JP4931674B2 - Mobile-database linkage system - Google Patents

Description

  The present invention relates to a system for linking a mobile object such as a person, vehicle, or aircraft carrying a communication device with a map database, and more particularly, the mobile object is stored in a map database via a map information integration management device. It is related with the cooperation system at the time of acquiring map data.

As one of systems for guiding a course to a moving body such as a person, vehicle, or aircraft that carries or has communication equipment, the area is divided into a plurality of mesh areas, and terrain data and roads in the mesh areas are divided into mesh areas. Map data including data, facility data, vegetation data, etc. is mapped into a map database, and predetermined map data corresponding to an acquisition request from the mobile object is transferred from the above map database via the map information accumulation management device. (For example, see Patent Documents 1 and 2 below) .

This system has a configuration corresponding to at least one moving body, a map information accumulation management device, and a map data server device. When there is a map data acquisition request from the mobile body to the map information accumulation management device, the map information accumulation management device determines whether the acquisition request is transmitted from within the mesh area under its own jurisdiction, It is determined whether or not the transmission notification is from a moving body, and when it is determined that the transmission notification is transmitted from a moving body in the mesh area under its jurisdiction, a predetermined map is sent to the map data server device. Send a search request for data.

  The map data server device searches predetermined map data from the map database in response to a search request from the map information accumulation management device, and transmits the map data to the map information accumulation management device. The map information accumulation management device transmits the map data to the mobile body after identifying the mobile body that has transmitted the acquisition request and its location. The map data received by the mobile object is displayed and used, for example, on a monitor of a communication device that the mobile object carries or has.

JP 2006-10765 A Japanese Patent Laid-Open No. 2003-98956

  In a conventional mobile object-database linkage system in which a mobile object obtains map data via a map information accumulation management device, the map information accumulation management device transmits map data individually to each mobile object. As the number increases, the total transmission amount increases. As a result, the transmission time becomes longer as the total number of mobile objects increases, and the real-time property tends to be lost.

  In addition, since map data requested to be acquired from a mobile object is retrieved from a map database stored in advance in the map data server device, actual terrain, road networks, etc., such as disaster areas, can be retrieved from existing map data. In the changed mesh region, the latest map data cannot be provided to the moving body, and the moving path may not be accurately guided to the moving body.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain a moving body-database linkage system in which each moving body can easily share desired map data under high real-time characteristics.

  The mobile object-database linkage system of the present invention that achieves the above object stores a map database in which a map is created by dividing an area into a plurality of mesh areas and mapping the existing map data of each mesh area for each mesh area. When the map information accumulation management device receives an acquisition request for predetermined map data from a mobile object carrying or equipped with a communication device, the predetermined map data corresponding to the acquisition request is received. A mobile body-database linkage system that transmits data from a map information accumulation management device to a mobile body, and a plurality of mobile bodies located in the same mesh region form a group by exchanging information with each other. Only one mobile body having the representative right transmits the above acquisition request to the map information accumulation management device, A moving body that is characterized in that to distribute the map data by receiving the predetermined map data corresponding to the acquisition request from the map information accumulation management device to another mobile in the group.

  In the mobile object-database linkage system of the present invention, the map information accumulation management device does not have to separately transmit and receive to / from a mobile object other than the representative mobile object, so that the map information accumulation management device receives predetermined map data. The total transmission amount for transmission is much smaller than when map data is individually transmitted to each mobile unit, and the transmission time is shortened. In addition, since the map data is distributed from the mobile body having the representative right to other mobile bodies in the group, the mobile bodies constituting the group can share the same map data. Therefore, in the mobile body-database linkage system of the present invention, it is easy for each mobile body to share desired map data under high real-time characteristics.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a mobile object-database cooperation system of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments described below.

Embodiment 1 FIG.
FIG. 1 is a conceptual diagram schematically showing an example of a mobile object-database cooperation system. The mobile object-database linkage system 50 shown in the figure divides an area into a plurality of mesh areas R _{1 to} R _7, and each of the mesh areas R _{1 to} R ₇ has terrain data, road data, facility data, Existing map data including vegetation data and the like is mapped into a map database, and predetermined map data corresponding to an acquisition request from a mobile object carrying or equipped with a communication device is distributed from the map database to the mobile object.

Therefore, the mobile body-database cooperation system 50 includes groups (schools) S _{1 to} S ₇ composed of a plurality of mobile bodies located in the same mesh region, the map information accumulation management device 20, and the above And a map data server device 30 having the map database. The mobile bodies in the same group are wirelessly connected to each other, for example, and each mobile body and the map information accumulation management device 20 are also wirelessly connected to each other, for example. Similarly, the map information accumulation management device 20 and the map data server device 30 are also wirelessly connected to each other, for example.

As shown in FIG. 2, the group S ₁ is composed of _six moving bodies M _{1 to} M ₆ located in the mesh region R ₁ , and only one of the moving bodies M ₁ is the map information accumulation. It has a representative right to perform transmission / reception with the management apparatus 20. Similarly, the group S ₂ is composed of six mobile bodies M _{11 to} M ₁₆ located in the mesh region R ₁ , and only one mobile body M ₁₁ has the above representative right. . Although not shown, each of the remaining groups S _{3 to} S ₇ shown in FIG. 1 is also composed of a plurality of moving bodies located in the same mesh region, and only one moving body among them is the above-described one. Have the right to represent. Although not shown, each moving body is provided with current data collecting / accumulating means for collecting current map data and accumulating it as current data in the process of moving in the mesh area. The current status data collection / accumulation means can be configured using, for example, an imaging device, a distance measuring device, a gyroscope, a positioning meter, and a storage device that stores current status data collected by these devices.

As shown in FIG. 3, the mobile units M _{1 to} M ₆ constituting the group S ₁ exchange information with each other by communication, and the mobile units M _{11 to} M ₁₆ constituting the group S ₂ also exchange information with each other by communication. I do. Each of the moving bodies M _{1 to} M ₆ and M _{11 to} M ₁₆ collects current map data by the above-described current data collection / accumulation means in the process of moving in the mesh region, and accumulates it as current data. The current status data includes, for example, route information that is information about roads that can be passed, attribute information such as width and weight restrictions on the roads, terrain information, and local damage status. For example, in a desert or the like, a place where traffic is possible is route information. For locations where the current data is insufficient in the mesh region R ₁ where the groups S ₁ and S ₂ are located, the mobile bodies M ₁ and M ₁₁ having the representative right are managed by the map data server device 30 to collect map information. Predetermined map data is received via the device 20 and complemented.

