JP4961056B1 - MAP DATA GENERATION DEVICE, MAP DATA GENERATION METHOD, MAP DATA GENERATION PROGRAM, AND SERVER DEVICE - Google Patents

Abstract

A map data generation device that generates road data of a new road generates a GPS positioning position and a self-sustained sensor positioning position with respect to a positioning point indicating a movement locus of a moving body by a GPS sensor and a self-supporting sensor. Further, the map data generation device determines whether or not the independent sensor positioning position exists on the existing link by referring to the map data. A new link corresponding to the new road is generated by connecting a plurality of positioning points not located on the existing link. Next, a connection node between the new link and the existing link is set. Specifically, a positioning point at which the self-supporting sensor positioning position changes from the offload position to the onload position or from the onload position to the offload position is first set as a temporary connection point. Next, one most appropriate positioning point is set as a connection node based on the positional relationship between the GPS positioning position and the existing link at the temporary connection point or a nearby positioning point.
[Selection] Figure 4

Description

  The present invention relates to a method for generating map data of a new road based on a traveling locus of a moving body.

  In a car navigation apparatus, a method for generating new road data based on a travel locus of a vehicle has been proposed. For example, Patent Document 1 describes a method for generating data of a new road when there is a travel track deviating from an existing road, using the travel track as a new road, and using the intersection of the travel track and the existing road as an intersection. Yes.

JP 2010-127742 A

  However, since a certain degree of error is usually included in the positioning accuracy of the sensor for generating the traveling locus and the GPS, the intersection between the traveling locus and the existing road does not always coincide with the actual position of the intersection. If the intersection of the travel locus and the existing road is deviated from the actual position of the intersection, there will be a section where the existing road and the new road overlap, which will hinder subsequent route guidance.

  Further, navigation devices generally perform a so-called map matching process in which the current position of a vehicle is automatically set on a road with reference to map data. When the data after the map matching process is used as the traveling locus data, the traveling locus data is influenced by the map matching processing in the vicinity of the existing road, so that the possibility of occurrence of the above-described problems increases.

  Examples of the problem to be solved by the present invention are as described above. An object of the present invention is to provide a map data generation method capable of accurately setting the position of a connection node between a new road and an existing road when a new road is generated based on a travel locus of a moving object. And

In the first aspect of the present invention, the map data generation device generates a GPS positioning position and a self-supporting sensor positioning position for a plurality of positioning points indicating the movement trajectory of the moving body based on outputs of the GPS sensor and the self-supporting sensor. Determining means for determining whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link; and New link generating means for connecting a positioning point corresponding to the load position to generate a new link, and the self-supporting sensor positioning position continuously generated from one of the on-road position and the off-road position to the other A temporary connection point setting means for setting a positioning point that changes to a temporary connection point for the existing link of the new link, the temporary connection point and the temporary connection point And GPS positioning position in the positioning point in the vicinity of the connection point, on the basis of the positional relationship between the existing link, one of the GPS measured position at the positioning point in the vicinity of the temporary connection point or the temporary connection point, wherein Connection node setting means for setting a new link as a connection node for the existing link.

In the invention according to claim 7, the map data generation method executed by the map data generation device is based on the output of the GPS sensor and the self-supporting sensor, and the GPS positioning position and the plurality of positioning points indicating the movement trajectory of the moving body A positioning process for generating a self-supporting sensor positioning position, and whether the self-supporting sensor positioning position is an on-load position existing on an existing link included in map data or an off-road position not existing on the existing link. A determining step for determining, a new link generating step for connecting a positioning point corresponding to the off-road position to generate a new link, and the self-supporting sensor positioning position generated continuously include the on-road position and the off-road position. A temporary connection point that sets a positioning point that changes from one of the load positions to the other as a temporary connection point of the new link to the existing link. And the point setting step, wherein the GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, the positioning point in the vicinity of the temporary connection point or the temporary connection point And a connection node setting step of setting one of the GPS positioning positions as a connection node of the new link to the existing link.

In the invention according to claim 8, the map data generation program executed by the apparatus including the computer is based on outputs of the GPS sensor and the self-supporting sensor, and the GPS positioning positions at a plurality of positioning points indicating the movement trajectory of the moving body and Positioning means for generating a self-supporting sensor positioning position, and determining whether the self-supporting sensor positioning position is an on-load position existing on an existing link included in map data or an off-road position not existing on the existing link Determining means for connecting, a new link generating means for connecting a positioning point corresponding to the off-road position to generate a new link, and the self-supporting sensor positioning position continuously generated are the on-road position and the off-road position. A positioning point that changes from one to the other is set as a temporary connection point of the new link to the existing link. Temporary connection point setting means, positioning of the temporary connection point or the vicinity of the temporary connection point based on the positional relationship between the temporary connection point and the GPS positioning position in the vicinity of the temporary connection point and the existing link The computer is caused to function as connection node setting means for setting one of the GPS positioning positions at a point as a connection node of the new link to the existing link.

