JP4095844B2 - Data structure of route search data and route guidance data in electronic map data, and their use - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to data structures of route search data and route guidance data in electronic map data, and their use.
[0002]
[Prior art]
Use of map data digitized so as to be usable by a computer, so-called electronic map data, has become widespread. Electronic map data is used in personal computers, in-vehicle or portable navigation devices, and the like.
[0003]
The navigation device performs display of an electronic map, route search from a departure point or present location to a destination, route guidance, map matching, and the like. In order to realize these, the electronic map data used in the navigation device includes display data for displaying an electronic map, route search data for performing a route search, route guidance and map matching. It has route guidance data.
[0004]
The route search data includes search link data representing roads (passages) and search node data representing road end points (intersections, dead ends, etc.). The search link data includes a search link ID for identifying each road and a link cost representing an evaluation value such as an average travel time of each road. The search node data includes a node ID for identifying each end point and coordinate data representing the position of each end point. The route search is performed by the well-known Dijkstra method using these data.
[0005]
The route search data generally has a hierarchical structure. The data of the lowest layer has information on almost all roads. On the other hand, the data of the highest layer has only information on main roads such as highways and national roads. Since the upper layer data and the lower layer data are generally expressed in coordinate systems having different origin positions and scales, they are associated with each other by a search link ID and a search node ID. By adopting such a data structure, the processing time required for the route search is shortened.
[0006]
The route guidance data includes guidance link data representing roads and guidance node data representing road end points. The guide link data includes a guide link ID for identifying each road. The guidance node data includes guidance node IDs for identifying each end point and coordinate data representing the position of each end point.
[0007]
The route guidance data also has a hierarchical structure like the route search data, and the upper layer data and the lower layer data are associated with each other by the guidance link ID and the guidance node ID. Each ID of the route search data described above is associated with each ID of the route guidance data.
[0008]
In general, each ID described above is assigned a unique ID within a provision area of an electronic map such as a national map or a metropolitan area map. When roads and intersections increase or decrease and the electronic map data is updated, a new ID is assigned to each road and each end point.
[0009]
Conventionally, electronic map data has been provided by a recording medium such as a CD-ROM. Therefore, when the electronic map data is updated, the above-described IDs are updated at the same time, and all correspondences are taken.
[0010]
[Problems to be solved by the invention]
In recent years, with the spread of the Internet, distribution of electronic map data from a server on the Internet to a navigation device has also been proposed. In the distribution of electronic map data via the Internet, a technique for managing various data for each narrow area and distributing only updated data has been proposed in order to reduce the amount of data communication.
[0011]
When such distribution of electronic map data is performed, the navigation device saves and uses the latest electronic map data downloaded from the server on a hard disk or the like.
[0012]
However, in the entire electronic map data stored on the navigation device side, only a part of the data updated on the server side has been updated. There are cases where new data is mixed. In this case, for the route search data and the route guidance data, there is a case where the route search and the route guidance cannot be performed because the correspondence between the IDs does not match between the old and new data.
[0013]
The present invention has been made to solve the above-described problems, and an object of the present invention is to enable a route search and route guidance in a navigation device even when old and new data are included in electronic map data. And
[0014]
[Means for solving the problems and their functions and effects]
  In order to solve at least a part of the above-described problems, the present invention employs the following configuration.
  The first data structure of the present invention is:
  For route searchRoute search data that can be used by the route search deviceAnd having a hierarchical structure including a first hierarchy defined by a first coordinate system and a second hierarchy defined by a second coordinate system having a larger scale than the first coordinate system. Route search dataData structure,
  Search link data representing a passage,
  Node data for search representing the end point of the passage,
  At least some of the search link data and the search node data are:
  The data included in the first hierarchy,Of the passage or the end pointIndicate coordinatesFirst coordinate data;
  The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. In an area in the hierarchy, it is defined so that each point in the area can be identified,In combination with the first coordinate data, In the second hierarchyThe coordinates of the passage or the end pointdataSearch assistance data for uniquely identifying
  It is a summary to provide.
[0015]
In the route search data, the position of one end point may be represented by a plurality of coordinate systems, that is, a first coordinate system and a second coordinate system. Here, “different coordinate system” means not only a coordinate system with completely different systems, such as an orthogonal coordinate system and a polar coordinate system, but also a coordinate system with a different origin position and scale even in an orthogonal coordinate system. is doing. For example, as described above, when the route search data has a hierarchical structure, the upper layer search node data and the lower layer search node data are represented in different orthogonal coordinate systems. There are many.
[0016]
  In the data structure of the present invention, at least a part of the search link data and the search node data includes the first coordinate data in the first coordinate system of the path or the end point and the search auxiliary data. Therefore, even when the route search device cannot perform the route search using the conventional search node ID, by performing the predetermined calculation by combining the first coordinate data and the search auxiliary data,By compensating for the difference in scale between the first coordinate system and the second coordinate system by the search auxiliary data,The coordinates of the passage or endpoint in the second coordinate systemdataCan be uniquely identified and a route search can be performed.Further, when the scale of the first coordinate system is smaller than the scale of the second coordinate system, a plurality of points in a predetermined area in the second coordinate system are represented by one point of the first coordinate system. However, in the above configuration, in such a case, each point in the predetermined area of the second coordinate system can be identified by the auxiliary search data.
[0017]
The data structure of the present invention also has the following effects. For example, if the upper layer search node data includes latitude / longitude data together with the coordinate data for one end point, the lower layer search node data also includes latitude / longitude data together with the coordinate data. Even when the search node ID cannot be used, the end points can be associated with each other by the latitude / longitude data. Further, the end points can be associated with each other by providing the upper layer search node data with the coordinate data in the upper layer and the coordinate data in the lower layer. However, when the route search data has such a data structure, the data becomes enormous. In the data structure of the present invention, the search auxiliary data can be configured in a relatively small size, so that the above-described increase in the data size is suppressed and the route search can be performed even when the search node ID cannot be used. Possible search data can be configured compactly.
