JP5029009B2 - Map information generation system - Google Patents

Description

  The present invention relates to a map information generation system that generates new road information related to a new road to be added to map information stored in a navigation device or the like.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle with a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD, or a network, and displays it on a liquid crystal monitor. It is a device that can do. Then, map data including the current position of the vehicle is read from a recording medium or the like, a map image around the current position of the vehicle is drawn based on the map data and displayed on the display device, and the vehicle position mark (location) is displayed on the map. You can see at a glance where the vehicle is currently traveling by displaying it superimposed on the image and scrolling the map image as the vehicle moves, or fixing the map image to the screen and moving the vehicle position mark. To make it clear.

  Here, new roads (new roads) are constructed every year in Japan. Along with this, the existing road disappears or the shape of the existing road is changed. At this time, there is a problem that information regarding a new road newly created after the map data owned by the navigation device is generated is not registered in the map information data. That is, in a navigation device having map data that does not include a new road, the new road is not displayed on the liquid crystal monitor, and the new road is not subject to route search, so the navigation device does not pass through the new road. May be searched. In order to avoid such a problem, it is necessary to update the map data stored in the navigation device at a certain time interval. Here, the update of the map data is performed by purchasing a new DVD and replacing it with an old DVD, or rewriting the contents of the HDD based on the update map data distributed from the map information distribution center or the like.

And as a production | generation means which produces | generates the new road information regarding the new road for adding to the map data of a navigation apparatus, it is common to produce | generate based on the survey data which the person actually investigated the new road on-site. . However, the number of new roads to be newly established is very large every year, and it takes a lot of time to investigate all necessary items by hand. As a result, a considerable amount of time is required until the new road is reflected in the map data of the navigation device, which causes a decrease in the reliability of the navigation device. Therefore, conventionally, attempts have been made to generate new road information using a vehicle travel history. For example, in Japanese Patent Application Laid-Open No. 2004-251790, when a state in which it is determined that the vehicle is traveling on a road that does not exist in the map data of the navigation device continues, A map information update system for automatically generating information and updating map data is described.
JP 2004-251790 A (pages 8-9, FIG. 4)

  Here, in the map information update system described in Patent Document 1, when map matching is performed and it is determined that the vehicle is traveling on a road that does not exist in the map data of the navigation device, it is uniform. New road information based on the travel path is generated. Therefore, a plurality of new road information for the same new road may be generated. In other words, even when traveling on the same road multiple times, when traveling on a road with multiple lanes, it is rare that the travel trajectory completely coincides, and the detection error also causes a travel trajectory. Misalignment may occur. Therefore, every time a new road is traveled, new road information is created and added to the map data, increasing the processing load on the control device and requiring a large storage area.

  The present invention has been made to solve the above-described problems, and when new road information is generated from a travel locus of a vehicle, a plurality of new road information is generated for the same road. It is an object of the present invention to provide a map information generation system that prevents the processing load of the control device and reduces the required storage area.

In order to achieve the above object, the map information generation system (1) according to claim 1 of the present application collects travel locus information relating to a travel locus of a vehicle traveling on a road not included in the road network of the map information (53). In the map information generating system, comprising: a collecting means (20); and a new road information generating means (20) for generating new road information relating to a new road based on the travel locus information collected by the information collecting means. A start link specifying means (45) for specifying a road link of a travel locus starting point where the vehicle has started traveling from an existing road link included in the information (53) to a road not included in the road network of the map information; End link that identifies the road link at the end point of the travel locus that has returned from the road not included in the road network of the map information to the existing road link included in the map information A constant means (45), of the traveling locus information collected by the information collecting means, and the road link of the traveling locus start point and the road link of the traveling locus end point is about the traveling locus of the same road link, respectively Information grouping means (20) for grouping the traveling locus information , wherein the new road information generating means is a new road related to one new road for each group based on the traveling locus information grouped by the information grouping means; It is characterized by generating road information.

A map information generation system according to claim 2 is the map information generation system (1) according to claim 1, wherein the travel trajectories of the plurality of travel trajectory information collected by the information collecting means (20) are provided. A distance calculating means for calculating a separation distance between the respective traveling loci (20), wherein the information grouping means (20) is a traveling locus relating to a traveling locus in which the separation distance calculated by the distance calculating means is within a predetermined distance; It is characterized by grouping information .

Further, the map information generation system according to claim 3 is the map information generation system (1) according to claim 2 , wherein the distance calculation means (20) is predetermined with respect to the travel locus of a plurality of travel locus information. The average value of the separation distance between the position coordinates for each distance is calculated as the separation distance between the traveling tracks .

