other than the point where there is no right turn dedicated lane match the above "section with a right turn dedicated lane". This means that the U-turn possible point is located.

In addition, when making a U-turn in a section with a signal dedicated to turning right, it is possible to make a U-turn during the period dedicated to turning right, so it is possible to make a U-turn without affecting the passage of other vehicles in the oncoming lane. It becomes. Therefore, the candidate point evaluation unit 213 determines that when a right turn-only period is provided by a traffic light at a U-turn possible point, the U-turn possible point is compared with a case where a right turn-only period is not provided at the U-turn possible point. The score may be underestimated. In addition, "when the right turn exclusive period is not provided at the U-turn possible point" is a virtual section in which all the conditions other than the point that the right turn exclusive period is not provided match the above "section with the right turn exclusive signal". This means that the U-turn possible point is located.

Traffic volume at U-turn possible points is also a factor involved in the above possibilities. Therefore, the candidate point evaluation unit 213 may score the above possibility based on the past statistical data regarding the traffic volume at the U-turn possible point.

The candidate point evaluation unit 213 stores the U-turn possibility determination result and the scoring result of the above possibility as the score data 240 in the map data storage unit 211.

The route guidance device 100 derives a route from the current location to the destination and outputs the route to the user interface 400. The route guidance device 100 makes it possible to make a U-turn for reversing the direction of travel when it is necessary to reverse the direction of travel at at least one point in order to reach the destination. Scoring the possibility that a U-turn will affect the passage of other vehicles based on map data, selecting the U-turn point with the lowest possibility score from multiple candidate points, and U-turn points It is configured to output the route to the destination based on the map data, including the reversal of the traveling direction due to the U-turn in.

For example, the route guidance device 100 has a position information acquisition unit 117, a map data acquisition unit 112, a map data storage unit 113, a route search unit 111, a candidate point evaluation unit 114, and a U-turn point selection unit as functional blocks. It has 115 and a route output unit 116. Hereinafter, each functional block will be described. The process executed by each functional block corresponds to the process executed by the route guidance device 100.

The position information acquisition unit 117 acquires the position information of the current location and the position information of the destination. For example, the position information acquisition unit 117 acquires the position information of the current location from the position sensor 300 of the vehicle, and acquires the position information of the destination from the user interface 400 of the vehicle. The position sensor 300 detects the current location of the vehicle by, for example, GPS (Global Positioning System). The position sensor 300 may detect the current location by using a speed sensor, an acceleration sensor, a gyro sensor, or the like as an auxiliary.

The user interface 400 acquires user input and displays information to the user. For example, the user interface 400 has an input device and a display device. Specific examples of the display device include a liquid crystal monitor, an organic EL (Electroluminescence) monitor, and the like. Specific examples of the input device include a keypad and the like. The input device may be integrated with the display device as a so-called touch panel.

The map data acquisition unit 112 acquires map data of an area including the current location and the destination (hereinafter, referred to as “search target area”) from the map server 200 based on the information acquired by the location information acquisition unit 117. For example, the map data acquisition unit 112 acquires network data 220, feature data 230, and score data 240 of the search target area from the map server 200. The map data storage unit 113 stores the map data acquired by the map data acquisition unit 112.

The route search unit 111 searches for a route from the current location to the destination based on the map data stored in the map data storage unit 113. For example, the route search unit 111 searches for a route from the current location to the destination by a known method such as Dijkstra's algorithm or Bellman-Ford algorithm. In the search at this point, it is not considered whether the destination faces the lane in which the vehicle travels or the oncoming lane when reaching the destination. Also, it does not take into account which lane the vehicle is driving in at the current location. Hereinafter, the search result at this time is referred to as a "rough route".

After deriving the approximate route, the route search unit 111 determines whether or not it is necessary to reverse the traveling direction at at least one point in order to reach the destination from the current location. For example, the route search unit 111 determines that it is necessary to reverse the traveling direction at the destination when the destination faces the oncoming lane of the lane in which the vehicle travels when reaching the destination according to the approximate route. .. Further, the route search unit 111 determines that it is necessary to reverse the traveling direction at the current location when the lane in which the vehicle is traveling at the current location is in the opposite direction of the lane following the approximate route. Hereinafter, the point where the direction of travel needs to be reversed is referred to as a "reversal point".