[0022]
The present invention can also be configured as follows. That is, the data structure of the present invention is
A data structure of route search data that can be used by the route search device,
The route search data is
For a narrow area, the lower layer search data defined in the second coordinate system of the large scale,
For an area wider than the lower layer search data, the upper layer search data defined in the first coordinate system of a scale smaller than the second coordinate system;
Data having a hierarchical structure,
Each of the lower layer search data and the upper layer search data is:
Search link data representing a passage,
Search node data representing end points of the passage;
With
The search link data or search node data of the upper layer search data is the same as the search link data or search node data of the lower layer search data. The gist is provided with auxiliary search data for uniquely specifying the coordinates of the path or the end point in the second coordinate system in combination with the coordinates in the first coordinate system.
[0023]
By doing so, the route search apparatus can use the first coordinate system of the upper layer search data even when the route search data having a hierarchical structure cannot be searched using the search node ID. The path or end point coordinates defined in the second coordinate system of the lower layer search data are uniquely specified by the combination of the defined path or end point coordinates and the search auxiliary data, and the route search is performed. can do.
[0024]
In the above data structure:
The lower layer search data and the upper layer search data can be individually updated.
[0025]
By doing so, it is possible to improve the convenience of communication for updating route search data.
[0026]
In the above data structure:
It is preferable that the lower layer search data and the upper layer search data further include history data indicating an update history.
[0027]
By doing so, the route search device can easily determine whether to perform a route search using the conventional search node ID or to perform a route search using the search auxiliary data. That is, if the history data of the upper layer search data and the history data of the lower layer search data are the same, it is determined that a route search using the search node ID is possible, and this is performed. If they are different, it is determined that the route search using the search node ID is inappropriate, and the route search using the search auxiliary data can be performed.
[0028]
  The second data structure of the present invention is:
  To guide the routeRoute guidance data that can be used by the route guidance deviceAnd having a hierarchical structure including a first hierarchy defined by a first coordinate system and a second hierarchy defined by a second coordinate system having a larger scale than the first coordinate system. Route guidance dataData structure,
Defined in the second coordinate system;Lower layer guidance data that holds lower layer guidance link data representing the passage and lower layer guidance node data representing the end point of the passage, with respect to the passage existing in the predetermined area,
  Defined in the first coordinate system;Upper layer guidance data holding upper layer guidance link data and upper layer guidance node data corresponding to at least a part of the lower layer guidance link data and the lower layer guidance node data; andWith
  The upper layer guidance data is
  Via point data for uniquely specifying a via point in the lower layer guidance data of the path corresponding to the upper layer guidance link data in the coordinate system in the lower layer guidance data is provided.And,
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
WithThis is the gist.
[0029]
  By doing so, the route guidance device can perform route guidance using the guidance node ID for the route guidance data having a hierarchical structure.The first coordinate data and guidance assistance data are provided.Using waypoint data,That is, the combination of the first coordinate data and the guidance auxiliary data compensates for the difference in scale between the first coordinate system and the second coordinate system, and is defined in the second coordinate system.By uniquely specifying the via point in the lower layer guidance data, it is possible to identify the lower layer guidance link data corresponding to the upper layer guidance link data and perform route guidance.Further, when the scale of the first coordinate system is smaller than the scale of the second coordinate system, a plurality of points in a predetermined area in the second coordinate system are represented by one point of the first coordinate system. However, in the above configuration, in such a case, each point in the predetermined area of the second coordinate system can be identified by the guidance assistance data.
[0030]
  In the second data structure,
  Regarding the lower layer guidance data, the predetermined area is divided into a plurality of divided areas,
  There are at least two via points for each of the plurality of divided regions.includedCan be.
[0031]
By doing so, since two waypoints can be specified for each divided region, lower layer guidance link data can be specified.
[0032]
In the above data structure:
The path in the lower layer guidance data is divided by a boundary node provided at the boundary of the divided area,
It is preferable that the waypoint includes the boundary node.
[0033]
By doing so, since the boundary node is common to the adjacent divided areas, the number of via points can be reduced and the size of the route guidance data can be made compact.
[0040]
In the second data structure,
The lower layer guidance data and the upper layer guidance data can be individually updated.
[0041]
By doing so, the convenience of the route guidance data update and communication can be improved.
[0042]
In the above data structure:
It is preferable that the lower layer guidance data and the upper layer guidance data further include history data indicating an update history.
[0043]
By doing so, the route guidance device can easily determine whether to perform route guidance using the conventional guidance node ID or route guidance using the waypoint data. That is, if the history data of the upper layer guidance data and the history data of the lower layer guidance data are the same, it is determined that the route guidance using the guidance node ID is possible, and this is performed. If they are different, it can be determined that route guidance using the guidance node ID is impossible, and route search using waypoint data can be performed.
[0044]
  The present invention can also be configured as an invention of a route search apparatus using the route search data described above. That is,
  The route search apparatus of the present invention
  A route search device that performs a predetermined route search using route search data,
  An input unit for inputting a starting point and a destination in the route search;
  An acquisition unit for acquiring the route search data based on the departure place and the destination;
  A route search unit that performs the route search using the route search data;
  An output unit for outputting the result of the route search,
  The route search data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
  It is divided into a plurality of areas, and for each area,
  Search link data representing a passage,
  Node data for search representing the end point of the passage,
  At least a part of the search node data is:
  Node identification information for search for identifying the end point;
  The data included in the first hierarchy,Of the end pointIndicate coordinatesFirst coordinate data;
The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. In the area in the hierarchy, each point in the area is defined so as to be identifiable, and in order to uniquely identify the coordinate data of the end point in the second hierarchy in combination with the first coordinate data Search auxiliary data,
  Has a data structure comprising
  The route search unit
  at least,Over an area corresponding to the first coordinate system and an area corresponding to the second coordinate systemWhen it is determined that a route search using the search node identification information is inappropriate when performing a route search, the first coordinate dataAnd the search auxiliary dataThe gist is to perform a route search by specifying the end point using.
[0045]
  By doing so, the route search deviceOver an area corresponding to the first coordinate system and an area corresponding to the second coordinate systemWhen it is inappropriate to perform a route search using conventional search node identification information (search node ID) when performing a route search, the first coordinate dataAnd search auxiliary dataThe end point can be specified using and the route search can be performed.