In a tenth aspect of the present invention, a server device configured to be able to communicate with a plurality of terminal devices includes a GPS positioning position, a self-supporting sensor positioning position, and the self-supporting position with respect to a plurality of positioning points indicating a movement trajectory of a moving object. Travel locus data including off-road information indicating whether the sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link is transmitted from the terminal device. Receiving means for receiving, new link generating means for connecting a positioning point corresponding to the off-road position to generate a new link, and the self-supporting sensor positioning position continuously generated are the on-road position and the off-road position. Temporary connection point setting means for setting a positioning point that changes from one of the load positions to the other as a temporary connection point of the new link to the existing link The a GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, GPS positioning position in the positioning point in the vicinity of the temporary connection point or the temporary connection point Connection node setting means for setting one of these as a connection node for the existing link of the new link.

1 shows a schematic configuration of a navigation device according to the present embodiment. The data structure of the driving | running | working locus data based on a present Example is shown. It is a figure explaining the connection node setting method in the case of joining to the existing road. It is a flowchart of a connection node setting process in the case of joining to an existing road. It is a figure explaining the connection node setting method in the case of branching from the existing road. It is a flowchart of a connection node setting process in the case of branching from an existing road. The structure of the navigation system by a modification is shown.

  In a preferred embodiment of the present invention, the map data generation device generates a GPS positioning position and a self-supporting sensor positioning position for a plurality of positioning points indicating the movement trajectory of the moving body based on the outputs of the GPS sensor and the self-supporting sensor. Determining means for determining whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link; and New link generating means for connecting a positioning point corresponding to the load position to generate a new link, and the self-supporting sensor positioning position continuously generated from one of the on-road position and the off-road position to the other A temporary connection point setting means for setting a positioning point that changes to a temporary connection point of the new link with respect to the existing link; Based on the positional relationship between the GPS positioning position near the temporary connection point and the existing link, the temporary connection point or one of the positioning points near the temporary connection point is assigned to the new link. Connection node setting means for setting as a connection node for the existing link.

  The map data generation device generates road data corresponding to a new road. Specifically, a GPS positioning position and a self-supporting sensor positioning position are generated for a positioning point indicating a movement locus of the moving body by the GPS sensor and the self-supporting sensor. Further, by referring to the map data, it is determined whether or not the autonomous sensor positioning position exists on the existing link. A new link corresponding to the new road is generated by connecting a plurality of positioning points not located on the existing link.

  Next, a connection node between the new link and the existing link is set. Specifically, a positioning point at which the self-supporting sensor positioning position changes from the offload position to the onload position or from the onload position to the offload position is first set as a temporary connection point. Next, one most appropriate positioning point is set as a connection node based on the positional relationship between the GPS positioning position and the existing link at the temporary connection point or a nearby positioning point.

  According to this, since the connection node is set based on the positional relationship between the GPS positioning position and the existing link from the temporary connection point and the nearby positioning point, the self-supporting sensor positioning position is determined as a map matching process or the like. Even when it is affected and inaccurate, the connection node can be set at an appropriate position.

  In one aspect of the map data generation device, the connection node determination unit determines the connection node based on a vertical distance between the GPS positioning position and an existing link where the temporary connection point exists. Thereby, the positioning point near the existing link can be set as the connection node.

  In a preferred example of the above map data generation device, when the temporary connection point setting means sets a point that changes from the offload position to the onload position as a temporary connection point, the connection node determination means In particular, it is a positioning point before the temporary connection point, and the vertical distance between the GPS positioning position and the existing link is larger than a predetermined reference distance and is one after the positioning point closest to the temporary connection point. The GPS positioning position of the positioning point is determined as the connection node. Thereby, the connection node between the new road and the existing road when the new road merges with the existing road can be appropriately set.

  In another preferable example of the map data generation device, when the temporary connection point setting unit sets a point that changes from the on-road position to the off-road position as a temporary connection point, the connection node determination unit The GPS of a positioning point that is temporally prior to the temporary connection point, the vertical distance between the GPS positioning position and the existing link is smaller than a predetermined reference distance, and closest to the temporary connection point A positioning position is determined as the connection node. Thereby, the connection node between the new road and the existing road when the new road branches off from the existing road can be appropriately set.

  Another aspect of the map data generation device includes a GPS accuracy determination unit that determines whether or not the positioning accuracy of the GPS sensor is equal to or higher than a predetermined allowable accuracy, and the connection node determination unit includes the GPS sensor. If the positioning accuracy is less than the allowable accuracy, the temporary connection point is determined as the connection node. In this aspect, when the positioning accuracy of the GPS sensor is less than the allowable accuracy, the connection node is determined without using the GPS sensor positioning position.