At this time, the mobile bodies M ₁ and M ₁₁ having the representative right independently transmit acquisition requests Ra and Ra (see FIG. 1) for predetermined map data to the map information accumulation management device 20. Each time the map information accumulation management device 20 receives the acquisition request Ra, the map information server 20 transmits a search request Rs to the map data server device 30 for the map data corresponding to the acquisition request Ra, and receives the search request Rs. 30 retrieves the map data Dm corresponding to the retrieval request Rs from the map database and transmits it to the map information accumulation management device 20. The map information accumulation management device 20 transmits the map data Dm as it is or extracts only necessary data to the mobile unit M ₁ or the mobile unit M ₁₁ having the representative right.

The mobile unit M ₁ having the representative right is based on the map data Dm received from the map information accumulation management device 20 and the current data collected and accumulated by itself and other mobile units M _{2 to} M _6. Map data is created and distributed to other mobile units M _{2 to} M ₆ . As a result, the latest map data is shared by each mobile unit M _{1 to} M ₆ . Similarly, the mobile unit M ₁₁ having the representative right includes the map data Dm received from the map information accumulation and management device 20 and the current data collected and accumulated by itself and other mobile units M _{12 to} M _16. create a map data based on, for distribution to other mobile M ₁₂ ~M _16. As a result, the latest map data is shared by each mobile unit M _{11 to} M ₁₆ . Each of the groups S _{3 to} S ₇ (see FIG. 1) other than the above-described groups S ₁ and S ₂ also shares the latest map data with each mobile body in the group in the same manner as in the groups S ₁ and S ₂ . To do.

  FIG. 4 is a flowchart schematically showing an example of a procedure until each mobile body constituting one group shares the latest map data. In the example shown in the figure, steps S1 to S11 described below are performed in this order when the mobile objects constituting one group share the latest map data.

  In step S1, a plurality of mobile bodies located in the same mesh area exchange information with each other by wireless communication to form a group, and select mobile bodies having a representative right. For example, a certain area is divided into a plurality of mesh areas in advance according to latitude, longitude, and altitude, and numbered for each mesh area. Each mobile unit recognizes its position by using, for example, the Global Positioning System (GPS), and uses a predetermined calculation formula to determine the mesh region in which the self is located in the numbered mesh region. And so on.

In step S2, the mobile body having the representative right collects current status data from other mobile bodies in the group by wireless communication. Each mobile unit independently collects and accumulates current state data during the movement process, and transmits the current state data together with time stamp data in response to a request from the mobile unit having the representative right. For example, when the moving bodies M _{21 to} M ₂₆ constituting one group move along the moving paths P _{21 to} P ₂₆ indicated by solid arrows in FIG. 5, each of the moving bodies M _{21 to} M ₂₆ has its own. Collect and accumulate current data during the travel process.

In step S3 shown in FIG. 4, the mobile body having the representative right determines where the current data is insufficient in the mesh area where the group is located. For example, as shown in FIG. 6, the mobile body M ₂₁ having the representative right determines the places P _{30 to} P ₄₂ indicated by solid lines in FIG. 6 that are the same as those shown in FIG. 5 are given the same reference numerals as those used in FIG. 5 and description thereof is omitted.

  In step S4 shown in FIG. 4, the mobile body having the representative right transmits an acquisition request for map data of the above location to the map information accumulation management device 20, and in step S5, the map information accumulation management device 20 transmits the map data. A search request for map data at the above location is transmitted to the server device 30. Upon receiving this search request, the map data server device 30 searches the map database for map data corresponding to the search request, and transmits the map data to the map information accumulation management device 20 in step S6.

  If there are multiple locations where current data is missing, the above acquisition request, search request, and transmission of map data may be performed for each location, or for all missing locations at once. You may go. In addition, the above acquisition request is preferably performed in real time as soon as the location where the current data is insufficient is determined. However, the search request and the transmission of the map data are not necessarily performed in real time. The mobile object-database cooperation system 50 (see FIG. 1) can be configured to be performed when the communication line is available.

  In step S7, the map information accumulation management device 20 that has received the map data extracts map data corresponding to the location where the current data is insufficient from the map data, and has transmitted the acquisition request described above. That is, the extracted map data is transmitted to the mobile object having the representative right. This transmission is not necessarily performed in real time as soon as the map data is extracted, but the mobile-database cooperation system 50 (see FIG. 1) is configured to be performed when the communication line is available. You can also

  If necessary, a function for accumulating map data received from the map data server device 30 can be added to the map information accumulation management device 20. When this function is added to the map information accumulation management device 20, when there is an acquisition request for the same map data from different groups at different times, a map is sent to the mobile body that has transmitted the acquisition request later. It is possible to transmit predetermined map data without accessing the data server device 30. As a result, it becomes easy to transmit predetermined map data to a mobile body with high real-time properties.

In step S8, the mobile body having the representative right receives the above map data, complements it as map data for the location where the current data is insufficient, and distributes the map data to other mobile bodies in the group. To distribute. Each mobile unit that has received the above map data from the mobile unit having the representation right has collected and accumulated new data after transmitting the current data to the mobile unit having the representation right in step S3 described above. Based on the current status data, the map data is updated to new map data in step S9. For example, as shown in FIG. 7, after transmitting the current state data to the mobile body having the representative right in step S3, only the mobile body M ₂₅ moves and the position coordinates are changed from (400, 800) to (400, 400). If this is the case, the moving body M ₂₅ newly collects and accumulates current status data such as route information for the travel route P ₅₀ indicated by the dashed arrow in FIG. Update the data to new map data. 7 that are the same as those shown in FIG. 6 are given the same reference numerals as those used in FIG. 6 and description thereof is omitted.