In the map information generation system according to claim 1 having the above-described configuration, the travel locus information on the travel locus of the vehicle traveling on the road not included in the road network of the map information is collected, and the collected travel locus information is Since the traveling track information traveling on the same road is grouped and new road information about one new road is generated for each group based on the grouped traveling track information, new road information is generated from the traveling track of the vehicle. In this case, it is possible to prevent a plurality of new road information from being generated for the same road. Therefore, it is possible to reduce the processing load on the control device and reduce the necessary storage area.
In addition, since the travel track information related to the travel track where the road link at the travel track start point and the road link at the travel track end point are the same road link is grouped, new road information is generated from the travel track of the vehicle. The traveling locus traveling on the same road can be accurately classified based on the link connection.

In the map information generation system according to claim 2, a separation distance between each traveling locus is calculated for the traveling locus of the collected traveling locus information, and the calculated traveling distance is within a predetermined distance. Since the traveling locus information is grouped, when generating new road information from the traveling locus of the vehicle, the traveling locus traveling on the same road can be accurately classified based on the arrangement of the traveling locus.

In the map information generation system according to claim 3, an average value of the separation distance between the position coordinates for each predetermined distance is calculated for the traveling locus of the collected traveling locus information, and the calculated average value of the separation distances Grouping the travel locus information related to the travel locus within the predetermined distance, so when generating new road information from the vehicle travel locus, the travel locus traveling on the same road is accurately determined based on the arrangement of the travel locus. Can be divided into

DETAILED DESCRIPTION Hereinafter, a map information generation system according to the present invention will be described in detail with reference to the drawings based on an embodiment that is embodied.
First, a schematic configuration of the map information generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram showing a map information generation system 1 according to the present embodiment.

  As shown in FIG. 1, the map information generation system 1 according to the present embodiment is basically composed of a map distribution center 2, a vehicle 3 that is a probe car, and a navigation device 4 that is installed in the vehicle 3. Yes.

  Here, the map distribution center 2 collects and accumulates travel locus information as probe data transmitted from each vehicle 3 traveling all over the country, and new roads related to new roads newly established from the accumulated travel locus information. Generate information. Then, referring to the generated new road information, generation of update data for updating the old version of the map data to a new version of map data including the newly installed new road, and distribution of the generated update data It is a distribution center that performs. As update data, all update data for rewriting and updating all the map data stored in the navigation device 4 (hereinafter referred to as “all update”) and only a specific area of the map data are rewritten and updated (hereinafter referred to as difference). There are two types of differential update data. In this embodiment described below, only an embodiment using differential update data as update data will be described.

Further, the vehicle 3 is a vehicle that travels on roads throughout the country, and forms a probe car system together with the map distribution center 2 as a probe car. Here, the probe car system is a system that collects information using a vehicle as a sensor. Specifically, the vehicle transmits the speed data and the operating status of each system such as steering operation and shift position together with GPS position information to the center using the communication module 5, and the center side collects the collected data in various ways. A system that is reused as information.
Here, as the probe data acquired by the vehicle 3 and transmitted to the map distribution center 2 in the map information generation system 1 according to the present embodiment, in particular, the navigation map data 53 provided in the navigation device 4 (see FIG. 5). ), There are position coordinates (latitude / longitude), direction, and vehicle speed of the vehicle 3 when the vehicle 3 travels on a road that is not included. That is, the vehicle 3 acquires and transmits travel locus information related to a travel locus traveling on a road that is not included in the navigation map data 53 included in the navigation device 4 as probe data. The number of vehicles 3 that can communicate with the map distribution center 2 is not necessarily plural, and may be only one. In that case, the navigation map data 53 is updated based only on the traveling locus of the own vehicle without considering the traveling locus of the other vehicle.

The navigation device 4 is an in-vehicle device that is installed in the vehicle 3 and displays a map around the vehicle position based on the stored map data and searches and guides a route to a set destination. Here, the map distribution center 2 and the navigation device 4 are configured to be capable of bidirectional communication using a vehicle communication module 5 (hereinafter simply referred to as a communication module 5) such as a mobile phone mounted in advance in the vehicle. Various information such as travel locus information and difference update data as probe data is transmitted and received between the two.
Moreover, the navigation apparatus 4 which concerns on this embodiment updates the map data stored based on the transmitted difference update data, when difference update data is transmitted from the map delivery center 2. FIG.