  Another aspect of the map data generation device includes map matching means for moving the independent sensor positioning position on the link based on data indicating a link in map data, and the independent sensor positioning position is: This is the position after the map matching process by the map matching means. In this aspect, even if the autonomous sensor positioning position becomes unstable near the connection point with the existing road due to the map matching process, it is possible to set an appropriate connection node using the GPS positioning position It becomes.

  In another preferred embodiment of the present invention, the map data generation method executed by the map data generation device includes GPS positioning for a plurality of positioning points indicating the movement trajectory of the moving body based on outputs of the GPS sensor and the independent sensor. A positioning step for generating a position and a self-supporting sensor positioning position, and the self-supporting sensor positioning position is an on-load position existing on an existing link included in map data or an off-road position not existing on the existing link A determination step of determining whether or not, a new link generation step of connecting a positioning point corresponding to the off-road position to generate a new link, and the autonomous sensor positioning position continuously generated are A positioning point that changes from one of the offload positions to the other is set as a temporary connection point of the new link to the existing link. Based on the temporary connection point setting step, the GPS positioning position at the temporary connection point and the positioning point in the vicinity of the temporary connection point, and the positional relationship with the existing link, the temporary connection point or the vicinity of the temporary connection point A connection node setting step of setting one of the positioning points as a connection node of the new link to the existing link.

  Also in this method, since the connection node is set based on the positional relationship between the GPS positioning position and the temporary link from the temporary connection point and the nearby positioning point, the independent sensor positioning position is affected by the map matching process or the like. Even if it is incorrect, the connection node can be set at an appropriate position.

  In another preferred embodiment of the present invention, the map data generation program executed by an apparatus including a computer is based on GPS positioning and GPS positioning at a plurality of positioning points indicating the movement trajectory of the moving body based on outputs of the independent sensors. Positioning means for generating a position and a self-supporting sensor positioning position, whether the self-supporting sensor positioning position is an on-load position existing on an existing link included in map data or an off-road position not existing on the existing link Determining means for determining, a new link generating means for generating a new link by connecting positioning points corresponding to the offload position, and the self-supporting sensor positioning position generated continuously are the onload position and the offload. A positioning point that changes from one of the positions to the other as a temporary connection point of the new link to the existing link Temporary connection point setting means to be determined, the temporary connection point or the vicinity of the temporary connection point based on the positional relationship between the temporary connection point and the GPS positioning position in the vicinity of the temporary connection point and the existing link The computer is caused to function as connection node setting means for setting one of the positioning points as a connection node of the new link to the existing link.

  By executing this program on a computer, the above map data generating device can be realized. In addition, this map data generation program can be suitably handled in a state stored in a storage medium.

  In another preferred embodiment of the present invention, a server device configured to be able to communicate with a plurality of terminal devices has a GPS positioning position, a self-supporting sensor positioning position, and a plurality of positioning points indicating the movement trajectory of the moving body, The travel locus data including off-road information indicating whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link Receiving means for receiving from the apparatus; new link generating means for connecting a positioning point corresponding to the off-road position to generate a new link; and the self-supporting sensor positioning position continuously generated are the on-load position and Temporary connection point setting that sets a positioning point that changes from one of the offload positions to the other as a temporary connection point of the new link to the existing link Of the temporary connection point or a position near the temporary connection point, based on the positional relationship between the stage and the GPS positioning position at the temporary connection point and the positioning point near the temporary connection point and the existing link. Connection node setting means for setting one of the above as a connection node for the existing link of the new link.

The server device generates a new link based on the travel locus data received from the terminal device, and sets a connection node between the new link and the existing link. At this time, since the connection node is set based on the positional relationship between the GPS positioning position and the temporary link from the temporary connection point and the nearby positioning point, the independent sensor positioning position is not affected by the influence of the map matching process or the like. Even if it is accurate, the connection node can be set at an appropriate position.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The following description shows an example in which the present invention is applied to a vehicle navigation apparatus.

[Navigation device]
FIG. 1 shows the configuration of the navigation device 1. As shown in FIG. 1, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, an audio output. A unit 50 and an input device 60 are provided.

  The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13, and functions as a self-supporting positioning sensor. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation apparatus 1.

  The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.

  The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.

  The data storage unit 36 is configured by, for example, an HDD or the like, and stores various data used for navigation processing such as map data, map information, and facility data. The data storage unit 36 has a map database in which map data and the like are stored.

  The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and acquires information distributed from a server such as a VICS center via the communication interface 37.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map information from the data storage unit 36. The display unit 40 displays the map information read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.

  The audio output unit 50 is a D / A (Digital) of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, BD-ROM, RAM 24 or the like via the bus line 30 under the control of the system controller 20. to Analog) D / A converter 51, amplifier (AMP) 52 that amplifies the audio analog signal output from D / A converter 51, and the amplified audio analog signal is converted into audio and output to the vehicle And a speaker 53.