In step S10 shown in FIG. 4, the mobile body having the representative right collects the updated map data from the other mobile bodies in the group together with the time stamp data. The latest map data for the mesh region to which the group belongs is constructed by removing overlapping portions from the map data collected from the moving body. For example, in the example shown in FIG. 7, when the moving body M ₂₅ reaches the position of the position coordinates (400, 800) via the movement path P ₂₅ , the movement body M ₂₅ passes through the movement path P ₅₀ and the position coordinates (400 , 400), the route connecting the position coordinates (400, 600) and the position coordinates (400, 800) overlaps. For this reason, the mobile body M ₂₁ having the representative right has the oldest time stamp data among the path information connecting the position coordinates (400, 600) and the position coordinates (400, 800), that is, the mobile body M _{21. 25} deletes the path information about the path connecting the position coordinates obtained when moving the moving path P ₂₅ (400, 600) and the position coordinates (400, 800), to build the latest map data.

  In step S11 shown in FIG. 4, the mobile body having the representative right distributes the latest map data by distributing it to each mobile body in the group. As a result, the latest map data is shared by each mobile unit in the group.

Thus, the moving body shown in FIG. 1 - the database cooperation system 50, the same mesh region R _1, R _2, R _6, a group a plurality of mobile located within R ₇ is in each mesh region S ₁ to S ₇ , only the mobile body having the representative right selected for each of the groups S _{1 to} S ₇ performs transmission / reception with the map information accumulation management device 20 to obtain the map data of the location where the current data is insufficient. The map information accumulation management device 20 may not perform transmission / reception individually with a mobile body other than the mobile body having the representative right. Therefore, the total transmission amount when the map information accumulation management device 20 transmits predetermined map data to each group is remarkably reduced compared with the case where map data is individually transmitted to each mobile body, and the transmission time is shortened. Become. It is easy to distribute map data under high real-time characteristics.

Also, collecting its own current status data of each of the moving body per group S ₁ to S ₇ constituting the group S ₁ to S _7, accumulate, and the map data received from the current state data and map information integrated management apparatus 20 Since the mobile body having the representative right creates the latest map data and distributes it within the group, each mobile body can share the latest map data.

  Therefore, in the mobile body-database cooperation system 50, it is easy for each mobile body to share the latest map data under high real-time characteristics. For example, even in a mesh area where the actual topography, road network, etc. have changed from existing map data, such as disaster areas, each mobile object can obtain the latest map data. It becomes easy.

  The mobile body-database linkage system 50 that exhibits the technical effects described above includes a plurality of mobile bodies that carry or have a communication device having a predetermined function, at least one map information accumulation management device, and at least one map data server device. Can be configured. It is possible to appropriately select the specific configuration of each component. Hereinafter, specific examples of communication devices, map information accumulation management devices, and map data server devices carried or carried by a mobile body will be described with reference to the drawings.

  FIG. 8 is a block diagram schematically showing an example of a communication device carried or provided by a mobile body. The communication device 100 shown in the figure includes an external environment information acquisition unit 71, a storage unit 73, a mobile unit communication unit 75, a mobile unit information management unit 77, a group information management unit 90, and a main communication unit 95.

  The external environment information acquisition unit 61 takes in external environment information EI such as current data and position information from GPS as input, and acquires the position data of the mobile body equipped with the communication device 100 and the current data collected by the mobile body. Store in the storage unit 73. The external environment information acquisition unit 61 and the storage unit 73 also function as status data collection / accumulation means.

  The inter-mobile communication unit 75 specifies a mesh region where the mobile body including the communication device 100 is located based on the position data, and performs transmission / reception with other mobile bodies capable of communication. This inter-mobile communication unit 75 has a function of searching for other mobile objects in the same mesh region by communication and a function of tracking the trends of the other mobile objects capable of communication. In addition, it has a function of transmitting the current status data and the like to other mobile units and a function of receiving the current status data and the like from other mobile units. Furthermore, when the mobile body provided with the communication device 100 is a mobile body having the representative right, the function of determining the location where the current status data is insufficient, or the main communication unit 95 uses the map information integration management device 20 ( It also has a function to construct the latest map data using the map data obtained by updating the map data received from other mobile units in the group based on the current status data collected independently from the map data received from FIG. Yes. The latest map data and the like are stored in the storage unit 73.

  The mobile body information management unit 77 manages whether or not the mobile body provided with the communication device 100 is a mobile body having the representative right, manages the movement operation of the mobile body, and manages the operation of the group information management unit 90. And the operation management of the main communication unit 95. Information about whether or not the mobile object provided with the communication device 100 is a mobile object having a representative right is stored in the storage unit 73.

  The group information management unit 90 includes a group information acquisition unit 81, a group entry unit 83, and a group leave unit 85. The group information acquisition unit 81 acquires information about the group based on the communication result of the inter-mobile communication unit 75. The acquired information is stored in the storage unit 73. The group entry unit 83 sends information for entering the group, such as position data of the mobile body equipped with the communication device 100, to the inter-mobile communication unit 75, and the group leave unit 85 sends information for leaving the group. This is sent to the inter-mobile communication unit 75. Receiving these pieces of information, the inter-mobile communication unit 75 transmits the information to other mobiles in the group. When there is no other moving body in the mesh region where the moving body including the communication device 100 is located, the moving body forms one group.

  The operation of the main communication unit 95 is controlled by the mobile information management unit 77, and a map data acquisition management device 20 (see FIG. 1) issues a map data acquisition request for a location where the current data is insufficient in the mesh area. Send to. Further, the map data transmitted from the map information accumulation management device 20 is received.

  FIG. 9 is a flowchart schematically showing an example of a procedure when the mobile body having the communication device 100 described above becomes a mobile body having the representative right and exchanges information within the group, and FIG. It is a conceptual diagram which shows an example of information exchange in. In the example shown in FIG. 9, formation of a group and information exchange within the group are performed according to steps S21 to S31 described below.

  In step S21, a plurality of mobile bodies located in the same mesh area exchange information with each other by wireless communication to form a group, and select mobile bodies having representative rights. In step S22, the mobile body having the representative right collects current status data from other mobile bodies in the group by wireless communication.

