JP4357386B2 - Automotive electronic devices - Google Patents

Description

  The present invention relates to a navigation device that searches for a route to a destination and guides the searched route, and more particularly to updating map data used in the navigation device.

  The navigation device detects the current position of the host vehicle, reads map data around the host vehicle location from the map database, draws the map data on the display, and displays the vehicle mark on the map. When the current position changes due to the movement of the vehicle, the map scrolls and the vehicle mark moves accordingly.

  The map database is stored in a recording medium such as a hard disk, a DVD, or a CD. However, since the roads and bridges are newly established or abolished as the times change, it is necessary to update the contents of the map database. For example, a disk such as a DVD is exchanged at a rate of one year or two years, the contents of the hard disk are rewritten, or updated map data is downloaded from a map distribution server.

  However, there is no reason for the user to easily know the timing of data update and the area to be updated. Patent Document 1 discloses a technique for automatically updating map data in order to cope with such a problem. According to Patent Document 1, a white line is extracted from an image captured by a camera that captures the surroundings of the host vehicle, and it is determined whether a road exists at the traveling position of the vehicle. It is determined whether or not a road exists in the map data. If the road does not exist, the road is written in the map data as a new road.

JP 2003-121161 A

  However, the update of conventional map data has the following problems. As described above, since a certain period is required for updating the map data, when the road shape is temporarily changed due to bridge replacement or the like, it is not possible to quickly cope with it. When changing bridges, etc., the shape of the road has often changed greatly, and sufficient caution is required for traveling. For this reason, it is desirable to reflect the change of the road shape in the map data in real time as much as possible and to inform the user of the updated road shape.

  The automatic update technology for map data according to Patent Document 1 is to determine the presence or absence of a road by extracting a white line from the image data of the camera. In the case of a road without a white line or a road where the white line is about to disappear It is difficult to determine the presence or absence of roads. Further, in Patent Document 1, when a road does not exist in the map data, a new road is written in the map data, so that the identification or addition of link data (road data) included in the map data is unavoidable. When the link data ID is added or changed, the route search process or the VICS traffic information is also affected. As a result, a large-scale processing system must be changed.

  Therefore, the present invention provides an in-vehicle electronic device that solves the above-described conventional problems and can update map data quickly and easily when there is a temporary road shape change.

  An in-vehicle electronic device having a navigation function according to the present invention includes a map data storage unit that stores map data, a determination unit that determines whether a road shape has been changed, and a road shape that has been changed. The storage means for storing the traveling locus data of the own vehicle and the link data corresponding to the change of the road shape are identified from the link data included in the map data, and the identified link data is corrected based on the traveling locus data. Link data correction means.

  Furthermore, the map data updating method used in the navigation device according to the present invention includes a step of determining whether or not there is a change in road shape, and accumulates travel locus data of the vehicle when it is determined that there is a change in road shape. A step of identifying link data corresponding to a change in road shape from the link data included in the map data, and correcting the identified link data based on the travel locus data.

  According to the in-vehicle electronic device of the present invention, when it is determined that there is a change in the road shape, the target link data is corrected based on the travel locus data, so that a temporary change in the road shape occurs. However, it is possible to quickly respond to the change and update the map data. The correction of the link data is related to the shape change, and does not change the identification (ID) of the link data itself. For this reason, map data can be updated without affecting the calculation processing at the time of route search in the navigation device. Furthermore, the existing system can be continuously used for displaying traffic information from the VICS.

  The vehicle-mounted electronic device according to the present invention is preferably implemented in a vehicle-mounted navigation device or navigation system. Hereinafter, it will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of the navigation device of this embodiment. In the figure, an input unit 10 includes, for example, an operation panel, an operation remote controller, a touch input of a display, and a voice input, and inputs from the user are transmitted to the arithmetic processing unit 100 via these.