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

  In the above configuration, the self-supporting positioning device 10 and the GPS receiver 18 are examples of positioning means in the present invention, and the system controller 20 including the CPU 22 includes the determination means, new link generation means, temporary connection point setting means, and connection in the present invention. It is an example of a node setting means, a GPS accuracy determination means, and a map matching means.

[Data structure of track data]
Next, with reference to FIG. 2, the data structure of the travel locus data according to the present embodiment will be described. The traveling locus data is data corresponding to the traveling locus of the vehicle, and is collected by the navigation device 1 every predetermined time while the vehicle is traveling. For example, the travel locus data is stored in the data storage unit 36 in the navigation device 1.

  As shown in FIG. 2, the travel locus data includes a time, an independent sensor positioning position, a traveling speed, a traveling direction, an off-road flag, and a GPS positioning position for each positioning point.

  “Time” is the time at which the navigation device 1 created travel locus data. The example of FIG. 2 is an example in which the navigation device 1 creates travel locus data at intervals of 5 seconds.

  The “self-supporting sensor positioning position” is the position of the vehicle detected by the self-supporting positioning apparatus 10 and is indicated by latitude and longitude. The “traveling speed” indicates the speed of the vehicle detected by the independent positioning device 10. The “traveling direction” indicates the direction of the traveling direction of the vehicle detected by the autonomous positioning device 10.

  The “off-road flag” is a flag that is set by the map matching process of the navigation device 1 and indicates whether the vehicle is on a road included in the map data. In general, the map matching process compares the vehicle's own vehicle position with the position of the road data included in the map data, and the vehicle's own vehicle position is sufficiently close to the road. In addition, the vehicle position of the vehicle is automatically moved to a position on the road. The navigation device 1 sets the off-road flag to “off” when the vehicle position is moved on the road by the map matching process, and is turned off when the vehicle position is not moved on the road. Set the load flag to “on”. Therefore, when the off-road flag is “off”, the vehicle is on the road included in the map data, and when the off-road flag is “on”, the vehicle is located away from the road included in the map data.

  The “GPS positioning position” indicates the position of the vehicle detected by the GPS receiver 18 and is indicated by latitude and longitude.

  The navigation device 1 generates and stores such travel locus data every predetermined time. In addition, the navigation device 1 basically displays the vehicle position on the display 44 together with the map information using the self-supporting sensor positioning position. However, when the vehicle position is moved on the road by the map matching process, the position of the self-supporting sensor included in the travel locus data is corrected to the position after the map matching process, that is, the position on the road. . Note that the self-supporting sensor positioning position may be periodically corrected as necessary based on the GPS positioning position.

[Create new road]
Next, creation of a new road will be described. The navigation device 1 creates new road data based on the travel locus data. A new road is a road that is not included in the map data being used. For example, when a new road is created, the road data is not reflected in the map data. Therefore, when the vehicle actually travels on the new road, the navigation apparatus 1 creates new road data using the travel locus data at that time and adds it to the map data. In order to distinguish from a new road, a road already included in the map data is referred to as an “existing road”.

  Specifically, the navigation device 1 refers to the travel locus data illustrated in FIG. 2, and refers to a section where the vehicle is not traveling on the road, that is, a section where the off-road flag is “ON” (hereinafter referred to as “on”). (Referred to as “off-road section”) as a new road. That is, the navigation device 1 generates one new road (new link) by connecting positioning points whose off-road flag is “on” among consecutive positioning points included in the travel locus data. In addition, the navigation apparatus 1 is good also as registering only the thing whose total distance of the continuous positioning point obtained in this way is more than predetermined distance as a new road.

[Connection node settings]
Usually, a road connects with other roads at its end points. As described above, when setting an off-road section as a new road, it is necessary to determine a connection point between the new road and an existing road. Specifically, the map data is composed of links corresponding to roads and nodes corresponding to intersections and serving as connection points between the links. Therefore, it is necessary to determine a connection node that is a connection point between the new link corresponding to the new road and the existing link corresponding to the existing road.

  Consider a case where a vehicle travels on a new road and then joins the existing road and travels on the existing road. In the traveling locus data, the off-road flag is “ON” at the positioning point corresponding to the new road, but the off-road flag is changed to “OFF” at the positioning point that joins the existing road. Thereafter, the off-road flag remains “off” while the vehicle is traveling on the existing road. Therefore, theoretically, the navigation device 1 refers to the travel locus data, and determines the positioning point whose off-road flag has changed from “on” to “off” as a connection point between the new road and the existing road, that is, a new link. What is necessary is just to set to the connection node with the existing link.

  Similarly, when the vehicle travels by branching from an existing road to a new road, theoretically, the navigation device 1 refers to the travel locus data, and the positioning point at which the off-road flag has changed from “off” to “on”. May be used as a connection point between a new road and an existing road. That is, basically, the navigation device 1 determines that the point at which the off-road flag changes from “off” to “on” or “on” to “off” is the connection point between the new road and the existing road. Just judge.