When the route search unit 111 determines that the reversal of the traveling direction at the reversing point is necessary, the candidate point evaluation unit 114 describes each of the plurality of candidate points capable of making a U-turn for reversing the traveling direction. , The possibility that the U-turn of the vehicle affects the traffic of other vehicles is scored based on the map data. For example, the candidate point evaluation unit 114 extracts a plurality of U-turnable points within a predetermined distance from the reversal point as a plurality of candidate points from the map data of the map data storage unit 113, and the above-mentioned candidate points according to the score data 240. Determine the probability score. In this way, scoring the above-mentioned possibility of each candidate point includes obtaining the result of scoring performed in advance. The candidate points extracted by the candidate point evaluation unit 114 are not necessarily limited to points on the same road as the reversal point.

According to the score data 240, the candidate point evaluation unit 114 determines the candidate when the candidate point is located in a section with a median strip, as compared with the case where the candidate point is located in a section without a median strip. The score of the point may be evaluated low. In addition, "when the candidate point is located in a section without a median strip" means that the candidate is in a virtual section in which all the conditions other than the point without a median strip match the above "section with a median strip". It means that the point is located.

The candidate point evaluation unit 114 evaluates the score of the candidate point lower when the candidate point is located in the section with the right turn dedicated lane than when the candidate point is located in the section without the right turn dedicated lane. You may. In addition, "when the candidate point is located in a section without a right turn dedicated lane" means that the candidate is in a virtual section where all the conditions other than the point where there is no right turn dedicated lane match the above "section with a right turn dedicated lane". It means when the point is located.

When the candidate point evaluation unit 114 provides a right turn dedicated period by a traffic light at the candidate point (for example, when the candidate point is located in a section with a right turn dedicated signal), the candidate point evaluation unit 114 does not provide a right turn dedicated period at the candidate point. The score of the candidate point may be evaluated lower than that of. In addition, "when the right turn dedicated period is not provided at the candidate point" means that the candidate is in a virtual section where all the conditions other than the point that the right turn dedicated period is not provided match the above "section with the right turn dedicated signal". It means that the point is located.

The traffic volume at the candidate site is also a factor involved in the above possibility. Therefore, the candidate point evaluation unit 114 may score the above possibility based on the real-time information regarding the traffic volume of the candidate point. The candidate point evaluation unit 114 may score the above possibility based on the past statistical data regarding the traffic volume of the candidate point.

The candidate point evaluation unit 114 may further score the above possibilities based on physical constraints such as road width. For example, the wider the road, the quicker the U-turn with less turning of the steering wheel becomes possible, so the possibility that the U-turn of the vehicle will affect the passage of other vehicles is reduced. Therefore, the candidate point evaluation unit 114 may evaluate the score of the above possibility lower as the road width available for the U-turn becomes wider.

In addition, instead of acquiring the score which is the result of the scoring performed in advance, every time the candidate point evaluation unit 114 performs the processing of the route guidance procedure described below, the network data 220 and the feature data The score obtained by scoring the above possibilities based on 230 may be used. The scoring method in this case is the same as the scoring method by the candidate point evaluation unit 213, for example. That is, as a result, the U-turn point selection unit 115 described below may use the score.

The U-turn point selection unit 115 selects the U-turn point having the lowest possibility score from the plurality of candidate points. As described above, when the above possibility is scored based on whether or not the candidate point is located in a section with a right turn dedicated lane, the U-turn point selection unit 115 can perform the following processing. There is sex. That is, the U-turn point selection unit 115 can make a U-turn for reversing the traveling direction at the first candidate point at the first distance from the reversal point and the second candidate point at the second distance from the reversal point. When the 2 distance is larger than the 1st distance, the 1st candidate point is located in the section that does not include the right turn dedicated lane, and the 2nd candidate point is located in the section that includes the right turn dedicated lane, the 2nd candidate point makes a U-turn. May be selected as a point.