[0046]
When the route search data is data having a hierarchical structure, the first coordinate data may belong to a layer different from the layer to which the search node data belongs. For example, the search layer data in the upper layer may hold the coordinate values in the lower layer as the first coordinate data.
[0049]
The present invention can also be configured as follows. That is, the route search device of the present invention is
A route search device that performs a predetermined route search using route search data,
An input unit for inputting a starting point and a destination in the route search;
An acquisition unit for acquiring the route search data based on the departure place and the destination;
A route search unit that performs the route search using the route search data;
An output unit for outputting the result of the route search,
The route search data is
For a narrow area, the lower layer search data defined in the second coordinate system of the large scale,
For an area wider than the lower layer search data, the upper layer search data defined in the first coordinate system of a scale smaller than the second coordinate system;
Data having a hierarchical structure,
Each of the lower layer search data and the upper layer search data is:
Search link data representing a passage,
Search node data that represents an end point of the passage and has search node identification information for identifying the end point;
With
The search node data of the upper layer search data is:
For the end point common to the search node data of the lower layer search data, the coordinates of the end point in the second coordinate system are uniquely specified by the combination of the end point in the first coordinate system. Search auxiliary data for
The route search unit
At least when the route search using the search node identification information is determined to be inappropriate when performing a route search by transitioning between the upper layer search data and the lower layer search data, the first The gist is to perform the route search using coordinates in one coordinate system and the search auxiliary data.
[0050]
By doing so, the route search device is not able to perform the route search using the conventional search node identification information when performing the route search by transitioning between the upper layer search data and the lower layer search data. When appropriate, the coordinates of the end points defined in the second coordinate system of the lower layer search data are a combination of the coordinates of the end points defined in the first coordinate system of the upper layer search data and the search auxiliary data. Can be uniquely identified and a route search can be performed.
[0051]
  The present invention can also be configured as an invention of a route guidance device using the route guidance data described above. That is,
  The route guidance device of the present invention includes:
  A route guidance device that performs predetermined route guidance using route guidance data,
  An input unit for inputting a route search result;
  An acquisition unit for acquiring the route guidance data based on the result;
  A route guidance unit for performing the route guidance using the route guidance data;
  An output unit that outputs a result of the route guidance;
  The route guidance data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
  Defined in the second coordinate system;Lower layer guidance data for holding a lower layer guidance link data representing the passage and lower layer guidance node data representing an end point of the passage with respect to the passage existing in the predetermined area;
  Defined in the first coordinate system;Upper layer guidance data holding upper layer guidance link data and upper layer guidance node data corresponding to at least a part of the lower layer guidance link data and the lower layer guidance node data; andWith
  The upper layer guidance data is
  Via point data for uniquely specifying a via point in the lower layer guidance data of the path corresponding to the upper layer guidance link data in the coordinate system in the lower layer guidance data is provided.And
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
WithHas a data structure,
  The route guiding unit is
  At least, when performing route guidance using the upper layer guidance data and the lower layer guidance data, it is determined that route guidance using the upper layer guidance link data and the lower layer guidance link data is inappropriate. In this case, the route guidance is performed by specifying a path in the lower layer guidance data using the waypoint data.
[0052]
  By doing so, the route guidance device, when it is inappropriate to perform the route guidance using the conventional guidance node identification information for the route guidance data having a hierarchical structure,The first coordinate data and guidance assistance data are provided.By using the waypoint data to uniquely identify the waypoints in the lower layer guidance data, it is possible to identify the lower layer guidance link data corresponding to the upper layer guidance link data and perform route guidance. .
[0053]
The present invention can be configured as an invention of a route search method and a route guidance method in addition to the above-described data structure of route search data, data structure of route guidance data, route search device and route guidance device. . Further, the present invention can be realized in various modes such as a computer program that realizes these, a recording medium that records the program, and a data signal that includes the program and is embodied in a carrier wave. In addition, in each aspect, it is possible to apply the various additional elements shown above.
[0054]
When the present invention is configured as a computer program or a recording medium on which the program is recorded, it may be configured as a whole program for driving a route search device or a route guidance device, or only a portion that performs the function of the present invention. It is good also as what comprises. The recording medium includes a flexible disk, a CD-ROM, a DVD-ROM, a magneto-optical disk, an IC card, a ROM cartridge, a punch card, a printed matter on which a code such as a barcode is printed, a computer internal storage device (RAM or Various types of computer-readable media such as a memory such as a ROM and an external storage device can be used.
[0055]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in the following order based on examples.
A. Navigation system configuration:
B. Navigation device:
C. data structure:
C-1. Route search data:
C-2. Route guidance data:
D. Route search process:
E. Route guidance processing:
F. Variation:
[0056]
A. Navigation system configuration:
FIG. 1 is an explanatory diagram showing a schematic configuration of a navigation system 1000 as one embodiment. A navigation system 1000 according to the present embodiment includes a map distribution server 100 and a navigation device 200.
[0057]
The map distribution server 100 holds route search data, route guidance data, display data (not shown), address data, name data such as buildings, and other data, and the latest update data is stored in the navigation device 200. Delivered individually for each block to be described later.
[0058]
The navigation device 200 is connected to the map distribution server 100 via the Internet INT by performing wireless communication with the relay station ST using a mobile phone or the like, and can exchange various data. In this embodiment, the navigation device 200 is a so-called car navigation device of the type mounted on a vehicle. The navigation device 200 corresponds to the route search device and the route guidance device of the present invention.
[0059]
B. Navigation device:
FIG. 2 is an explanatory diagram showing the configuration of the navigation device 200 of this embodiment. The navigation device 200 includes a display panel 210, an operation panel 220, and a control unit 230. The navigation device 200 also includes a CD-ROM drive that reads various data from a compact disc CD that holds route search data and route guidance data, and a hard disk 240 that holds route search data and route guidance data. ing. The compact disc CD holds electronic map data provided at a time from a provider for electronic map data providing areas such as a national map and a metropolitan area map. The hard disk 240 holds update data downloaded from the map distribution server 100.