  The position measuring unit 20 receives a radio wave from an artificial satellite (GPS satellite) and measures the current position and current direction of the vehicle, a vehicle speed sensor that detects the moving distance of the vehicle, and a sensor that detects the rotation angle of the vehicle. The position information is output to the arithmetic processing unit 100.

  The vehicle information detection unit 30 includes a VICS / FM multiple receiver, and receives current road traffic information and the like outside the vehicle. Further, the flashing of the right / left turn blinker of the own vehicle, the on / off state of the parking brake, and the on / off state of the dimmer light are detected, and these detection results are output to the arithmetic processing unit 100.

  The camera image input unit 40 receives imaging data from a camera attached in front of the vehicle, and outputs it to the camera image processing unit 42. The camera image processing unit 42 performs image processing on the captured data and outputs the processed image data to the arithmetic processing unit 100.

  The timer unit 50 provides the current time to the arithmetic processing unit 100. The arithmetic processing unit 100 calculates, for example, an expected arrival time to the destination on the basis of this time. The audio output unit 60 includes a speaker, and outputs audio such as intersection guidance during route guidance, for example.

  The display unit 70 includes, for example, a liquid crystal display or the like, and displays a map around the own vehicle position, displays a mark indicating the own vehicle position on the map, a route to the destination, an intersection guidance display, and the like.

  The program storage unit 80 stores a program related to navigation, a program related to update of map data, and the like, and controls the operation of the arithmetic processing unit 100.

  The data storage unit 90 includes a large-capacity storage device that stores large-capacity data such as map data and an arithmetic processing memory that temporarily stores processing arithmetic data and the like of the arithmetic processing unit 100. The mass storage device is preferably a rewritable hard disk, but other than this, a rewritable recording medium such as a DVD or a semiconductor memory can be used. The large-capacity storage device stores map data 92 for displaying the topography and roads of prefectures nationwide.

  The map data 92 is based on the leaves divided by a predetermined longitude and latitude. The map data of each leaf is assigned a leaf number, and the map data of a specific leaf is specified by specifying the leaf number. Can be read. The map data of each figure includes drawing data necessary for map display and link data (road data) necessary for processing such as map matching and route search.

  Further, the data storage unit 90 includes image recognition data 94 used when recognizing an object, a sign, a signboard, or the like included in the imaging data from the camera image processing unit 42. The image recognition data 94 stores, for example, pattern data indicating a road traffic sign or under construction.

  FIG. 2 shows the details of the link data. An intersection on a road, a point where a plurality of roads intersect, a point with different road types, etc. are called a node, and a road connecting the nodes is called a link. The link data LD includes a node table 110 and a link table 120 as shown in FIG. The node table 110 stores all the nodes included in the selected leaf, and each node is assigned # 0, # 1,... #N as identification (ID) numbers. For each node, node attributes such as longitude / latitude data 111, an intersection node flag indicating whether or not the node is an intersection node, and an adjacent node flag indicating whether or not the node is at a boundary with another figure leaf Flag 112, if the link connected to the node has traffic restrictions such as right turn prohibition or U turn prohibition, traffic restriction data 113, and if the node is an intersection node, store the corresponding intersection data Data 114 indicating the position is included.

  The link table 120 stores all links included in the selected map leaf, and each link is given identification (ID) numbers as # 0, # 1,... #N. Link start point and end point position coordinates 121 (corresponding to node longitude and latitude data 111), interpolation data 122 for interpolating the shape position when the road shape includes a shape other than a straight line, link distance and road width Distance data 123 indicating the time, cost data 124 indicating the time (cost) required to pass the link, and a road type flag 125 indicating whether the actual road corresponding to the link is an expressway, a national road, a main prefectural road, or a narrow street , Road attribute data corresponding to the link (for example, data indicating whether or not there is a tunnel or a road to be searched) 126, a road assigned to the road corresponding to the link Number data 127, climbing lane, right turn or left turn only lane, including lane data 128 indicating, for example, number of lanes.