The route output unit 116 outputs a route to reach the destination including the reversal of the traveling direction due to the U-turn at the U-turn point based on the map data of the map data storage unit 113. For example, the route output unit 116 derives the reversal of the traveling direction due to the U-turn at the U-turn point based on the network data 220 of the detailed route added to the above-mentioned schematic route, outputs it to the user interface 400, and displays the user interface 400. Display on the device. The route output unit 116 may output a detailed route to a vehicle driving support device (for example, an automatic driving device).

FIG. 6 is a block diagram illustrating the hardware configuration of the route guidance system 1. As shown in FIG. 6, the map server 200 has a circuit 290. The circuit 290 has at least one processor 291 and a memory 292, a storage 293, and a communication port 294. The storage 293 stores a program for generating the score data 240 and map data including the score data 240. For example, the storage 293 includes a storage area allocated to the map data storage unit 211 and a storage area allocated to a program for configuring the candidate point extraction unit 212 and the candidate point evaluation unit 213 in the map server 200.

The memory 292 temporarily stores the program loaded from the storage 293, the calculation result by the processor 291 and the like. The processor 291 constitutes each functional block of the map server 200 by executing the above program in cooperation with the memory 292. The communication port 294 communicates with the route guidance device 100 via the communication network NW according to a command from the processor 291.

The route guidance device 100 has a circuit 190. The circuit 190 has at least one processor 191, a memory 192, a storage 193, an input / output port 194, and a communication port 195. The storage 193 makes a U-turn of the vehicle for each of the plurality of candidate points capable of making a U-turn for reversing the direction of travel when it is necessary to reverse the direction of travel at at least one point in order to reach the destination. Scoring the possibility that will affect the passage of other vehicles based on map data, selecting the U-turn point with the lowest possibility score from multiple candidate points, and U at the U-turn point. It stores a program for causing the route guidance device 100 to output a route to reach the destination including the reversal of the traveling direction due to a turn based on the map data. For example, the storage 193 has a storage area allocated to the map data storage unit 113, a position information acquisition unit 117, a map data acquisition unit 112, a route search unit 111, a candidate point evaluation unit 114, a U-turn point selection unit 115, and a route output. The unit 116 includes a storage area allocated to a program for configuring the route guidance device 100.

The memory 192 temporarily stores the program loaded from the storage 193, the calculation result by the processor 191 and the like. The processor 191 constitutes each functional block of the route guidance device 100 by executing the above program in cooperation with the memory 192. The input / output port 194 inputs / outputs information to / from the position sensor 300 and the user interface 400 in accordance with a command from the processor 191. The communication port 195 communicates with the map server 200 via the communication network NW in accordance with a command from the processor 191.

The circuits 190 and 290 are not necessarily limited to those that configure each function by a program. For example, the circuits 190 and 290 may have at least a part of the functions configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the logic circuit.

[Score data construction procedure]
Subsequently, as an example of the map data generation method, the score data 240 generation procedure performed by the map server 200 will be illustrated. As shown in FIG. 7, the map server 200 first executes steps S01, S02, and S03. In step S01, the candidate point extraction unit 212 extracts from the network data 220 a point where a U-turn of the vehicle is physically possible as a candidate point. In step S02, the candidate point evaluation unit 213 selects one of the extracted candidate points. Hereinafter, the selected candidate point is referred to as a "selected point". In step S03, the candidate point evaluation unit 213 confirms whether or not the turning prohibition display by the turning prohibition sign, the turning prohibition mark, or the like is at the selected point based on the feature data 230.

When it is determined in step S03 that the rotation prohibition display is at the selected point, the map server 200 executes step S04. In step S04, the candidate point evaluation unit 213 determines that a U-turn at the selected point is not possible. For example, as shown in FIG. 8, when the turn prohibition sign 10 and the turn prohibition mark 20 are present on the link L111 entering the node N10, the candidate point evaluation unit 213 cannot make a U-turn from the link L111 to the link L121. Judge that there is.