  However, in reality, the self-supporting sensor positioning position may have a measurement error. In addition, as described above, when the map matching process is performed, the autonomous sensor positioning position is forcibly moved to a position on the existing road. Therefore, the positioning point where the off-road flag has changed in the travel locus data is not necessarily an actual new position. It does not necessarily coincide with the position of the connection point (intersection) between the road and the existing road. In particular, when map matching processing is performed, the processing for moving the autonomous sensor positioning position onto the existing road has a certain time delay, so the autonomous sensor positioning position is near the connection point between the new road and the existing road. May be inaccurate.

  Therefore, in the present embodiment, the navigation apparatus 1 first refers to the travel locus data and sets the positioning point where the off-road flag has changed as a temporary connection point between the new road and the existing road. Next, for a positioning point in the vicinity of the temporary connection point, an accurate connection point (connection) is determined from the temporary connection point or a nearby positioning point by determining the vertical distance between the GPS positioning position of the positioning point and the existing road. Node). This method will be described in detail below.

(1) Merging to an existing road First, a connection node setting method when a new road merges with an existing road is shown in FIG. FIG. 3A shows positioning points when a vehicle travels from a new road to an existing road 210. The existing road 210 has existing nodes N1 and N2.

  The vehicle travels on a new road that is not included in the map data, and the navigation device 1 acquires travel locus data. In this example, the navigation apparatus 1 acquires the self-supporting sensor positioning points D1 to D7 as the self-supporting sensor positioning positions, and acquires the GPS positioning points G1 to G7 as the GPS positioning positions. A self-supporting sensor travel locus 220 is defined by the self-supporting sensor positioning points D1 to D7, and a GPS travel locus 230 is defined by the GPS positioning points G1 to G7. As understood from the example of FIG. 2, the sensor positioning point Dx and the GPS positioning point Gx are acquired at the same time and correspond to each other. In the acquired travel locus data, it is assumed that the off-road flag is “on” for the self-supporting sensor positioning points D1 to D6 and the off-road flag is “off” for the self-supporting sensor positioning point D7.

  In the example of FIG. 3A, the self-supporting sensor positioning points D5 to D7 are once separated from the existing road due to the delay of the map matching process, and then moved to the existing road 210, and the off-road flag becomes “off”. Yes. On the other hand, since the GPS positioning point is not affected by the map matching process or the like, the position of the vehicle is accurately shown as long as the positioning accuracy is ensured. Therefore, in this example, the self-supporting sensor positioning points D5 to D7 overrun the existing road, but the vehicle actually joins the existing road 210 around the GPS positioning point G5. Therefore, the connection node between the new road and the existing road should be set to the independent sensor positioning point D5 or the GPS positioning point G5.

  A procedure for determining a connection node in the example of FIG. The navigation device 1 refers to the travel locus data, and first detects the self-supporting sensor positioning point D7 as a point where the off-road flag changes from “on” to “off”, and sets this as a temporary connection point. Next, as shown in FIG. 3B, the navigation device 1 includes the temporary connection point D7 and the GPS positioning points G6, G5, G4,. . The vertical distance from the existing road 210 is calculated in order, and a GPS positioning point whose vertical distance is larger than the reference distance Dref is searched. The reference distance Dref is determined in advance as a distance close to the existing road to such an extent that it can be determined that it is on the existing road. Therefore, the fact that the vertical distance of a GPS positioning point Gx is equal to or smaller than the reference distance Dref means that the GPS positioning point Gx may be determined to be on an existing road.

  In this example, the vertical distance of the GPS positioning points G5 and G6 is equal to or less than the reference distance Dref, but the vertical distance of the GPS positioning point G4 is larger than the reference distance Dref. The navigation device 1 finds a GPS positioning point G4 whose vertical distance is larger than the reference distance Dref and closest to the temporary connection point D7, and one time later, that is, a GPS positioning point from the temporary connection point D7. G5 is set as a connection node. Thereby, the navigation apparatus 1 can set the connection node of a new road and the existing road correctly, without receiving influence, such as a map matching process.

  FIG. 4 is a flowchart of connection node setting processing when a new road joins an existing road. This process is realized by the CPU 22 of the system controller 20 shown in FIG. 1 executing a program prepared in advance. When executing this process, it is assumed that travel locus data as illustrated in FIG. 2 is created and stored. In the following description, the example illustrated in FIG. 3A will be described assuming that connection node setting processing is executed.

  First, the CPU 22 refers to the travel locus data, detects a point where the off-road flag changes from “on” to “off”, and sets that point as a temporary connection point (step S10). Thereby, the self-supporting sensor positioning point D7 is set as a temporary connection point.