  The navigation device 1 can further be connected to a mobile phone 96 having a data communication function. By using this communication function, it is possible to connect to an external network or the like, receive various data from the server, and transmit data.

  Next, update of the map data of the navigation device according to the present embodiment will be described with reference to the flowchart of FIG. In the present embodiment, when there is a temporary change in the road shape, the map data is updated so as to respond promptly. As an example of the change in the road shape, a bridge as shown in FIG. Targets 220 replacement works. That is, when the bridge 220 (shown by a broken line in the drawing) between the existing road 200 and the road 240 is replaced with a new bridge 222, the bridge 220 passes between the road 200 and the road 240. A road 232 that bypasses the road 230 and passes through the bridge 222 is newly established. In addition, signs 210 that are closed or under construction are installed before and after the road 230. It is assumed that link data of roads 200, 230, and 240 is stored in the map data, and the new road 232 is not updated.

  When the navigation device is activated and the vehicle starts to travel, imaging data is taken into the camera image input unit 40 from a camera attached in front of the vehicle (step S101). The user may instruct the start time of capturing of the camera image or the stop thereof.

  The image data captured by the camera image input unit 40 is subjected to image processing by the camera image processing unit 42 and supplied to the arithmetic processing unit 100. The arithmetic processing unit 100 collates the captured image data with the pattern data stored in the image recognition data 94 to determine whether or not there is a sign or signal that suggests a change in the road shape. In the case of the example in FIG. 4, the arithmetic processing unit 100 determines that there is a change in the shape of the road ahead when it recognizes the sign 210 indicating that the road is closed or under construction that is installed before and after the bridge 220 (step S102).

  When it is determined that there is a change in the road shape, the arithmetic processing unit 100 identifies the link that is currently running from the map data, and stores this in the memory (step S103). In the example of FIG. 4, a link corresponding to the currently traveling road 200 is specified. Hereinafter, this link is referred to as a change target start point link. The change target start point link is temporarily stored in the memory as an update candidate.

  Next, the arithmetic processing unit 100 determines whether or not the traveling position of the host vehicle has departed (off-roaded) from the change target link based on the measurement data from the position measuring unit 20 (step S104). The calculation processing unit 100 considers the detection error of the vehicle position, and when the vehicle position is more than a certain distance from the change start point target link, the calculation processing unit 100 does not perform the map matching process to the link and travels on a road not included in the map data. It is determined that the vehicle is off-road driving.

  When it is determined that the vehicle is off-road traveling, the arithmetic processing unit 100 stores the traveling locus data of the own vehicle in the memory (step S105). This is performed by accumulating measurement data from the position measurement unit 20. The travel locus data is stored until the vehicle position is recombined with the link data included in the map data, that is, until on-road travel is performed.

  The arithmetic processing unit 100 determines that the vehicle position is on-road traveling when the vehicle position becomes map-matchable with the link data included in the map data (step S106). The arithmetic processing unit 100 identifies a link when on-road traveling is performed (step S107). This link is referred to as a change target end point link. For example, in the case of FIG. 4, the host vehicle travels on the new road 232 from the road 200 and returns to the road 240, so that the vehicle 240 is determined to be on-road travel when traveling on the road 240 and the road 240 becomes the change target end point link.

  The arithmetic processing unit 100 reads the link data from the change target start point link to the change target end point link (step S107), reads the travel locus data (step S109), and corrects the change target link based on the travel locus data (step S107). S110). The correction of link data means the change of the coordinate position 121 of the start point and the end point of the link included in the link data and the addition or change of the interpolation data 122 without changing the link ID of the link data. In other words, the shape of the road drawn on the display is changed, or the reference position when the vehicle position is map-matched on the road (link) is changed.