Returning to FIG. 7, when it is determined in step S03 that the rotation prohibition display is not at the selected point, the map server 200 executes step S05. In step S05, the candidate point evaluation unit 213 scores the possibility of affecting the passage of other vehicles when the vehicle makes a U-turn at the selected point. The specific scoring procedure will be illustrated later.

After executing step S04 or step S05, the map server 200 executes steps S06 and S07. In step S06, the candidate point evaluation unit 213 adds the U-turn impossible determination result or the scoring result to the score data 240 of the map data storage unit 211. In step S07, the candidate point evaluation unit 213 confirms whether the U-turn impossibility determination or the scoring of the above possibility has been completed for all the candidate points.

When it is determined in step S07 that the U-turn is not possible or the candidate points for which the scoring of the above possibility has not been completed remain, the map server 200 returns the process to step S02. After that, the selection of the candidate point and the U-turn impossible determination or the above possibility scoring are repeated until the U-turn impossible determination or the above possibility scoring is completed for all the candidate points. When it is determined in step S07 that the U-turn impossibility determination or the scoring of the above possibility is completed for all the candidate points, the procedure for constructing the score data 240 is completed.

9 and 10 are flowcharts illustrating the scoring procedure in step S05. As shown in FIG. 9, the map server 200 first executes step S11. In step S11, the candidate point evaluation unit 213 confirms whether or not the selected point is located in the section having the median strip based on the feature data 230.

If it is determined in step S11 that the selected point is located in a section having a median strip, the map server 200 executes step S12. In step S12, the candidate point evaluation unit 213 confirms whether or not the selected point is located in the section having the right turn dedicated lane based on the feature data 230.

If it is determined in step S12 that the selected point is located in a section having a right turn dedicated lane, the map server 200 executes step S13. In step S13, the candidate point evaluation unit 213 confirms whether or not the right turn dedicated period is provided by the traffic light at the selected point. In other words, the candidate point evaluation unit 213 confirms whether or not the selected point is located in the section provided with the right turn dedicated period by the traffic light. For example, the candidate point evaluation unit 213 confirms whether or not there is a right turn dedicated signal for the section including the selected point based on the feature data 230.

In step S13, when it is determined by the traffic light that a right turn dedicated period is provided at the selected point, the selected point is located in a section having the median strip 30 and the right turn dedicated lane 41 as shown in FIG. 11, and the selected point is located. The traffic light 50 for the section including the right turn signal 51 has a right turn dedicated signal 51. In this case, as shown in FIG. 9, the candidate point evaluation unit 213 sets the score of the above possibility to 1 (step S14).

In step S13, when it is determined by the traffic light that the right turn dedicated period is not provided at the selected point, the selected point is located in the section where the median strip 30 and the right turn dedicated lane 41 are located, as shown in FIG. 50 does not have a right turn dedicated signal 51. In this case, the U-turn of the vehicle at the selected point is more likely to affect the passage of other vehicles in the oncoming lane, as compared with the case where the traffic light 50 has the right turn dedicated signal 51. Therefore, the candidate point evaluation unit 213 increases the score of the above possibility as compared with the scoring in step S14. For example, the candidate point evaluation unit 213 sets the score of the above possibility to 2 as shown in FIG. 9 (step S15).

If it is determined in step S12 that the selected point is not located in the section with the right turn dedicated lane, the map server 200 executes step S16. In step S16, the candidate point evaluation unit 213 confirms whether or not the selected point is located in a section having a right-turn / straight-ahead lane based on the feature data 230.

If it is determined in step S16 that the selected point is located in a section having a lane for both turning right and going straight, the map server 200 executes step S17. In step S17, the candidate point evaluation unit 213 confirms whether or not a right turn dedicated period is provided by the traffic light at the selected point, as in step S13.