  Next, the CPU 22 determines whether or not the current positioning accuracy of the GPS receiver 18 is greater than or equal to the allowable accuracy (step S11). When the positioning accuracy of the GPS receiver 18 is less than the allowable accuracy (step S11; No), the reliability of the GPS positioning point is low, so the CPU 22 does not perform processing using the GPS positioning point. Therefore, CPU22 sets the temporary connection point determined by step S10 to the connection node of a new road and the existing road (step S18). The GPS receiver 18 determines the positioning accuracy based on the level of the received signal, and outputs a signal indicating the positioning accuracy to the system controller 20. The system controller 20 receives a signal indicating the positioning accuracy from the GPS receiver 18 and compares it with a preset allowable accuracy to perform the process of step S11.

  On the other hand, when the positioning accuracy of the GPS receiver 18 is equal to or higher than the allowable accuracy (step S11; Yes), the CPU 22 sets the GPS positioning point immediately before the temporary connection point as a determination point (step S12). The vertical distance between the determination point and the existing road is calculated (step S13) and compared with the reference distance Dref (step S14). Thereby, the vertical distance is determined for the GPS positioning point G6.

  When the vertical distance is less than or equal to the reference distance Dref (step S14; Yes), the CPU 22 sets the previous GPS positioning point in time as a determination point (step S15), and repeats steps S13 and S14. Thereby, the vertical distance is further determined in the order of the GPS positioning points G5 and G4.

  When the vertical distance is larger than the reference distance Dref (step S14; No), the CPU 22 determines whether or not the determination point at that time is a GPS positioning point immediately before the temporary connection point (step S16). If the determination point at that time is the GPS positioning point immediately before the temporary connection point (step S16; Yes), the temporary connection point is considered to be the correct connection point for the existing road, so the CPU 22 determines the temporary connection point. A connection node between the new road and the existing road is set (step S18).

  On the other hand, when the determination point at that time is not the GPS positioning point immediately before the temporary connection point (step S16; No), the GPS positioning point that is one time later than the determination point, that is, one. A GPS positioning point from the temporary connection point is set as a connection node with the existing road (step S17).

  In the example of FIG. 3A, since the vertical distance for the GPS positioning point G4 is larger than the reference distance Dref, Step S14 is Yes and Step S16 is No when the determination point is the GPS positioning point G4. The GPS positioning point G5 is set as a connection node.

  As described above, in the connection node setting process when a new road joins an existing road, the navigation device 1 first sets the point at which the off-road flag changes from “on” to “off” as a temporary connection point, Further, the vertical distance from the existing road is determined by going back in time from the GPS positioning point corresponding to the temporary connection point. Then, the navigation device 1 detects a GPS positioning point whose vertical distance is larger than the reference distance Dref for the first time, and sets a GPS positioning point one time later, that is, one GPS positioning point from a temporary connection point as a connection node. To do. Thereby, even when the position of the independent sensor positioning is inaccurate due to the influence of the map matching process or the like, the connection point with the existing road can be set accurately.

  When the connection node between the new road and the existing road is determined in this way, the navigation device 1 registers the new road corresponding to the offload section in the map database with the determined connection node as an end point.

(2) When branching from an existing road FIG. 5 shows a connection node setting method when an existing road branches to a new road. FIG. 5 shows positioning points when a vehicle branches from an existing road 211 to a new road. The existing road 211 has existing nodes N11 and N12.

  The vehicle travels on an existing road, and the navigation device 1 acquires travel locus data. In this example, the navigation device 1 acquires the independent sensor positioning points D11 to D17 as the independent sensor positioning positions, and acquires the GPS positioning points G11 to G17 as the GPS positioning positions. The self-supporting sensor positioning points D11 to D14 have an off-road flag “off”, and the self-supporting sensor positioning points D15 to D17 have an off-load flag “on”. Note that a self-sustained sensor travel point 221 is defined by the self-supporting sensor positioning points D11 to D17, and a GPS travel track 231 is defined by the GPS positioning points G11 to G17.

  In the example of FIG. 5, the autonomous sensor positioning point D14 is maintained on the existing road due to the influence of the map matching process, after which the vehicle leaves the existing road 211, and the off-road flag is set to “ON” at the autonomous sensor positioning point D15. " On the other hand, since the GPS positioning points G11 to G17 are not affected by the map matching process or the like, the position of the vehicle is accurately shown. That is, in this example, the self-supporting sensor positioning point is located on the existing road longer than the actual self-supporting sensor positioning point D14, and the vehicle actually branches off from the existing road 211 around the GPS positioning point G13. Therefore, the connection node between the new road and the existing road should be set to the independent sensor positioning point D13 or the GPS positioning point G13.

  A procedure for determining a connection node in the example of FIG. 5 will be described below. The navigation device 1 refers to the travel locus data, and first detects the self-supporting sensor positioning point D15 as a point at which the off-road flag changes from “off” to “on”, and sets this as a temporary connection point. Next, the navigation device 1 includes the temporary connection point D15 and the GPS positioning points G14, G13, G12,. . The vertical distance from the existing road 211 is calculated in order, and a GPS positioning point whose vertical distance is smaller than the reference distance Dref is searched.