[0060]
The display panel 210 displays a map, character information, a menu screen, a route search result, a route guidance status, and the like. The operation panel 220 provides user instructions such as moving the cursor on the map displayed on the display panel 210, setting / changing the scale, scrolling the screen, and various settings on the menu screen including inputting information about the destination. It is for input. The user's instruction can also be input using a remote controller (remote controller) 225.
[0061]
The control unit 230 is configured as a microcomputer including a CPU, RAM, ROM, and the like, and includes a control unit 231, a communication unit 232, a current location detection unit 233, a command input unit 234, an electronic map data reference unit 235, and the like. , A route search unit 236, a route guidance unit 237, and a display control unit 238. Each of these functional blocks is configured by software.
[0062]
The control unit 231 controls each unit in the control unit 230. The communication unit 232 performs wireless communication with the relay station (see FIG. 1), and exchanges various data with the map distribution server 100 via the Internet INT.
[0063]
The current position detection unit 233 detects the current position based on radio waves from an artificial satellite received by a GPS antenna (not shown). The current position is detected by a method using DGPS (differential GPS), a method using radio waves from a radio base station such as a mobile phone or PHS, or a method using or using a gyro sensor. It is good.
[0064]
The command input unit 234 inputs a user instruction, a destination for route search, and the like by operating the operation panel 220 or the remote controller 225. The destination can be specified by, for example, the destination address, name, or telephone number.
[0065]
The electronic map data reference unit 235 refers to the route search data held by the compact disc CD and the hard disk 240 based on the departure place and the destination. The electronic map data reference unit 235 refers to the route guidance data based on the route search result performed by the route search unit 236.
[0066]
The route search unit 236 uses the route search data referred to by the electronic map data reference unit 235 to perform a route search from the departure point to the destination. In this embodiment, the route search is performed by the well-known Dijkstra method.
[0067]
The route guidance unit 237 performs route guidance using the current location detected by the current location detection unit 233 and the route guidance data referenced by the electronic map data reference unit 235.
[0068]
The display control unit 238 controls the screen to be displayed on the display panel 210.
[0069]
C. data structure:
FIG. 3 is an explanatory diagram showing a management unit of route search data and route guidance data according to the present embodiment. Both the route search data and the route guidance data have a hierarchical structure composed of upper layer data and lower layer data.
[0070]
Here, the term “upper layer data” means upper layer route search data and route guidance data, and the term “lower layer data” means lower layer route search data and route guidance data. Means data. The route search data and the route guidance data each include link data representing a road and node data representing an end point of the road. In this specification, the term “upper layer data” refers to upper layer route search node data, upper layer route search link data, upper layer route guide node data, upper layer route guide link data, It has a meaning including. The same applies to “lower layer data”.
[0071]
In this embodiment, both the route search data and the route guidance data have a two-layer structure, but may have a multilayer structure of three or more layers.
[0072]
Each hierarchical data is divided into blocks of a predetermined rectangular area. The lower layer data includes data regarding almost all roads and their end points, and the upper layer data includes data regarding main roads and their end points. In this embodiment, the route search data and the route guidance data are updated as a set for each corresponding block and each corresponding layer, and both have the same number of layers.
[0073]
The lower layer data block has data about an area obtained by dividing the upper layer data block. In the illustrated example, a state in which the upper layer data block is divided into 4 × 4 areas corresponds to the lower layer data block. As shown in the drawing, (1, 1), (1, 2), (1, 3),... Are assigned to the blocks of the upper layer data and the lower layer data in order from the lower left. For example, the upper layer data block (1,1) corresponds to 4 × 4 16 blocks of lower layer data blocks (1,1) to (4,4).
[0074]
The route search data and route guidance data are updated for each block. Each block of data includes history data indicating its update history. FIG. 3 also shows a state in which old and new data are mixed in data that can be used on the navigation device 200 side. The hatched blocks in the figure indicate the latest data downloaded from the map distribution server 100 (FIG. 1). Blocks not hatched are electronic map data provision initial data held in the compact disc CD, or old data that has been updated in the map distribution server 100 but not updated in the hard disk 240. Is shown.
[0075]
As described above, in the map distribution server 100, when data is updated as the number of roads and intersections increases / decreases, IDs for identifying the roads and the end points are newly allocated. At this time, in order to ensure the consistency of the ID, at least the upper layer data and the lower layer data are updated as a set. On the other hand, the navigation device 200 downloads only necessary block data. In some cases, the latest data cannot be downloaded due to a communication failure, or the user of the navigation device 200 does not download the latest data. In this case, as shown in the drawing, old and new data with different versions are mixed on the navigation device 200 side, and there are cases in which links and nodes cannot be matched only with IDs between different versions.
[0076]
C-1. Route search data:
FIG. 4 is an explanatory diagram schematically showing the data structure of route search data. The circles in the figure indicate nodes that represent road endpoints. A solid line connecting the nodes indicates a link representing a passage. The thick solid line represents the main road.
[0077]
The lower layer route search data shown in the lower part of FIG. 4 includes data on almost all links and nodes. In addition, data regarding boundary nodes existing at the boundaries of the blocks is also provided. For example, nodes N1, N4, N5, and N7 are boundary nodes. In the illustrated example, the lower layer path search data has 11 links and 11 nodes. Each link and each node is assigned L1 to L11 as a link ID and N1 to N11 as node IDs.
[0078]
The upper layer route search data shown in the upper part of FIG. 4 includes data on main roads and their end points. The node for the upper layer route search data is the same as the node for the lower layer route search data. For example, the node N2 of the upper layer route search data is common to the node N2 of the lower layer route search data. The link in the upper layer route search data represents a plurality of links in the lower layer route search data and is called a link string.
[0079]
The lower layer route search data is defined in the xy coordinate system. The upper layer route search data is defined by an XY coordinate system having a different origin and scale from the coordinate system of the lower layer route search data. The number of coordinates of each block in the lower layer route search data and the upper layer route search data is NRX × NRY.