In the map information generation system 1 according to the present embodiment described below, the navigation device 4 directly acquires the difference update data from the map distribution center 2 and updates the map. The map may be updated through a store such as a user PC (Personal Computer) or a dealer.
For example, when the map update is performed via the user PC, the difference update data is downloaded from the map distribution center 2 in the user PC configured to be able to communicate with the map distribution center 2 via a communication network such as the Internet line. . Then, the downloaded difference update data is temporarily stored in an HDD (Hard Disk Drive), and the stored data is further recorded on a medium such as a CD-R or DVD-R, and is read by the navigation device 4, thereby enabling the navigation device. It is desirable to configure so that difference update data can be delivered to 4.
On the other hand, when the map is updated through a store, all update data is downloaded to a store PC installed in the store via a network such as satellite communication. Further, the dealer configures the dealer HDD, which is a storage medium connected to the dealer PC, so as to be removable. Then, the newly installed store HDD is newly connected to the navigation device 4 in accordance with the IEEE 1394 (Institute of Electrical and Electronic Engineers 1394) standard, so that all update data can be transferred to the navigation device 4. It is desirable to configure.

  Next, the map distribution center 2 constituting the map information generation system 1 will be described in detail with reference to FIG. FIG. 2 is a block diagram showing a configuration of the map information generation system 1 according to the present embodiment.

  As shown in FIG. 2, the map distribution center 2 includes a server (information collecting means, new road information generating means, information grouping means, distance calculating means) 20 and travel locus information as an information recording unit connected to the server 20. A DB 24, a new road information DB 25, a center side map information DB 26, a version management DB 27, a notification display 28, and a center side communication device 29 are provided.

  The server 20 includes an arithmetic device that performs overall control of the server 20 and a CPU 21 as a control device, a RAM 22 that is used as a working memory when the CPU 21 performs various arithmetic processes, and a travel locus as probe data collected from the vehicle 3. Inappropriate information exclusion processing for excluding inappropriate information from information, information grouping processing for grouping travel trajectory information traveling on the same road with respect to travel trajectory information not excluded, based on grouped travel trajectory information New road information generation processing for generating new road information for one new road for each group, and priority setting processing for setting the priority order for the generated new road information based on the number of vehicles traveling on the new road A new road displaying new road information on the notification display 28 in accordance with the set priority order Information notification processing, update data generation processing for generating differential update data including new road information that was not included in the road network of the old version map data based on the old version map data and the new version map data An internal storage device such as a ROM 23 in which various control programs for performing map data distribution processing for distributing the difference update data to the requested navigation device 4 is provided. An MPU or the like can be used instead of the CPU 21.

  The travel locus information DB 24 is a storage unit that cumulatively stores travel locus information relating to the travel locus of the vehicle collected from each vehicle 3 traveling throughout the country. The travel trajectory information stored in the travel trajectory information DB 24 according to the present embodiment is travel trajectory information related to the travel trajectory when the vehicle 3 travels on a road that is not included in the road network of the navigation map data of the navigation device 4.

Hereinafter, the travel locus information stored in the travel locus information DB 24 will be described in more detail with reference to FIG. FIG. 3 is a diagram showing an example of the storage area of the travel locus information DB 24.
As shown in FIG. 3, the travel locus information is a travel locus start point (point S in FIG. 8) where the vehicle starts traveling from an existing road link included in the navigation map data to a road that is not included in the road network of the navigation map data. ) road links (hereinafter, the vehicle is returned to the existing road link included a start link number L _S links a number of) of the start link, from not included in the road network of the navigation map data road navigation map data while the road link of the traveling locus end point (a point in FIG. 8 E) (hereinafter, referred to as termination link) and terminates link number L _E is the link number, running on a road that is not included in the map data vehicle 3 At time t acquired at predetermined time intervals (for example, every 1 sec), position coordinates P (x, y), traveling direction N, and vehicle speed S.
The traveling locus information DB 24 cumulatively stores the traveling history information described above by the number collected from each vehicle 3.

  On the other hand, in the new road information DB 25, a new road related to a new road generated by grouping a plurality of travel locus information stored in the travel locus information DB 24 for each travel locus information traveling on the same road as will be described later. Storage means for storing information. The new road information stored in the new road information DB 25 according to the present embodiment includes improper information exclusion processing (S12 in FIG. 9) and information grouping processing (in FIG. This is information relating to the new road generated based on the travel locus information classified as travel locus information relating to the travel locus traveling on the same new road by performing S13). Also, information related to the priority order that is set by a priority order setting process (S16 in FIG. 9), which will be described later, and is used for notification on the notification display 28 and distribution to the navigation device 4 is also stored.