  In the example of FIG. 5, it is assumed that the vertical distance between the GPS positioning point G14 and the existing road 211 is larger than the reference distance Dref, and the vertical distance between the GPS positioning point G13 and the existing road 211 is smaller than the existing reference distance Dref. Therefore, the navigation device 1 sets the GPS positioning point G13 whose vertical distance is smaller than the reference distance Dref and closest to the temporary connection point D15 as a connection node. Thereby, the navigation apparatus 1 can set the connection node of a new road and the existing road correctly, without receiving influence, such as a map matching process.

  FIG. 6 is a flowchart of connection node setting processing when a new road branches off from an existing road. This process is realized by the CPU 22 of the system controller 20 shown in FIG. 1 executing a program prepared in advance. When executing this process, it is assumed that travel locus data as illustrated in FIG. 2 is created and stored. In the following description, a case where connection node setting processing is executed for the example shown in FIG. 5 will be described.

  First, the CPU 22 refers to the travel locus data, detects a point where the off-road flag changes from “off” to “on”, and sets that point as a temporary connection point (step S20). Thereby, the self-supporting sensor positioning point D15 is set as a temporary connection point.

  Next, the CPU 22 determines whether or not the current positioning accuracy of the GPS receiver 18 is greater than or equal to the allowable accuracy (step S21). When the positioning accuracy of the GPS receiver 18 is less than the allowable accuracy (step S21; No), the reliability of the GPS positioning point is low, and thus the CPU 22 does not perform processing using the GPS positioning point. Therefore, the CPU 22 sets the temporary connection point determined in step S20 as a connection node between the new road and the existing road (step S28).

  On the other hand, when the positioning accuracy of the GPS receiver 18 is equal to or higher than the allowable accuracy (step S21; Yes), the CPU 22 sets the GPS positioning point immediately before the temporary connection point as a determination point (step S22), and the determination point. The vertical distance between the road and the existing road is calculated (step S23) and compared with the reference distance Dref (step S24). Thereby, the vertical distance is determined for the GPS positioning point G14.

  When the vertical distance is greater than or equal to the reference distance Dref (step S24; Yes), the CPU 22 sets the previous GPS positioning point in time as a determination point (step S15), and repeats steps S23 and S24. Thereby, the determination of the vertical distance is further performed for the GPS positioning point G13.

  When the vertical distance is smaller than the reference distance Dref (step S24; No), the CPU 22 sets the determination point at that time as a connection node between the new road and the existing road (step S27).

  In the example of FIG. 5, since the vertical distance is smaller than the reference distance Dref for the GPS positioning point G13, Step S24 is No when the determination point is the GPS positioning point G13, and in Step S27, the GPS positioning point G13 becomes the connection node. Is set.

  As described above, in the connection node setting process at the time of branching from an existing road, the navigation device 1 first sets a point at which the off-road flag changes from “off” to “on” as a temporary connection point, and further determines the temporary connection point. The vertical distance from the existing road is determined by going back in time from the GPS positioning point corresponding to the connection point. Then, the navigation device 1 sets a GPS positioning point whose vertical distance becomes smaller than the reference distance Dref for the first time as a connection node. This makes it possible to accurately set the connection point with the existing road when the autonomous sensor positioning position is inaccurate due to the influence of the map matching process or the like.

  When the connection node between the new road and the existing road is determined in this way, the navigation device 1 registers the new road corresponding to the offload section in the map database with the determined connection node as an end point.

[Modification]
In the embodiment described above, the navigation device 1 generates a new road. On the other hand, in a modified example, the server device acquires travel locus data from a terminal device such as a navigation device, sets connection nodes between the new road and the existing road by the above-described method, and creates new road data.

  FIG. 7 shows a schematic configuration of a system according to a modification. Server device 300 is configured to be able to communicate with a plurality of vehicles 450. The navigation device 400 of each vehicle 450 generates travel locus data of the own vehicle and transmits it to the server device 300. The server apparatus 300 uses the travel locus data received from the navigation apparatus 400 to determine a connection node between the new road and the existing road by the same procedure as in the above-described embodiment, and generates new road data. Then, the server device 300 stores the generated new road data therein and transmits it to the navigation device 300 of the vehicle 450 that has transmitted the travel locus data.

  As a result, the navigation device 400 that has provided the travel locus data to the server device 300 can receive and use the data of the new road created based on the travel locus data. Note that the server device 300 may provide new road data to a navigation device for a vehicle other than the vehicle that provided the travel locus data.

  In the above embodiment, the self-supporting sensor positioning position is the position after the map matching process, but the position before the map matching process may be the self-supporting sensor positioning position.

  In addition, although the example which applies this invention to a vehicle was shown above, application of this invention is not limited to this. The present invention can be applied to a terminal device used by a pedestrian in addition to a vehicle. That is, the “moving body” includes pedestrians.