In the example shown in FIG. 10, when the mobile unit M ₃₁ having the representative right collects the current status data from the other mobile units M _{32 to} M ₃₅ in the group, first, the adjacent mobile unit M ₃₂ is requested to acquire the current status data. Ra is transmitted. The mobile unit M ₃₂ that has received this acquisition request Ra transmits an acquisition request Ra for the current status data to the adjacent mobile unit M ₃₃ , and the mobile unit M ₃₃ transmits the current status to each of the two adjacent mobile units M ₃₄ and M _35. Data acquisition requests Ra are transmitted in order. When each of the mobile units M _{32 to} M ₃₅ receives the acquisition request Ra, the mobile units M _{32 to} M ₃₅ transmit the collected current status data Dc to the mobile unit that is the transmission source of the acquisition request Ra.

At this time, the mobile M ₃₃ is present status data Dc is transmitted from each of the mobile M _34, M _35, present status data Dc is transmitted from the mobile M ₃₃ is the mobile M _32. Each of the mobile units M ₃₃ and M ₃₂ only provides a communication path and does not capture the current status data Dc transmitted from other mobile units. Finally, each of the mobile M ₃₂ ~M ₃₅ collects, current status data Dc that has been accumulated is sent to the mobile M ₃₁ having the representation right. Although not shown in the figure, prior to the transmission of the current data acquisition request Ra, the arrangement about whether or not the current data Dc is accumulated and the response to the inquiry are performed in the same manner as described above, and the current data Dc. The acquisition request Ra for the current data Dc is transmitted only to the mobile body that has responded that there is an accumulation of.

  The moving body having the representative right that has collected the current state data as described above determines where the current state data is insufficient in the mesh region to which the group belongs in step S23 shown in FIG. In step S24, it is determined whether or not the mobile object having the representation right continues to collect the current status data. If it is determined to continue, the process returns to step S22. On the other hand, when it is determined not to continue collecting current data, the process proceeds to step S25 to determine whether or not connection to the map information accumulation management device is possible.

  When it is determined in step S25 that the connection to the map information accumulation management apparatus is possible, the process proceeds to step S4 shown in FIG. 4, and thereafter, steps S5 to S11 shown in FIG. 4 are performed. On the other hand, when it is determined in step S25 that the connection to the map information accumulation management device is not possible, the process proceeds to step S26, and the mobile unit having the representative right is requested to re-collect current data from other mobile units in the group. Deliver a collection start request. This re-collection start request also includes inquiry information as to whether or not current data has been collected for the part determined to be lacking in the current data in step S23.

  Each mobile unit that has received the re-collection start request transmits the current state data to the mobile unit having the representative right in the above-described step S22, and the current state data is newly collected and accumulated in the current state data. It is determined whether or not the current state data of the portion determined to be included is included, and the determination result is transmitted to the mobile unit having the representative right.

  In step S27, it is determined whether or not there is a moving body that stores the current state data to be collected, that is, whether or not there is a moving body that stores the current state data for the portion that is determined to be insufficient in step S23. Judgment. When it is determined that there is a mobile object that stores current status data to be collected, the mobile object having the representative right returns to step S23 after collecting the current status data. In FIG. 9, for convenience, the procedure for returning to step S23 after collecting the current status data to be collected is represented by “A”. On the other hand, when it is determined in step S27 that there is no moving object that stores the current status data to be collected, the process proceeds to step S28.

  In step S28, the mobile body having the representative right instructs each mobile body in the group to collect the current status data. In step S29, each mobile body that has received the above instruction starts collecting and storing current data, and in step S30, each mobile body that has received the above instruction actually collects and stores current data. Thereafter, the mobile body having the representative right determines again whether or not to continue collecting the current status data in step S31. If it is determined in step S31 that the current data collection is to be continued, the process returns to step S22, and if it is determined not to continue the current data collection due to a move to another mesh area or the like, information exchange within the group is performed. Exit.

  FIG. 11 is a block diagram schematically illustrating an example of the map information accumulation management device. The map information accumulation management device 150 shown in the figure includes a reception session monitoring unit 121, a message creation unit 123, a message analysis unit 125, a message storage unit 127, a transmission destination determination unit 129, a real-time transmission unit 131, a message deletion unit 133, and a transmission. It has a session monitoring unit 135, an unsent message processing unit 137, a non-real time transmission unit 139, and a storage unit 141.

  The reception session monitoring unit 121 monitors the transmission from the mobile unit and the transmission from the map data server device. When there is an acquisition request for predetermined map data from the mobile unit, or the predetermined map is transmitted from the map data server unit. When data is transmitted, these are received.

  The message creation unit 123 receives input of information received by the reception session monitoring unit 121 from the reception session monitoring unit 121, and converts the information into a message. Here, the “message” in this specification refers to map data, route information about the moving route of the moving object, attribute information about the moving route of the moving object, and a map that has been requested for acquisition from the moving object having the representative right. This means information with tag data attached to information such as data. When the message creation unit 123 creates a message, the time stamp data when the reception session monitoring unit 121 receives the above information is also included in the message.

  The message analysis unit 125 analyzes the content of the message created by the message creation unit 123, and determines whether there is something that overlaps the already received information. At this time, it is determined whether or not there are duplicates by using the tag data and considering the time stamp data.

  The message storage unit 127 receives an input of the analysis result from the message analysis unit 125, and when the message includes predetermined map data requested to be acquired for the first time from a moving body in a specific mesh region, a search corresponding to the map data While outputting the request to the transmission destination discriminating unit 129, log information about the message is created and stored in the storage unit 141. Similarly, when the message includes the map data received from the map data server device for the first time, the map data is output to the transmission destination discriminating unit 129, while the log information about the message is generated and stored in the storage unit 141. And the above map data is stored in the storage unit 141. When the content of the message is duplicated with the information already received and this information is stored in the storage unit 141, the duplicate information indicating the duplicate message is output to the transmission destination determination 129, while Log information about the message is created and stored in the storage unit 141.