[0080]
FIG. 5 is an explanatory diagram conceptually showing the contents of the route search node data. As shown in the figure, the node ID and the coordinate value in the xy coordinate system are associated with each node in the lower layer path search node data. In the upper layer route search node data, for each node, a node ID, a coordinate value in the XY coordinate system, and a sub key are associated. Here, the sub key is data for uniquely specifying the coordinate value in the corresponding lower layer route search node data by the combination with the coordinate value in the upper layer route search node data. The sub key corresponds to the auxiliary search data of the present invention.
[0081]
Here, when the subkey (SKx, SKy) is the coordinate value of the node in the lower layer path search node data (DX, DY) and the specific value for obtaining the subkey is SKMOD,
SKx = DX% SKMOD;
SKy = DY% SKMOD;
Is set by. “%” Is a remainder operator. For example, in the example shown in FIG. 5, the secondary key for the node N2 is
(SKx2, SKy2) = (DX2% SKMOD, DY2% SKMOD)
It is. The meaning of setting the subkey in this way will be described below.
[0082]
FIG. 6 is an explanatory diagram for illustrating the sub key. As shown,
(1) The figure number of node data for upper layer route search is (UNOX, UNOY),
(2) The coordinate value of the node NA in the upper layer route search node data is (UX, UY),
(3) The figure number of the lower layer path search node data including the node NA is (DNOX, DNOY)
(4) The coordinate value of the node NA in the lower layer path search node data is (DX, DY).
(5) The number of coordinates of the upper layer route search data and the lower layer route search data is NRX × NRY,
(6) The block in the upper layer route search node data is Nx × Ny times the block in the lower layer route search node data.
And
[0083]
At this time, the coordinate value of the node NA in the upper layer route search node data is any of the Nx × Ny regions in the lower layer route search node data shown in the lower part of FIG. Represents a point. In other words, all points in the Nx × Ny area in the lower layer route search node data are represented by one point in the upper layer route search node data.
[0084]
Consider a case where the history data of the upper layer route search node data and the lower layer route search node data are different and the node IDs are not matched. If no subkey is set and there is only one node in the area Nx × Ny, the nodes in the upper layer path search node data and the nodes in the lower layer path search node data are coordinate values. By performing a predetermined calculation using, it is possible to specify each other. However, when there are a plurality of nodes, for example, the illustrated node NA and node NB, in the Nx × Ny area, the nodes in the upper layer path search node data and the nodes in the lower layer path search node data are , Can not identify each other.
[0085]
On the other hand, when the subkey of this embodiment is set, even if there are a plurality of nodes in the area of Nx × Ny, the upper layer path search node data and It is possible to compensate for the difference in the scale of the lower layer path search node data and to uniquely identify the both. For example, when the coordinate value of the node in the upper layer route search node data is (UX, UY) and the subkey is (SKx, SKy),
DX = DXtmp + (SKx− (DXtmp% SKMOD));
DY = DYtmp + (Sky− (DYtmp% SKMOD));
DXtmp = ((UX × Nx)% NRX);
DYtmp = ((UY × Ny)% NRY);
Thus, the coordinate value (DX, DY) of the node in the lower layer path search node data can be obtained.
[0086]
In addition, the figure number (DNOX, DNOY) of the node data for lower layer path search to be specified is
DNOX = (UNOX-1) × Nx + 1 + (UX ÷ (NRX ÷ Nx));
DNOY = (UNOY-1) × Ny + 1 + (UY ÷ (NRY ÷ Ny));
(Rounded down)
Sought by.
[0087]
Also, the coordinate values (UX, UY) in the upper layer route search node data corresponding to the nodes having the coordinate values (DX, DY) in the lower layer route search node data are:
UX = (((DNOX-1)% Nx) × NRX + DX) ÷ Nx;
UY = (((DNOY-1)% Ny) × NRY + DY) ÷ Ny;
Can be obtained.
[0088]
In addition, the figure number (UNOX, UNOY) of the node data for upper layer route search to be specified is
UNOX = (DNOX-1) ÷ Nx + 1;
UNOY = (DNOY-1) ÷ Ny + 1;
(Rounded down)
Sought by.
[0089]
As a sub key, the node having the coordinate value (UX, UY) in the node data for upper layer route search obtained in this way,
(SKx, SKy) = (DX% SKMOD, DY% SKMOD)
If is set, both correspond. If a node having a coordinate value in the upper layer path search node data has different subkeys, the two do not correspond.
[0090]
In this way, by using the subkey, one point in the coordinate system of the upper layer path search node data can be identified from each point in the area in the coordinate system of the lower layer path search node data. .
[0091]
FIG. 7 is an explanatory diagram conceptually showing the contents of the route search link data. In the present embodiment, as shown in the figure, the link data, the link ID, the node ID of the start node and the node ID of the end node, and the link cost are associated with each other in the lower layer path search link data. . The start point node and the end point node may have coordinate values instead of the node ID. Each link string and link cost are associated with the upper layer route search link data.
[0092]
C-2. Route guidance data:
FIG. 8 is an explanatory diagram schematically showing the data structure of route guidance data. The upper part of FIG. 8 shows the data for guiding the upper layer route for one block. The lower part of FIG. 8 shows the lower layer route guidance data for 16 blocks corresponding to the upper layer route guidance data for one block shown in the upper part. In the figure, ◯ and ● indicate nodes representing road end points. A solid line connecting the nodes indicates a link representing a passage.
[0093]
The route guidance data is defined in the same coordinate system as the route search data. That is, the lower layer route guidance data is defined in the xy coordinate system, and the upper layer route guidance data is defined in the XY coordinate system having a different origin and scale from the coordinate system of the lower layer route guidance data. Yes.
[0094]
The route guidance is performed using lower layer route guidance data based on the route search result. Therefore, the route guidance data has nodes corresponding to the route search data nodes described above, and the lower layer route guidance data accurately indicates the shape of the road and the position during route guidance. In order to express in the above, it has more nodes and links than the route search data. In the illustrated example, not all nodes and links are drawn for convenience of illustration.
[0095]
The contents of the route guidance node data are substantially the same as the route search node data described above, and the node ID and the coordinate value are associated with each other. However, in the route guidance node data, the upper layer route guidance node data does not have a sub key. The contents of the route guidance node data are not shown.
[0096]
Hereinafter, the route guidance link data will be described by focusing on the link string connecting the node Nj and the node N2 in the upper layer route guidance data.