  For example, when the road shape is changed due to the bridge replacement shown in FIG. 4, the correction of the link data is performed as follows. FIG. 5A shows link data included in the original map data, and link data corresponding to the road 200, the bridge 220, and the road 230 are link # 1, link # 2, and link # 3. Since the type of the bridge 220 is different from that of other roads, a unique link is given to this portion. Link # 1 is from start point # 1-1 to end point # 1-2, link # 2 is from start point # 2-1 to end point # 2-2, and link # 3 is from start point # 3-1 to end point # 3. -2. The end point # 1-2 of the link # 1 and the start point # 2-1 of the link # 2 are common, and the end point # 2-2 of the link # 2 and the start point # 3-1 of the link # 3 are common. Note that the position coordinates of these start and end points correspond to the latitude and longitude data 111 of the node data.

  FIG. 5B shows the updated link data. When the travel path P (thick line in the figure) is obtained by replacing the bridge 222, the links # 1, # 2, and # 3 are corrected so as to correspond to the travel path P. The end point # 1-2a of the link # 1 is changed in the horizontal direction, and two interpolation data h1-1 and h1-2 are added between the start point # 1-1 and the end point # 1-2a. By adding interpolation data between the start point and the end point, the link is drawn so as to pass through the interpolation data. Thereby, the link # 1 is corrected to a crank-shaped road shape. Since the link # 2 corresponds to the straight bridge 222, interpolation data is not added, but the start point # 2-1a is moved in the horizontal direction so as to coincide with the end point # 1-2a of the link # 1. The link # 3 is moved in the horizontal direction so that the start point # 3-1a coincides with the end point # 2-2a of the link # 2, and the interpolation data is inserted between the start point # 3-1a and the end point # 3-2. h3-1 and h3-2 are added.

  In this way, it correct | amends so that it may respond | correspond to the driving | running | working locus | trajectory P, without changing identification (ID) of link # 1, link # 2, and link # 3. The corrected link data is stored in the map data 92, and the map data 92 is updated (step S111).

  FIG. 6A is a display of the bridge portion by the map data before the update, and FIG. 6B is a display of the bridge portion by the map data after the update. By correcting the link data, it is possible to display a road that reflects the change in the road shape 232 accompanying the replacement of the bridge 222, so that the user can recognize the change in the road shape in the subsequent travel. it can. Furthermore, since the road shape is changed, the vehicle position M is map-matched to the updated road, and the appearance on the display is improved. When the map data 92 is updated, an update button R as shown in FIG. 6B may be displayed, and it may be left to the user's decision whether to update the map data.

  In this embodiment, it should be noted that the correction of the link data is correction of data related to the change in the shape of the link data (addition and change of the start point and end point position coordinates and interpolation data), and does not change the link ID itself. Is a point. The link ID is referred to in processing such as cost calculation at the time of route search, and is also referred to when traffic congestion information from the VICS is displayed. For this reason, if link ID is changed, the system of a navigation apparatus will be forced to change. However, the correction of the link data according to the present embodiment does not change the link ID, but corrects the road shape displayed on the display and corrects the reference position when the vehicle position is map-matched to the road. Therefore, the existing system of the navigation device can be used as it is.

  In the above embodiment, the contents of the map data 92 are updated. However, other than this, for example, the update data may be transmitted to the center holding the map data via a communication means such as a mobile phone 96. Good. The center may develop a service for downloading updated map data to other users. Furthermore, it may be notified that the following vehicle has changed the road shape through a network using inter-vehicle communication.

  Further, in the above-described embodiment, bridge replacement has been shown as an example of the shape of the road change. Of course, other than this, it is possible to flexibly cope with a change in the road shape due to road closure.

  Furthermore, in the above-described embodiment, an example in which imaging data from a camera is used when determining whether or not a road shape has been changed has been shown, but imaging data may not necessarily be used. In this case, the arithmetic processing unit 100 determines that map matching is difficult when the vehicle position departs from a traveling road and travels on a road that is not included in the map data. judge. Then, when the vehicle position returns to the road included in the map data, it may be determined that the road shape has changed, and the link data may be corrected based on the travel locus data during that time.