  The transmission destination determination unit 129 determines whether the transmission destination of the information input from the message storage unit 127 is a mobile body or a map data server device, creates transmission destination information, and then transmits the transmission destination information together with the transmission destination information. The search request, map data, or duplication information is output to the real-time transmission unit 131.

  The real-time transmission unit 131 transmits the search request or the map data output from the transmission destination determination unit 129 to the map data server device or the moving body according to the transmission destination information. When duplicate information is output from the transmission destination discriminating unit 129, information that is the target of the duplicate information is read from the storage unit 141 and transmitted to the mobile object or the map data server device according to the transmission destination information. However, when the transmission request could not be transmitted in real time because the communication path was not established, the search request, the map data, or the duplicate information and the transmission destination information were stored in the storage unit 141 and could not be transmitted. Update the flag to indicate On the other hand, if transmission is successful, transmission completion information is created and output to the message deletion unit 133. Based on the transmission completion information sent from the real-time transmission unit 131, the message deletion unit 133 deletes log information about the message corresponding to the information for which transmission has been completed from the storage unit 141.

  The transmission session monitoring unit 135 monitors the communication path with the mobile body that has transmitted the above acquisition request and the communication path with the map data server device, and creates the transmittable information when the communication path is established. Is output to the unsent message processing unit 137.

  When the transmission possible information is input from the transmission session monitoring unit 135, the unsent message processing unit 137 receives unsent information (search request, map data, or duplicate information) stored in the storage unit 141 and the information. The destination information is retrieved and read, and the information is output to the non-real-time transmission unit 139.

  When the non-transmitted message processing unit 137 receives the non-transmitted information and the transmission destination information of the non-transmitted information, the non-real-time transmitter 139 converts the non-transmitted information into the moving object or the map data according to the transmission destination information. Send to server device. When the untransmitted information is duplicate information, the information that is the target of the duplicate information is read from the storage unit 141 and transmitted to the mobile body or the map data server device according to the destination information. After transmission, transmission completion information is created and output to the message deletion unit 133. Based on the transmission completion information sent from the non-real-time transmission unit 139, the message deletion unit 133 deletes log information about the message corresponding to the information that has been transmitted from the storage unit 141.

  FIG. 12 is a block diagram schematically showing an example of the map data server device. A map data server device 180A shown in the figure includes a communication unit 161, a mesh data management unit 163, and a database unit 165.

  The communication unit 161 is responsible for transmission and reception with the map information accumulation management device. When a search request is transmitted for predetermined map data from the map information accumulation management device, the communication request 161 receives the search request, The information is output to the mesh data management unit 163. When predetermined map data is output from the mesh data management unit 163, the map data is transmitted to the map information accumulation management device.

  When the search request is input, the mesh data management unit 163 identifies map data corresponding to the search request, searches the map database stored in the database unit 165, and responds to the search request. Read predetermined map data. Then, the read map data is output to the communication unit 161. The database unit 165 divides the region into a plurality of mesh regions, assigns identification information to each of the mesh regions, and stores terrain data, road data, facility data, vegetation data, etc. in each mesh region. A map database created by mapping existing map data is stored.

Embodiment 2. FIG.
FIG. 13 is a conceptual diagram schematically showing another example of the mobile object-database cooperation system. A mobile object-database linkage system 250 shown in FIG. 1 is configured such that a plurality of map information accumulation management devices 220a to 220h are wirelessly connected to one map data server device 230, and a plurality of map information accumulation management devices 220a to 220h. has jurisdiction over the plurality of mesh regions R ₁₁ to R ₁₈ by 220h. In the illustrated example, one map information accumulation management apparatus corresponds to one mesh area.

  A mobile body (not shown) having a representative right in a group (not shown) composed of a plurality of mobile bodies located in a mesh area has map information integrated management in which the mesh area has jurisdiction An acquisition request Ra for predetermined map data is transmitted to the apparatus. The map information accumulation management device that has received the acquisition request Ra transmits a search request Rs to the map data server device 230 for the map data corresponding to the search request Ra, and the map data server device 30 that has received the search request Rs The map data Dm corresponding to the search request Rs is transmitted to the map information accumulation management device that is the transmission source of the search request Rs. The map information accumulation management device extracts the map data Dm as it is or extracts only necessary data and transmits it to the mobile body having the representative right that is the transmission source of the acquisition request Ra. Information exchange between moving bodies in individual groups is performed in the same manner as in the moving body-database linkage system 50 (see FIG. 1) described in the first embodiment.

  In the mobile body-database linkage system 250 configured as described above, one mesh information area is managed by one map information accumulation management apparatus, and therefore a plurality of mesh areas are administered by one map information accumulation management apparatus. As compared with the above, the possibility of being in a busy state is reduced when predetermined map data is transmitted from the map information accumulation management device to the mobile body having the representative right. As a result, each mobile body constituting the group can easily share the latest map data under a higher real-time property.

Embodiment 3 FIG.
The above-described mobile body-database linkage systems 50 and 250 (see FIGS. 1 and 13) share the current state data collected by one group, but the current state collected by a certain group. The mobile body-database cooperation system can be configured so that data can be shared with other mobile bodies of other groups.

  In this case, the mobile body having the representative right among the mobile bodies constituting a certain group collects the current status data collected and stored by itself and other mobile bodies in the group to the map information accumulation management device. The map information accumulation management device that has received the current status data temporarily stores the current status data in the storage unit, and transmits it to the map data server device when a communication path with the map data server device is secured. The map data server device obtains a difference between the current status data and the map database held by itself and updates the map database based on the difference. Procedures other than these procedures can be the same as those in the mobile object-database cooperation system 50 described in the first embodiment or the mobile object-database cooperation system 250 described in the second embodiment.

  However, processing such as elimination of overlapping portions of the current status data collected by the mobile body having the representation right may be performed by any of the mobile body having the representation right, the map information accumulation management device, and the map data server device. Further, when a plurality of groups are located in one mesh region, the overlapping part of the current status data transmitted from each group can be eliminated by the map information accumulation management device or the map data server device. . For example, in the map information accumulation management device 150 shown in FIG. 11, a predetermined function is provided in the message storage unit 127 so that the message storage unit 127 eliminates the overlapping portion of the current status data transmitted from a plurality of groups. Can be granted.