[0097]
FIG. 9 is an explanatory diagram conceptually showing the contents of the route guidance link data. As shown in the figure, the link ID, the node ID of the start node, and the node ID of the end node are associated with each link in the lower layer route guidance link data for each block. Each link string and auxiliary data are associated with the upper layer route guidance link data. The auxiliary data is data for specifying a waypoint through which a plurality of links in the lower layer route guidance link data corresponding to the link row in the upper layer route guidance link data passes. This auxiliary data corresponds to the waypoint data of the present invention. In the present embodiment, as auxiliary data, a boundary existing at the boundary of each block among the waypoint nodes Nj, No, Nb1, Np, Nb2, Nq, Nb3, Nr, Nb4, and N2 in the lower layer route guidance link data. The coordinate values and subkeys in the upper layer route guidance link data for the waypoints corresponding to the nodes Nj, Nb1, Nb2, Nb3, Nb4, and N2 (x mark in the upper part of FIG. 8) are used. These are arranged in the order of passing. The subkey in the route guidance link data is also set in the same manner as the subkey in the route search node data described above. Accordingly, in the same manner as in the case of the route search node data, the boundary node in the lower layer route guidance link data through which the link string in the upper layer route guidance link data passes can be specified. The subkey in the route guidance link data corresponds to guidance assistance data of the present invention. By doing so, the boundary node can be specified even when the history data of the upper layer route guidance link data and the lower layer route guidance link data are different, so the lower layer route associated with the boundary node can be specified. The link of guidance link data can be identified and route guidance can be performed.
[0098]
D. Route search process:
FIG. 10 is a flowchart showing the flow of route search processing. This is a process performed by the CPU of the control unit 230 of the navigation device 200. First, the starting point and destination input from the command input unit 234 are input (step S100). Next, based on these, the route search data of the area used for the route search is acquired from the compact disc CD and the hard disk 240 (step S110). Then, the route search is started from each node of the lower layer route search node data corresponding to the departure point and the destination.
[0099]
After the start of the route search, it is first determined whether or not the target node that is the target of the next route search exists at a position where the hierarchy or block is changed (step S120). If none of the transitions are made, that is, if the target node is in lower layer route search node data of the same block, a route search using the ID (route search 1) is performed (step S150). In step S120, when the target node exists at a position where a hierarchy or a block is changed, it is determined whether or not the data version is the same before and after the transition with reference to the history data (step S130). If the data versions are the same, ID consistency is ensured, and a route search using the ID (route search 1) is performed (step S150).
[0100]
If the data versions are different, there is a high probability that the consistency of the ID is not ensured, so the route search using the ID (route search 1) is not performed. In this case, it is determined whether or not the target node exists at a position where the hierarchy is changed, that is, whether or not the target node is in the higher layer path search node data (step S140). When the target node does not transit the hierarchy, that is, when the block transits, since the scale of the coordinate system is the same before and after the transition, a route search (route search 2) for specifying the node by the coordinate data is performed (step search) S160). When the target node transits a hierarchy, that is, in the upper layer route search data, the scale of the coordinate system is different before and after the transition, so the upper layer route search node data using the subkey described above. And the node of the lower layer route search node data are matched to perform route search (route search 3) (step S170). In step S160, when the target node transitions between upper layer blocks, “route search 3” in step S170 may be performed.
[0101]
Then, “route search 1” in step S150, “route search 2” in step S160, or “route search 3” in step S170 determines whether or not the entire route search is completed (step S180). . If not completed, steps S120 to S180 are repeated until the process is completed. If completed, the route search process ends and the route search result is output.
[0102]
By performing the route search in this way, even when old and new data are mixed in the route search data, the route search can be performed while specifying the target node using the coordinate data and the sub key.
[0103]
E. Route guidance processing:
FIG. 11 is a flowchart showing the flow of route guidance processing. This is a process performed by the CPU of the control unit 230 of the navigation device 200. First, a route search result is acquired (step S200). Next, based on this, the route guidance data of the area used for route guidance is acquired from the compact disc CD and the hard disk 240 (step S210). Then, route guidance is started from lower layer route guidance link data using the current position detected by the current location detection unit 233 (FIG. 2).
[0104]
After starting the route guidance, it is first determined whether or not the target link to be the next route guidance is in the higher layer route guidance link data (step S220). If it is not in the higher layer route search link data, that is, if the target link is in the lower layer route guidance link data, route guidance using the ID is performed (step S240).
[0105]
In step S220, when the target link is in the higher layer route guidance data, it is determined whether or not the data version is the same before and after the transition by referring to the history data (step S230). If the data versions are the same, ID consistency is ensured, and route guidance (route guidance 1) using the ID is performed (step S240). When the data versions are different, there is a high probability that the consistency of the ID is not ensured. Therefore, the route guidance using the ID is not performed, and the route in the lower layer route guidance data is transmitted using the auxiliary data described above. Route guidance (route guidance 2) for specifying a point is performed (step S250).
[0106]
Here, route guidance using auxiliary data will be described. FIG. 12 is a flowchart showing the flow of route guidance processing using auxiliary data. First, the auxiliary data (FIG. 9) corresponding to the target link string is referred to (step S252). Next, the boundary node in the lower layer route guidance data is specified using the sub key (step S254). Then, a link of lower layer route guidance link data associated with the identified boundary node is identified (step S256), and route guidance is performed (step S258).
[0107]
It is determined whether or not the entire route guidance is completed by “route guidance 1” in step S240 or “route guidance 2” in step S250 (step S260) (FIG. 11). If not completed, steps S220 to S250 are repeated until the process is completed.
[0108]
By performing route guidance in this way, even when old and new data are mixed in the route guidance data, it is possible to perform route guidance while specifying the via point of the link using auxiliary data.
[0109]
According to the navigation device 200, the route search data, and the route guidance data described above, route search and route guidance even when old and new data are included in the route search data and route guidance data managed in block units. It can be performed.
[0110]
F. Variation:
Although the embodiments of the present invention have been described above, the present invention is not limited to such embodiments, and can be implemented in various modes without departing from the scope of the present invention. For example, the following modifications are possible.