In step S17, when it is determined by the traffic light that a right turn dedicated period is provided at the selected point, the selected point is located in a section having a median strip 30 and a right turn / straight going lane 42, as shown in FIG. The traffic light 50 for the period including the selected point has a right turn dedicated signal 51. In this case, although the right-turn dedicated period is provided by the right-turn dedicated signal 51, the right-turn dedicated period is waited in the right-turn / straight-ahead lane. It is more likely to affect the traffic of other vehicles. Therefore, the candidate point evaluation unit 213 increases the score of the above possibility as compared with the scoring in step S15. For example, the candidate point evaluation unit 213 sets the score of the above possibility to 3 as shown in FIG. 9 (step S18).

In step S17, when it is determined by the traffic light that the right turn exclusive period is not provided at the selected point, the selected point is located in the section where the median strip 30 and the right turn / straight going lane 42 are located, as shown in FIG. , The traffic light 50 does not have a right turn dedicated signal 51. Therefore, the candidate point evaluation unit 213 increases the score of the above possibility as compared with the scoring in step S18. For example, the candidate point evaluation unit 213 sets the score of the above possibility to 4 as shown in FIG. 9 (step S19).

When it is determined in step S16 that the selected point is not located in the section having the right turn / straight going lane, as shown in FIG. 15, the selected point is in the section having neither the right turn dedicated lane 41 nor the right turn / straight going lane 42. Will be located. In this case, since the U-turn is waited in the straight-ahead dedicated lane 43 or the straight-ahead / left-turn lane 44, the subsequent U-turn is waited in the right-turn-only lane 41 or the right-turn / straight-ahead lane 42. It is more likely to affect the passage of other vehicles. Therefore, the candidate point evaluation unit 213 increases the score of the above possibility as compared with the scoring in step S19. For example, the candidate point evaluation unit 213 sets the score of the above possibility to 5 as shown in FIG. 9 (step S21).

If it is determined in step S11 that the selected point is not located in a section having a median strip, the map server 200 executes steps S22 to S31 similar to steps S12 to S31 as shown in FIG. If the selected point is not located in a section with a median strip, it is not possible to evacuate to the break in the median strip and wait for a U-turn, which affects the passage of other vehicles following than when step S11 exists. It is more likely to have an effect. Therefore, the candidate point evaluation unit 213 makes the minimum value of the above possibility score in steps S22 to S31 larger than the maximum value of the above possibility score in steps S12 to S21. For example, the candidate point evaluation unit 213 sets the score of the possibility to 6 in step S24 corresponding to step S14, sets the score of the possibility to 7 in step S25 corresponding to step S15, and sets the score of the possibility to 7 in step S28 corresponding to step S18. The score of the possibility is 8, the score of the possibility is 9 in step S29 corresponding to step S19, and the score of the possibility is 10 in step S31 corresponding to step S21. This completes the scoring procedure.

[Route guidance procedure]
Subsequently, as an example of the route guidance method, the route guidance procedure executed by the route guidance device 100 will be illustrated. This procedure is a vehicle U-turn for each of a plurality of candidate points where a U-turn is possible to reverse the direction of travel if it is necessary to reverse the direction of travel at at least one point to reach the destination. Scoring the possibility that will affect the passage of other vehicles based on map data, selecting the U-turn point with the lowest possibility score from multiple candidate points, and U at the U-turn point. It includes outputting the route to the destination based on the map data, including the reversal of the traveling direction due to the turn.

As shown in FIG. 16, the route guidance device 100 first executes steps S41, S42, S43, S44, and S45. In step S41, the position information acquisition unit 117 acquires the position information of the destination from the user interface 400. In step S42, the position information acquisition unit 117 acquires the position information of the current location from the position sensor 300.

In step S43, the map data acquisition unit 112 acquires the map data of the area including the current location and the destination (the search target area) from the map server 200 and stores it in the map data storage unit 113. In step S44, the route search unit 111 searches for a route from the current location to the destination (the above-mentioned outline route) based on the map data stored in the map data storage unit 113. In step S45, the route search unit 111 determines whether or not it is necessary to reverse the traveling direction at at least one point (the reverse point) in order to reach the destination from the current location.