FIG. 14 is a conceptual diagram schematically showing an example of a moving body-database linkage system in which current data collected by a certain group can be shared by each moving body of another group. The mobile body-database linkage system 350 shown in the figure has two groups S ₁₁ and S ₁₂ , one map information accumulation management device 320, and one map data server device 330. The group S ₁₁ is composed of four mobile bodies M _{51 to} M ₅₄ , and the mobile body M ₅₁ has the representative right. Further, the group S ₁₂ is constituted by three mobile M ₆₁ ~M _63, the mobile M ₆₁ has the representation right. In the illustrated example, these two groups S ₁₁ and S ₁₂ are located in one mesh region R ₂₁ .

The mobile unit M ₅₁ having the representation right holds the current state data Dc ₁ that the obstacle B exists in the mesh region R ₂₁ , and the mobile unit M ₆₁ having the representation right has the obstacle in the mesh region R ₂₁ . We have the current data Dc ₂ that there is B. These current data Dc ₁ and Dc ₂ are transmitted to the map information accumulation management device 320.

The map information accumulation management device 320 has a function of eliminating the overlapping part of the current status data, and even if the current status data Dc ₁ and Dc ₂ are received from the mobile units M ₅₁ and M ₆₁ having the representative right at substantially the same time. Even if it is transmitted, the current status data Dc ₅ that has been subjected to a predetermined process so that the information about the obstacle B, which is the current status data that is duplicated, is not duplicated is transmitted to the map data server device 330. The map data server apparatus 330 which has received the current state data Dc ₅ updates the map database on the basis of the current state data Dc _5.

When the mobile unit M ₅₁ having the representation right or the M ₆₁ having the representation right transmits an acquisition request for the map data near the obstacle B to the map information accumulation management device 320, the updated map data based on the current data Dc ₅ is obtained. The data is transmitted from the map data server device 330 to the mobile object M ₅₁ or the mobile object M ₆₁ via the map information accumulation management device 320. Finally, also shared by each mobile M ₆₁ ~M ₆₃ of present status data Dc ₁ is a group S ₁₂ that the group S ₁₁ has its own collection, present status data Dc ₂ is the group S of the group S ₁₂ that was independently collected ₁₁ is shared by each mobile M ₅₁ ~M ₅₄ of.

FIG. 15 is a conceptual diagram schematically showing another example of a moving body-database linkage system in which current data collected by a certain group can be shared by each moving body of another group. The mobile body-database linkage system 450 shown in the figure includes two groups (not shown), two map information accumulation management devices 420a and 420b, and one map data server device 430. Each of the two groups includes a plurality of moving bodies. In one group, the moving body _M71 has a representation right, and in the other group, the moving body _M81 has a representation right. The group to which the mobile unit M ₇₁ has the representation right is located in the mesh region R _31, and the group to which the mobile unit M ₈₁ has the representation right is located in the mesh region R ₃₂ . Map information integrated management apparatus 420a has jurisdiction over the mesh region R _31, map information integrated management apparatus 420b has jurisdiction over the mesh region R _32.

The mobile body M ₈₁ having the representative right has the current data Dc ₁₀ that there is an obstacle B at the boundary between the mesh region R ₃₂ and the mesh region R _31, and this current data Dc ₁₀ is the map information integrated management. Sent to device 420b. Map information integrated management device 420b that receives the current state data Dc ₁₀ transmits the current state data Dc ₁₀ to the map data server device 430. The map data server apparatus 430 which has received the current state data Dc ₁₀ updates the content of the map database based on the current state data Dc _10.

When the moving body M ₇₁ transmits an acquisition request Ra map data in the vicinity of the obstacle B in the map information accumulation management unit 420a having the representation right, map data Dm which is updated based on current status data Dc ₁₀ map information integrated management system It is transmitted to the mobile unit M ₇₁ via 420a. Eventually, the current status data Dc ₁₀ independently collected by one of the two groups is shared by the mobile units of the other group.

  FIG. 16 is a block diagram schematically showing an example of a map data server device that can be used as the map data server device 430 described above. The map data server device 180B shown in the figure has the same configuration as the map data server device 180A shown in FIG. 12 except that it has a database update unit 175. Of the constituent elements shown in FIG. 16, the same constituent elements as those shown in FIG. 12 are designated by the same reference numerals as those used in FIG.

  Note that the communication unit 161 illustrated in FIG. 16 receives the current status data and outputs it to the mesh data management unit 163 when the current status data is transmitted from the map information accumulation management device. Further, the mesh data management unit 163 inputs the current status data to the database update unit 175 when the current status data is input from the communication unit 161.

  The database changing unit 175 includes a terrain information updating unit 171, a route information updating unit 172, an attribute information updating unit 173, and a boundary information updating unit 174. The terrain information updating unit 171 classifies the current state data input to the database changing unit 175 into terrain information, route information, attribute information, boundary information about boundary portions of mesh regions adjacent to each other, and the like. If the terrain information is included, the time stamp data added to the current status data is referred to and whether the terrain information is newer than the map database stored in the database unit 165 or not. When it is determined that the information is new terrain information, the map database in the database unit 165 is updated based on the terrain information.

  The route information included in the current status data is sent from the map data difference update unit 171 to the route information update unit 172, the attribute information is sent to the attribute information update unit 173, and the boundary information is sent to the boundary information update unit 174. Sent to.

  The route information update unit 172 refers to the time stamp data, and determines whether the route information sent from the terrain information update unit 171 is newer than the map database stored in the database unit 165. When it is determined that the route information is new, the map database in the database unit 165 is updated based on the route information. As necessary, the route information update unit 172 sets unshared information indicating that the portion where the route information cannot be obtained is not in service and creates an index thereof, and the unshared information and The database change unit 175 can be configured such that the route information update unit 172 updates the map database in the database unit 165 based on the index.

  The attribute information update unit 173 refers to the time stamp data, and determines whether or not the attribute information sent from the terrain information update unit 171 is newer than the map database stored in the database unit 165. When it is determined that the attribute information is new, the map database in the database unit 165 is updated based on the attribute information.