[0111]
F1. Modification 1
In the above embodiment, the starting point in the route search is the point detected by the current position detection unit 233 provided in the navigation device 200. However, as with the destination, the user inputs by operating the operation panel 220 or the remote controller 225. May be.
[0112]
F2. Modification 2:
In the above embodiment, the sub key is set by the coordinate value of the node in the lower layer data, the remainder operator “%”, and the specific value SKMOD, but is not limited thereto. A common node between different coordinate systems may be applied that can be identified by a combination with coordinate values in one coordinate system.
[0113]
In the above embodiment, the coordinate system of each data is an orthogonal coordinate system, but another coordinate system, for example, a polar coordinate system may be used.
[0114]
F3. Modification 3:
In the above embodiment, the upper layer route guidance link data includes auxiliary data for points in the upper layer route guidance link data corresponding to the boundary nodes in the lower layer route guidance link data. Not limited. The upper layer route guidance link data may be provided with auxiliary data that can specify at least two points for each block of the lower layer route guidance data. Therefore, the upper layer route guidance link data may be provided with auxiliary data for via points other than the boundary node, for example, No, Np, Nq, Nr. It suffices if the link can be specified by identifying the waypoint.
[0115]
F4. Modification 4:
Although the case where the present invention is applied to a so-called car navigation device mounted on a vehicle has been described in the above embodiment, the present invention is not limited to this. For example, the present invention can be applied to a personal computer that can be connected to the Internet, a portable information terminal, a portable navigation device, and a mobile phone.
[0116]
F5. Modification 5:
In the above embodiment, the case where the present invention is applied to the navigation device 200 having the route search function and the route guidance function has been described, but the present invention is not limited thereto. You may apply to the route search apparatus which does not have a route guidance function.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a schematic configuration of a navigation system 1000 as one embodiment.
FIG. 2 is an explanatory diagram illustrating a configuration of a navigation device 200 according to the present embodiment.
FIG. 3 is an explanatory diagram showing a management unit of route search data and route guidance data according to the embodiment.
FIG. 4 is an explanatory diagram schematically showing a data structure of route search data.
FIG. 5 is an explanatory diagram conceptually showing the contents of route search node data.
FIG. 6 is an explanatory diagram for illustrating a sub key.
FIG. 7 is an explanatory diagram conceptually showing the contents of route search link data.
FIG. 8 is an explanatory diagram schematically showing a data structure of route guidance data.
FIG. 9 is an explanatory diagram conceptually showing the contents of route guidance link data.
FIG. 10 is a flowchart showing a flow of route search processing.
FIG. 11 is a flowchart showing a flow of route guidance processing.
FIG. 12 is a flowchart showing a flow of route guidance processing using auxiliary data.
[Explanation of symbols]
1000 ... Navigation system
100 ... Map distribution server
200 ... Navigation device
210 ... Display panel
220 ... Operation panel
225 ... Remote control
230 ... Control unit
240: Hard disk
231 ... Control unit
232: Communication unit
233 ... Current location detection unit
234 ... Command input part
235 ... Electronic map data reference section
236 ... Route search unit
237 ... Route guiding unit
238: Display control unit
INT ... Internet
ST ... Relay station
CD ... Compact disc

Claims (11)

Route search data that can be used by a route search device for searching for a route , the first layer defined in the first coordinate system, and the second higher in scale than the first coordinate system A data structure of route search data having a hierarchical structure including a second hierarchy defined in the coordinate system of
Search link data representing a passage,
Node data for search representing the end point of the passage,
At least some of the search link data and the search node data are:
Data provided in the first hierarchy, the first coordinate data indicating the coordinates of the passage or the end point; and
The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. in the region of the hierarchy are identifiably define each point within the region, in combination with the first coordinate data, uniquely coordinate data of the passageway or the end point in the second hierarchy Search assistance data to identify,
A data structure comprising The route guidance data that can be used by the route guidance device for guiding the route , the first hierarchy defined in the first coordinate system, and the second higher in scale than the first coordinate system. A data structure of route guidance data having a hierarchical structure including a second hierarchy defined in the coordinate system of
The lower layer that holds the lower layer guidance link data representing the passage and the lower layer guidance node data representing the end point of the passage, with respect to the passage defined in the second coordinate system and existing in the predetermined area. Data for layer guidance,
Upper layer defined in the first coordinate system and holding upper layer guidance link data and upper layer guidance node data corresponding to at least part of the lower layer guidance link data and the lower layer guidance node data Data for guidance , and
The upper layer guidance data is
The route point in the lower layer guidance data path corresponding to the upper layer induction link data includes a route point data for uniquely specifying the coordinate system in the lower layer derived data,
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
A data structure comprising A data structure according to claim 2 , wherein
Regarding the lower layer guidance data, the predetermined area is divided into a plurality of divided areas,
At least two of the waypoints are included for each of the plurality of divided regions.
data structure. A data structure according to claim 3 ,
The path in the lower layer guidance data is divided by a boundary node provided at the boundary of the divided area,
The waypoint includes the boundary node,
data structure. A route search device that performs a predetermined route search using route search data,
An input unit for inputting a starting point and a destination in the route search;
An acquisition unit for acquiring the route search data based on the departure place and the destination;
A route search unit that performs the route search using the route search data;
An output unit for outputting the result of the route search,
The route search data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
It is divided into a plurality of areas, and for each area,
Search link data representing a passage,
Node data for search representing the end point of the passage,
At least a part of the search node data is:
Node identification information for search for identifying the end point;
Data provided in the first hierarchy, the first coordinate data indicating the coordinates of the end points;
The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. In the area in the hierarchy, each point in the area is defined so as to be identifiable, and in order to uniquely identify the coordinate data of the end point in the second hierarchy in combination with the first coordinate data Search auxiliary data,
Has a data structure comprising
The route search unit
When performing a route search over at least the region corresponding to the first coordinate system and the region corresponding to the second coordinate system, it is determined that the route search using the search node identification information is inappropriate. A route search is performed by specifying the end point using the first coordinate data and the search auxiliary data .