If it is determined in step S45 that the direction of travel needs to be reversed, the route guidance device 100 executes steps S46, S47, S48, S49, and S51. In step S46, the candidate point evaluation unit 114 extracts a plurality of U-turnable points within a predetermined distance from the reversal point as a plurality of candidate points from the map data of the map data storage unit 113.

In step S47, the candidate point evaluation unit 114 determines the score of the above possibility of each candidate point according to the score data 240 included in the map data of the map data storage unit 113. In step S48, the U-turn point selection unit 115 selects the U-turn point having the lowest possibility score from the plurality of candidate points.

In step S49, the route output unit 116 derives a route to reach the destination including the reversal of the traveling direction due to the U-turn at the U-turn point based on the map data of the map data storage unit 113. For example, the route output unit 116 derives the reversal of the traveling direction due to the U-turn at the U-turn point by deriving the detailed route added to the schematic route based on the network data 220. In step S51, the route output unit 116 outputs the detailed route to the user interface 400 and displays it on the display device of the user interface 400.

When it is determined in step S45 that the reversal of the traveling direction is not necessary, the route guidance device 100 executes step S51 without executing steps S46 to S49. In this case, the route output unit 116 outputs the above-mentioned approximate route as a detailed route to the user interface 400 and displays it on the display device of the user interface 400.

Next, the route guidance device 100 executes step S52. In step S52, the position information acquisition unit 117 confirms whether or not the vehicle has reached the destination. If it is determined in step S52 that the vehicle has not reached the destination, the route guidance device 100 executes step S53. In step S53, the position information acquisition unit 117 confirms whether or not the vehicle has deviated from the output detailed route.

If it is determined in step S53 that the vehicle has not deviated from the detailed route, the route guidance device 100 returns the process to step S52. After that, the route guidance device 100 waits for the vehicle to reach the destination unless the vehicle deviates from the detailed route. If it is determined in step S53 that the vehicle deviates from the detailed route, the route guidance device 100 returns the process to step S42. As a result, the search for the approximate route and the output of the detailed route are executed again based on the current location after the deviation. If it is determined in step S52 that the vehicle has reached the destination, the route guidance procedure is completed.

[Effect of this embodiment]
As described above, the route guidance device 100 is a plurality of candidates capable of making a U-turn for reversing the traveling direction when it is necessary to reverse the traveling direction at at least one point in order to reach the destination. A U-turn point selection unit 115 that selects one candidate point from a plurality of candidate points as a U-turn point based on the score of the possibility that the U-turn of the vehicle at the point affects the passage of other vehicles, and the U-turn point. It is provided with a route output unit 116 that outputs a route to reach the destination based on map data, including a reversal of the traveling direction due to a U-turn. For example, the U-turn point selection unit 115 may select the candidate point having the lowest score from a plurality of candidate points as the U-turn point.

According to the route guidance device 100, a U-turn point at which the U-turn of the vehicle is unlikely to affect the passage of another vehicle is accurately selected, and a route including the U-turn at the U-turn point is output. Therefore, it is effective in suppressing the influence of the U-turn of the vehicle on the passage of other vehicles.

The candidate point evaluation unit 114 compares when any of the candidate points of the plurality of candidate points is located in the section with the median strip 30 and the candidate point is located in the section without the median strip 30. , The score of the candidate point may be evaluated low. In this case, it is possible to easily perform accurate scoring of the possibility that the U-turn of the vehicle affects the passage of other vehicles.

The candidate point evaluation unit 114 compares when any of the candidate points of the plurality of candidate points is located in the section having the right turn dedicated lane 41 and the candidate point is located in the section without the right turn dedicated lane 41. , The score of the candidate point may be evaluated low. In this case, it is possible to easily perform more accurate scoring of the possibility that the U-turn of the vehicle affects the passage of other vehicles.