  The boundary information update unit 174 refers to the time stamp data, and determines whether the boundary information sent from the terrain information update unit 171 is newer than the map database stored in the database unit 165. If the new boundary information is determined, the map database in the database unit 165 is updated based on the boundary information.

  In the mobile object-database linkage system described above, since the current data collected by a certain group can be shared with each other mobile object, each of the mobile objects constituting each group is the same as in the first embodiment. Compared to the mobile object-database cooperation systems 50 and 250 (see FIGS. 1 and 13) described in 2, it becomes easier to share the latest map data over a wider range under high real-time characteristics.

Embodiment 4 FIG.
The map data requested for acquisition from the mobile body having the representative right to the map information accumulation management apparatus is transmitted from the map data server apparatus to the map information accumulation management apparatus, and then transmitted from the map information accumulation management apparatus to the above mobile body. In the system, the real-time property is impaired when the communication path between the map information accumulation management device and the map data server device is not established for a long time. By providing the map information accumulation management device with a function as a map data server device, it becomes easier to ensure higher real-time performance.

FIG. 17 is a conceptual diagram schematically showing an example of a mobile object-database linkage system in which a map information accumulation management device has a function as a map data server device. The mobile body-database linkage system 550 shown in the figure has two groups (not shown), one map information accumulation management device 520, and one map data server device 530. Each of the two groups is composed of a plurality of mobile bodies. In one group, the mobile body M ₉₁ has the representation right, and in the other group, the mobile body M ₁₀₁ has the representation right. In the illustrated example, these two groups are located in one mesh region R _41.

  The map information accumulation management device 520 functions also as a map data server device, and the map information accumulation management device 520 has the same map database as the map database possessed by the map data server device 530. Yes. Each time the map database held by the map data server device 530 is updated, update information Iu representing the update content is transmitted from the map data server device 530 to the map information accumulation management device 520. The map information accumulation management device 520 that has received the update information Iu updates the map database held by itself based on the update information Iu. The map database held by the map data server device 530 is updated by, for example, inputting predetermined update information to the map data server device 530 by wire or wireless from an input device (not shown).

When an acquisition request Ra for predetermined map data is transmitted from the mobile bodies M ₉₁ and M ₁₀₁ having representative rights to the map information accumulation management device 520, the map information accumulation management device 520 owns the map database owned by itself. The map data corresponding to the above acquisition request Ra is read out, and the map data Dm is transmitted to the mobile body M ₉₁ or the mobile body M ₁₀₁ that is the transmission source of the acquisition request Ra.

  FIG. 18 is a flowchart schematically showing an example of a procedure from the update of the map database held by the map data server device 530 to the transmission of the update information Iu to the map information accumulation management device 520. In the example shown in the figure, steps S41 to S51 described below are performed in this order.

  In step S <b> 41, update information about the map database is input to the map data server device 530. In step S42, the map data server device 530 acquires information about the mesh area in which the map data is updated by the update information. In step S43, the map data server device 530 determines whether there is a change in link information. Here, “link information” means, for example, information such as route merging, branching, or division.

  If it is determined in step S43 that the link information has been changed, the process proceeds to step S44, and the link information is acquired from the update information, and then the process proceeds to step S45. On the other hand, when it is determined in step S43 that the link information is not changed, the process proceeds to step S45.

  In step S45, the map data server device 530 determines whether there is a change in the attribute information. If it is determined in step S45 that the attribute information has been changed, the process proceeds to step S46 to acquire the attribute information from the update information, and then proceeds to step S47. On the other hand, when it is determined in step S45 that there is no change in the attribute information, the process proceeds to step S47.

  In step S47, the map data server device 530 determines whether there is a change in route information. If it is determined in step S47 that there is a change in route information, the process proceeds to step S48 to acquire the route information from the update information, and then proceeds to step S49. On the other hand, if it is determined in step S47 that there is no change in route information, the process proceeds to step S49.

  In step S49, based on the information acquired in step S42, whether or not the map information accumulation management device that is the transmission destination of the update information Iu constitutes a mobile-database cooperation system together with the map data server device 530. Is determined by the map data server device 530. If the destination map information accumulation management device does not constitute the above system, the process proceeds to step S50, where the transmission of the update information is suspended, and then the process ends. On the other hand, if the destination map information accumulation management apparatus constitutes the above system, the process proceeds to step S51 to transmit the update information Iu to the map information accumulation management apparatus, and then the process ends. .

  In the mobile body-database linkage system described above, the map information accumulation management apparatus has a function as a map data server apparatus. Therefore, when there is an acquisition request for predetermined map data from a mobile body having a representative right. Even if the map information accumulation management device and the map data server device do not communicate with each other, predetermined map data can be transmitted from the map information accumulation management device to the mobile body having the representative right. The procedure until the mobile body having the representative right transmits the acquisition request and the procedure after receiving the map data described above are the mobile body-database linkage systems 50 and 250 described in the first to third embodiments. , 350, 450 (see FIGS. 1, 13, 14, and 15).

  Therefore, even compared with each mobile object-database linkage system 50, 250, 350, 450 described in the first to third embodiments, each of the mobile objects constituting each group has the latest real-time map data. Easy to share below.

  The mobile body-database linkage system of the present invention has been described with reference to the embodiment. However, as described above, the present invention is not limited to the above-described form. For example, the number of mobile bodies, the number of map information accumulation management devices, and the number of map data server devices in one mobile body-database linkage system can be selected as appropriate. Also, the number of moving bodies in one group can be selected as appropriate. As a method for distributing acquisition requests, map data, etc. from a mobile unit having representative rights to other mobile units in the group, for example, in addition to the distribution method described with reference to FIG. 10, unicast, multicast, broadcast, etc. Distribution methods can be applied. About the mobile body-database cooperation system of this invention, a various deformation | transformation, a modification, a combination, etc. other than the above-mentioned form are possible.