  Furthermore, when determining whether or not the road shape has changed, the traveling speed of the host vehicle may be referred to when the host vehicle position leaves the traveling road. That is, when the traveling speed of the own vehicle does not decrease and is equal to or higher than a certain speed, it is assumed that a road is clearly present. At this time, the change target start point link may be specified.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Deformation / change is possible.

  The vehicle-mounted electronic device according to the present invention can be used in a navigation device, a navigation system, or a computer device having a navigation function. Furthermore, the in-vehicle electronic device may include an audio / video function in addition to the navigation function.

It is a block diagram which shows the structure of the navigation apparatus which concerns on the Example of this invention. It is a figure explaining the content of link data. It is an operation | movement flowchart explaining the update of the map data by a present Example. It is a figure which shows the replacement of a bridge as an example of the change of a road shape. It is a figure which shows the driving | running locus | trajectory by bridge replacement. FIG. 6A shows a display example using map data before update, and FIG. 6B shows a display example using updated map data.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10: Input part 20: Position measurement part 30: Vehicle information detection part 40: Camera image input part 42: Camera image processing part 50: Time measuring part 60: Audio | voice output part 70: Display part 80: Program storage part 90: Data storage part 92: Map data 94: Image recognition data 100: Arithmetic processing unit 200, 240: Existing road 210: Sign 220: Original bridge 222: Relocated bridge 232: New road

Claims (11)

An in-vehicle electronic device having a navigation function,
Map data storage means for storing map data;
A determination means for determining presence or absence of a change in road shape;
When it is determined that there is a change in the road shape, an accumulating unit that accumulates travel locus data of the own vehicle;
Link data correction means for specifying change target link data corresponding to a change in road shape from the link data included in the map data, and correcting the specified change target link data based on the travel locus data ;
The link data correcting means specifies change target start point link data in which the host vehicle is currently traveling, and change target end point link data in which the host vehicle is recombined with the link data of the map data based on the travel locus data. The change target link data between the change target start point link data and the change target end point link data is read from the map data storage means, and the data relating to the road shape of the read change target link data is Correct based on the running track data,
Automotive electronic device. Link data correcting means adds the interpolation data for changing the road shape in the change target link data, vehicle electronic device according to claim 1. The said determination means determines that there exists a change of a road shape, when the imaging data which imaged the surroundings of the own vehicle position contain the sign data which suggests the change of road shapes, such as under construction or a traffic closure. In-vehicle electronic devices. The in-vehicle electronic device according to claim 1, wherein the determination unit determines that there is a change in a road shape when the vehicle position departs from a link data currently being traveled by a certain distance or more. It said determination means, the vehicle position is disengaged from the link data currently traveling, and when the running speed of the vehicle is a constant speed or more, determines that there is a change in the road shape, according to claim 4 Automotive electronic device. The in-vehicle electronic device according to claim 1, further comprising an updating unit that updates contents of the map data storage unit based on the corrected link data to be changed . The in-vehicle electronic device according to claim 1, further comprising a transmission unit that transmits the corrected update information of the change target link data to the outside via a communication unit. A method for updating map data used in a navigation device,
Determining whether the road shape has changed,
When it is determined that there is a change in the shape of the road, a step of accumulating the traveling locus data of the own vehicle;
Identifying the change target starting point link data that the vehicle is currently traveling;
Identifying the change target end point link data in which the vehicle is recombined with the link data of the map data based on the travel locus data;
Reading change target link data between the change target start point link data and the change target end point link data from a road map database;
Correcting the read-out data regarding the road shape of the link data to be changed based on the travel locus data;
The update method of the map data which has. The determining step determines that there is a change in the road shape when the imaging data obtained by imaging the vicinity of the vehicle position includes sign data suggesting a change in the road shape such as under construction or traffic closure. To update your map data. The map data update method according to claim 8 , wherein the update method further includes a step of updating the map data based on the corrected link data to be changed . The update method for map data according to claim 8 , further comprising a step of transmitting the corrected update information of the link data to be changed to the outside via a communication unit.

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