Route search device. A route guidance device that performs predetermined route guidance using route guidance data,
An input unit for inputting a route search result;
An acquisition unit for acquiring the route guidance data based on the result;
A route guidance unit for performing the route guidance using the route guidance data;
An output unit that outputs a result of the route guidance;
The route guidance data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
A lower layer that holds the lower layer guidance link data representing the passage and the lower layer guidance node data representing the end point of the passage with respect to the passage defined in the second coordinate system and existing in the predetermined area. Data for guidance,
Upper layer defined in the first coordinate system and holding upper layer guidance link data and upper layer guidance node data corresponding to at least part of the lower layer guidance link data and the lower layer guidance node data Data for guidance , and
The upper layer guidance data is
A route point in the lower layer guidance data of the path corresponding to the upper layer guidance link data, the route point data for uniquely specifying in the coordinate system in the lower layer guidance data ,
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
Has a data structure comprising
The route guiding unit is
At least, when performing route guidance using the upper layer guidance data and the lower layer guidance data, it is determined that route guidance using the upper layer guidance link data and the lower layer guidance link data is inappropriate. If so, the route guidance is performed by specifying a path in the lower layer guidance data using the waypoint data.
Route guidance device. A route search method for performing a predetermined route search using route search data,
(A) obtaining a starting point and a destination in the route search;
(B) obtaining the route search data based on the departure place and the destination;
(C) performing the route search using the route search data;
(D) providing a result of the route search,
The route search data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
It is divided into a plurality of areas, and for each area,
Search link data representing a passage,
Node data for search representing the end point of the passage,
At least a part of the search node data is:
Node identification information for search for identifying the end point;
Data provided in the first hierarchy, the first coordinate data indicating the coordinates of the end points;
The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. In the area in the hierarchy, each point in the area is defined so as to be identifiable, and in order to uniquely identify the coordinate data of the end point in the second hierarchy in combination with the first coordinate data Search auxiliary data,
Has a data structure comprising
The step (c)
When performing a route search over at least the region corresponding to the first coordinate system and the region corresponding to the second coordinate system, it is determined that the route search using the search node identification information is inappropriate. A route search is performed by specifying the end point using the first coordinate data and the search auxiliary data .
Route search method. A route guidance method for performing a predetermined route guidance using route guidance data,
(A) obtaining a route search result;
(B) obtaining the route guidance data based on the result;
(C) performing the route guidance using the route guidance data;
(D) outputting the route guidance result,
The route guidance data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
A lower layer that holds the lower layer guidance link data representing the passage and the lower layer guidance node data representing the end point of the passage with respect to the passage defined in the second coordinate system and existing in the predetermined area. Data for guidance,
Upper layer defined in the first coordinate system and holding upper layer guidance link data and upper layer guidance node data corresponding to at least part of the lower layer guidance link data and the lower layer guidance node data Data for guidance , and
The upper layer guidance data is
A route point in the lower layer guidance data of the path corresponding to the upper layer guidance link data, the route point data for uniquely specifying in the coordinate system in the lower layer guidance data ,
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
Has a data structure comprising
The step (c)
At least, when performing route guidance using the upper layer guidance data and the lower layer guidance data, it is determined that route guidance using the upper layer guidance link data and the lower layer guidance link data is inappropriate. A route guidance is performed by specifying a path in the lower layer guidance data using the waypoint data.
Route guidance method. A computer program for controlling a route search device that performs a predetermined route search using route search data,
The route search data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
It is divided into a plurality of areas, and for each area,
Search link data representing a passage,
Node data for search representing the end point of the passage,
At least a part of the search node data is:
Node identification information for search for identifying the end point;
Data provided in the first hierarchy, the first coordinate data indicating the coordinates of the end points;
The data included in the first layer, and compensates for a difference in scale between the first coordinate system and the second coordinate system, and corresponds to one point in the first layer. In the area in the hierarchy, each point in the area is defined so as to be identifiable, and in order to uniquely identify the coordinate data of the end point in the second hierarchy in combination with the first coordinate data Search auxiliary data,
Has a data structure comprising
The computer program is
A function of acquiring a starting point and a destination in the route search;
A function of acquiring the route search data based on the departure place and the destination;
When the route search is performed over at least the region corresponding to the first coordinate system and the region corresponding to the second coordinate system using the route search data, the search node identification information is A function for performing the route search for performing a route search by specifying the end point using the first coordinate data and the search auxiliary data when the used route search is determined to be inappropriate;
A function for outputting the result of the route search;
A computer program for realizing a computer. A computer program for controlling a route guidance device that performs route guidance using route guidance data,
The route guidance data is
A hierarchical structure including a first hierarchy defined in a first coordinate system and a second hierarchy defined in a second coordinate system having a larger scale than the first coordinate system;
A lower layer that holds the lower layer guidance link data representing the passage and the lower layer guidance node data representing the end point of the passage with respect to the passage defined in the second coordinate system and existing in the predetermined area. Data for guidance,
Upper layer defined in the first coordinate system and holding upper layer guidance link data and upper layer guidance node data corresponding to at least part of the lower layer guidance link data and the lower layer guidance node data Data for guidance , and
The upper layer guidance data is
A route point in the lower layer guidance data of the path corresponding to the upper layer guidance link data, the route point data for uniquely specifying in the coordinate system in the lower layer guidance data ,
The waypoint data is
First coordinate data indicating the coordinates of the via point;
Compensating for a difference in scale between the first coordinate system and the second coordinate system, and in the area in the second hierarchy corresponding to one point in the first hierarchy, each point in the area And auxiliary guidance data for uniquely specifying the coordinate data of the waypoint, in combination with the first coordinate data,
Has a data structure comprising
The computer program is
The ability to get route search results,
A function of acquiring the route guidance data based on the result;
When performing route guidance using at least the upper layer guidance data and the lower layer guidance data using the route guidance data, the upper layer guidance link data and the lower layer guidance link data are A function of performing the route guidance by specifying a path in the lower layer guidance data using the waypoint data when the used route guidance is determined to be inappropriate;
A function of outputting the route guidance result;
A computer program for realizing a computer. The recording medium which recorded the computer program of Claim 9 or 10 so that computer reading was possible.

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