It is a conceptual diagram which shows roughly an example of a mobile body-database cooperation system. It is the schematic which shows the structure of the one part group in the mobile body-database cooperation system shown in FIG. It is a conceptual diagram which shows roughly the communication form in the mobile body-database cooperation system shown in FIG. 3 is a flowchart schematically showing an example of a procedure until each mobile body constituting one group shares the latest map data in the mobile body-database linkage system shown in FIG. 1. It is the schematic which shows an example of the movement path | route of each moving body which comprises one group in the moving body-database cooperation system shown in FIG. It is the schematic which shows an example of the location discriminate | determined that the present condition data is insufficient by the mobile body which has the representation right in one group in the mobile body-database cooperation system shown in FIG. 1 shows an example of a movement path when another mobile body moves after a mobile body having a representative right in one group in the mobile body-database linkage system shown in FIG. 1 transmits the current data to the map information accumulation management device. FIG. It is a block diagram which shows roughly an example of the communication apparatus which the mobile body which comprises the mobile body-database cooperation system shown in FIG. 1 carries thru | or has. It is a flowchart which shows roughly an example of the procedure at the time of the mobile body provided with the communication apparatus shown in FIG. 8 becoming a mobile body which has a representation right, and exchanging information within a group. It is a conceptual diagram which shows an example of the information exchange within the group performed according to the flowchart shown in FIG. It is a block diagram which shows roughly an example of the map information accumulation | storage management apparatus which comprises the moving body-database cooperation system shown in FIG. It is a block diagram which shows roughly an example of the map data server apparatus which comprises the mobile body-database cooperation system shown in FIG. It is a conceptual diagram which shows roughly the other example of a mobile body-database cooperation system. It is a conceptual diagram which shows roughly an example of the mobile body-database cooperation system which can share the present condition data which a certain group collected also with each mobile body of another group. It is a conceptual diagram which shows roughly the other example of the mobile body-database cooperation system which can share the present condition data which a certain group collected also with each mobile body of another group. It is a block diagram which shows roughly an example of the map data server apparatus which can be used as a map data server apparatus which comprises the mobile body-database cooperation system shown in FIG. It is a conceptual diagram which shows roughly an example of the mobile body-database cooperation system which gave the map information server apparatus the function as a map data server apparatus. It is a flowchart which shows roughly an example of the procedure from the update of the map database which the map data server apparatus shown in FIG. 17 holds to transmission of the update information Iu to the map information accumulation management apparatus.

DESCRIPTION OF SYMBOLS 20 Map information integrated management apparatus 30 Map data server apparatus 50 Mobile body-database cooperation system 100 Communication apparatus 150 Map information integration management apparatus 180A, 180B Map data server apparatus 220a-220h Map information integration management apparatus 230 Map data server apparatus 250 Mobile body -Database linkage system 320 Map information accumulation management device 330 Map data server device 350 Mobile body-Database linkage system 420a, 420b Map information accumulation management device 430 Map data server device 450 Mobile body-database linkage system 520 Map information accumulation management device 530 Map data server device 550 mobile - database link system _{R 1 ~R 9, R 11 ~R} 18, R 21, R 31, R 32, R 41 mesh region _{S 1 ~S 7, S 11,} S 12 groups M ₁ ~ M _6, M ₁₁ ~ _16, M ₂₁ ~M ₂₆ mobile _{M 31 ~M 35, M 51 ~M} 54, M 61 ~M 63 mobile _{M 1, M 11, M 21} , M 51, M 61, M 71, M 81, M ₉₁ , M ₁₀₁ Mobile with representation rights

Claims (6)

A map database in which an area is divided into a plurality of mesh areas and the existing map data of the mesh area is mapped for each mesh area is stored in a map data server device, and predetermined map data is obtained from a mobile object carrying or equipped with a communication device. Mobile body-database linkage that receives the acquisition request at the map information accumulation management device when there is an acquisition request, and transmits predetermined map data corresponding to the acquisition request from the map information accumulation management device to the mobile body A system,
A plurality of mobile bodies located in the same mesh region exchange information with each other to form a group and select one mobile body having a representative right for each group,
Only the mobile having the representative right transmits the acquisition request to the map information accumulation management device,
Moving body having the right to represent distributes the map data by receiving the predetermined map data corresponding to the acquisition request from the map information integrated management system to another mobile in the group,
In the case where each of the plurality of moving bodies includes current state data collecting / accumulating means for collecting current map data in the process of moving in the mesh region and accumulating as current state data,
The mobile body having the representative right determines the location where the current data is insufficient in the mesh region based on the current data collected and accumulated by itself and other mobile bodies in the group, For the location, the map data corresponding to the location is received from the map information accumulation management device and complemented, and the received map data is distributed to other mobile units in the group,
Other mobiles in the group that have received the map data are updated to the map data based on the current status data collected and stored by the mobiles and transmitted to the mobiles having the representative right,
The mobile body having the representative right that has received the updated map data constructs the latest map data of the mesh region based on the updated map data and distributes it to the other mobile bodies in the group.
A mobile-database linkage system characterized by this. Provided with at least one map data server device to transmit and receive at least one of the map information integrated management apparatus to each other, according to claim 1 one of the map information integrated management apparatus, characterized in that jurisdiction over at least one mesh region Mobile-database linkage system. 3. The mobile object according to claim 1, wherein the current state data includes route information that is information about a road that can be passed, attribute information that includes a width and a weight limit for the road, and terrain information. 4. -Database linkage system. The mobile body having the representative right is collected by the mobile body itself and other mobile bodies in the group, and the accumulated current data is transmitted to the map information accumulation management device,
The map information accumulation management device that has received the current status data transmits the current status data to the map data server device,
The map data server device that has received the current status data updates the map database based on the difference between the current status data and the map database owned by itself.
The mobile object-database linkage system according to claim 1, 2, or 3 . The map information accumulation management device has the same map database as the map database stored in the map data server device, and when there is an acquisition request for predetermined map data from the mobile body having the representative right, The mobile body-database cooperation system according to any one of claims 1 to 4 , wherein map data corresponding to the acquisition request is read from a map database possessed and transmitted to the mobile body having the representative right. . The map data server device transmits update information representing update contents to the map information accumulation management device every time the map database owned by the map data server is updated,
The map information accumulation management device that has received the update information updates the map database held by itself based on the update information.
The mobile body-database cooperation system according to claim 5 .

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