When the traffic light 50 provides a right turn dedicated period at any of the plurality of candidate points, the candidate point evaluation unit 114 determines the candidate as compared with the case where the right turn dedicated period is not provided at the candidate point. The score of the point may be evaluated low. In this case, it is possible to easily perform more accurate scoring of the possibility that the U-turn of the vehicle affects the passage of other vehicles.

Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof.

The above-described embodiment provides a route guidance device and a data structure effective for suppressing the influence of the U-turn of a vehicle on the passage of another vehicle. In addition, the embodiments described in all or part of the above embodiments utilize the provision of a route guidance device effective for appropriate guidance of the vehicle, improvement of processing speed, improvement of processing accuracy, improvement of usability, and data. Improvement of functions or provision of appropriate functions Other improvements of functions or provision of appropriate functions, reduction of data and / or program capacity, miniaturization of devices and / or systems, etc. Appropriate data, programs, recording media, devices, etc. And / or provision of systems, and data, programs, recording media, devices and / or systems such as reduction of production / manufacturing costs of data, programs, devices or systems, facilitation of production / manufacturing, shortening of production / manufacturing time, etc. Solve any one of the issues of optimizing the production and manufacturing of the system.

30 ... Median strip, 41 ... Right turn dedicated lane, 50 ... Traffic light, 100 ... Route guidance device, 114 ... Candidate point evaluation unit, 115 ... U-turn point selection unit, 116 ... Route output unit, 220 ... Network data, 240 ... Score data.

Claims (7)

When it is necessary to reverse the direction of travel at at least one point in order to reach the destination, the U-turn of the vehicle at a plurality of candidate points where the U-turn for reversing the direction of travel is possible becomes the passage of another vehicle. A U-turn point selection unit that selects one candidate point from the plurality of candidate points as a U-turn point based on the score of the possibility of influence.
A route guidance device including a route output unit that outputs a route to reach the destination including a reversal of the traveling direction due to a U-turn at the U-turn point. The route guidance device according to claim 1, wherein the U-turn point selection unit selects a candidate point having the lowest score from the plurality of candidate points as the U-turn point. The U-turn point selection unit is compared with the case where the candidate point of any of the plurality of candidate points is located in the section having the median strip and the candidate point is located in the section without the median strip. The route guidance device according to claim 1 or 2, wherein the U-turn point is selected based on the score evaluated to be low. The U-turn point selection unit is compared with the case where any of the plurality of candidate points is located in a section having a right turn dedicated lane and the candidate point is located in a section without the right turn dedicated lane. The route guidance device according to any one of claims 1 to 3, wherein the U-turn point is selected based on the score evaluated to be low. The U-turn point selection unit is lower when a right turn dedicated period is provided by a traffic light at any of the plurality of candidate points, as compared with the case where the right turn dedicated period is not provided at the candidate point. The route guidance device according to any one of claims 1 to 4, wherein the U-turn point is selected based on the score evaluated so as to be. In order to reach the destination, it is necessary to reverse the direction of travel at at least one point, and the progress is made at the first candidate point at the first distance from the first point and the second candidate point at the second distance from the first point. A U-turn for reversing the direction is possible, the second candidate point is larger than the first distance, the first candidate point is located in a section not including the right turn dedicated lane, and the second candidate point is the said. A U-turn point selection unit that selects the second candidate point as a U-turn point when it is located in a section including a right-turn dedicated lane.
A route guidance device including a route output unit that outputs a route to reach the destination including a reversal of the traveling direction due to a U-turn at the U-turn point. Network data showing a road network including multiple U-turn points and
For each of the plurality of U-turn possible points, score data indicating the possibility that the U-turn of the vehicle affects the passage of other vehicles is included.
When it is necessary to reverse the direction of travel at at least one point in order to reach the destination, the plurality of candidates are based on the scores of the plurality of candidate points capable of making a U-turn for reversing the direction of travel. Selecting one candidate point from the points as a U-turn point and
A data structure of map data used for route guidance including outputting a route to reach the destination including reversal of the traveling direction due to a U-turn at the U-turn point.

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