  The present invention can be used for a navigation device that performs route guidance and a server device that has a communication function with the navigation device.

1 Navigation device 18 GPS receiver 20 System controller 22 CPU
36 Data storage unit 210, 211 Existing road 300 Server device

Claims (10)

Positioning means for generating a GPS positioning position and a self-supporting sensor positioning position for a plurality of positioning points indicating the movement trajectory of the moving body, based on outputs of the GPS sensor and the self-supporting sensor;
Determining means for determining whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link;
New link generation means for connecting a positioning point corresponding to the off-road position to generate a new link;
The positioning point at which the autonomous sensor positioning position continuously generated changes from one of the on-road position and the off-road position to the other is set as a temporary connection point of the new link to the existing link. Temporary connection point setting means;
And GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, the GPS positioning position in the positioning point in the vicinity of the temporary connection point or the temporary connection point A map data generation device comprising: a connection node setting unit that sets one of them as a connection node of the new link to the existing link.   2. The map data generation according to claim 1, wherein the connection node determination unit determines the connection node based on a vertical distance between the GPS positioning position and an existing link where the temporary connection point exists. apparatus.   When the temporary connection point setting means sets a point at which the offload position changes to the onload position as a temporary connection point, the connection node determination means is a temporal positioning point before the temporary connection point. The vertical position between the GPS positioning position and the existing link is larger than a predetermined reference distance, and the GPS positioning position of the positioning point immediately after the positioning point closest to the temporary connection point is used as the connection node. The map data generation device according to claim 2, wherein the map data generation device is determined.   When the temporary connection point setting means sets a point at which the onload position changes from the onload position to the offload position as a temporary connection point, the connection node determination means is a positioning point that is temporally prior to the temporary connection point. The vertical positioning distance between the GPS positioning position and the existing link is smaller than a predetermined reference distance, and the GPS positioning position of the positioning point closest to the temporary connection point is determined as the connection node. The map data generation device according to claim 2. GPS accuracy determination means for determining whether the position detection accuracy of the GPS sensor is equal to or higher than a predetermined allowable accuracy,
The connection node determination means determines the temporary connection point as the connection node when the position detection accuracy of the GPS sensor is less than the allowable accuracy. The map data generation device according to item. Based on data indicating a link in map data, comprising map matching means for moving the autonomous sensor positioning position on the link;
The map data generation device according to any one of claims 1 to 5, wherein the autonomous sensor positioning position is a position after map matching processing by the map matching means. A map data generation method executed by a map data generation device,
A positioning step for generating a GPS positioning position and a self-supporting sensor positioning position for a plurality of positioning points indicating the movement trajectory of the moving body based on outputs of the GPS sensor and the self-supporting sensor;
A determination step of determining whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link;
A new link generation step of connecting a positioning point corresponding to the off-road position to generate a new link;
The positioning point at which the autonomous sensor positioning position continuously generated changes from one of the on-road position and the off-road position to the other is set as a temporary connection point of the new link to the existing link. A temporary connection point setting step;
And GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, the GPS positioning position in the positioning point in the vicinity of the temporary connection point or the temporary connection point And a connection node setting step of setting one of them as a connection node of the new link to the existing link. A map data generation program executed by an apparatus including a computer,
Positioning means for generating GPS positioning positions and independent sensor positioning positions at a plurality of positioning points indicating the movement trajectory of the moving body based on the outputs of the GPS sensor and the independent sensor,
Determining means for determining whether the autonomous sensor positioning position is an on-road position existing on an existing link included in map data or an off-road position not existing on the existing link;
The positioning point at which the autonomous sensor positioning position continuously generated changes from one of the on-road position and the off-road position to the other is set as a temporary connection point of the new link to the existing link. Temporary connection point setting means,
And GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, the GPS positioning position in the positioning point in the vicinity of the temporary connection point or the temporary connection point A map data generation program that causes the computer to function as connection node setting means for setting one of them as a connection node for the existing link of the new link.   A storage medium storing the map data generation program according to claim 8. A server device configured to be able to communicate with a plurality of terminal devices,
For a plurality of positioning points indicating the movement trajectory of the moving body, a GPS positioning position, a self-supporting sensor positioning position, or whether the self-supporting sensor positioning position is an on-load position existing on an existing link included in map data or the existing link Receiving means for receiving, from the terminal device, travel locus data including off-road information indicating whether the off-road position does not exist above;
The positioning point at which the autonomous sensor positioning position continuously generated changes from one of the on-road position and the off-road position to the other is set as a temporary connection point of the new link to the existing link. Temporary connection point setting means;
And GPS positioning position in the positioning point in the vicinity of the temporary connection point and the temporary connection point, on the basis of the positional relationship between the existing link, the GPS positioning position in the positioning point in the vicinity of the temporary connection point or the temporary connection point And a connection node setting unit configured to set one of them as a connection node for the existing link of the new link.

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