Hereinafter, the new road information stored in the new road information DB 25 will be described in more detail with reference to FIG. FIG. 4 is a diagram showing an example of the storage area of the new road information DB 25.
Specifically, as shown in FIG. 4, the start link number L _AS of an existing road link having a start point of a travel locus belonging to each group, and the end link number of an existing road link having an end point of a travel locus _LAE and the average position coordinates P _A (X, Y) for each predetermined distance (for example, 10 m) from the start point for the traveling locus belonging to the group. Then, the new road specified by the new road information shown in FIG. 4 starts from the existing road link of the link number L _AS and passes through the position coordinates P _A (X, Y) to the road link of the link number L _AE. It becomes the road to reach.

  Further, in the center-side map information DB 26, basic map data 30 which is map data that is generated based on externally input data and input operations and is the basis for updating the navigation map data stored in the navigation device 4 is provided. Are stored separately for each version. Here, the version is creation time information for specifying the time when the map data was created, and the time when the map data was created can be specified by referring to the version. Further, the center-side map information DB 26 includes a difference for updating a part of the map data created by the server 20 based on the basic map data 30 and stored in the navigation device 4 to a new version of map data. The update data 31 is also stored separately for each version.

  In the version management DB 27, information related to the version of the navigation map data stored in each navigation device 4 is recorded. Here, the navigation map data and the basic map data 30 store various information necessary for route guidance and map display including the road network. For example, map display data for displaying a map, intersection data for each intersection , Node data relating to node points, link data relating to roads (links), search data for searching for routes, facility data relating to facilities, search data for searching for points, and the like.

  The notification display 28 is notification means for notifying the generated new road information to the map distribution center 2 side. Specifically, notification of a new road is performed by displaying a map of the new road and its surroundings, and further displaying a map in which the new road is highlighted from other roads (see FIG. 14). Then, the map distribution center 2 refers to the displayed map and actually surveys the new road on the site, and generates a new version of the basic map data 30 including the new road. The notification of new road information by the notification display 28 is performed according to the priority set by the priority setting process (S16 in FIG. 9).

  Further, the center side communication device 29 is a communication device for communicating with the navigation device 4 via the network 8. Here, as the network 8, for example, a LAN (Local Area Network), a WAN (Wide Area Network), an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, a communication network such as the Internet Etc. can be used. A communication system using CS broadcasting, BS broadcasting, terrestrial digital television broadcasting, FM multiplex broadcasting, or the like by a broadcasting satellite can also be used. Furthermore, a communication system such as a non-stop automatic fee payment system (ETC) or a narrow area communication system (DSRC) used in an intelligent road traffic system (ITS) can also be used.

  Next, a schematic configuration of the navigation device 4 configuring the map information generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration of the navigation device 4 according to the present embodiment.

  As shown in FIG. 5, the navigation device 4 according to this embodiment receives a current location detection processing unit 41 that detects the current position of the host vehicle, a travel locus information DB 42, a vehicle information DB 43, and a map information DB 44. A navigation ECU (start link specifying means, end link specifying means, start point detecting means, end point detecting means) 45 for performing various arithmetic processes based on the information, an operation unit 46 for receiving an operation from the operator, and an operation A liquid crystal display 47 for displaying information such as a map to a person, a speaker 48 for outputting voice guidance related to route guidance, a DVD drive 49 which is a reading device capable of reading a recording medium such as a CD or a DVD, and a VICS center. The communication module 5 communicates with the traffic information center or the map distribution center 2. The navigation ECU 45 detects a vehicle speed sensor 50 that detects the traveling speed of the host vehicle, an ACC switch 51 that detects ON / OFF of an ACC (accessory key) (that is, engine start / stop), and a shift lever position. A shift lever sensor 52 is connected.

  The components constituting the navigation device 4 will be described below. The current location detection processing unit 41 includes a GPS 61, a geomagnetic sensor 62, a distance sensor 63, a steering sensor 64, a gyro sensor 65 as a direction detection unit, and an altimeter (not shown). And the like, and it is possible to detect the current position, direction, distance to a target (for example, an intersection), and the like.

The travel locus information DB 42 is a memory that temporarily stores travel locus information related to the travel locus when the vehicle 3 travels on a road that is not included in the road network of the navigation map data 53 stored in the map information DB 44. Means. Specifically, as shown in FIG. 3, the road link at the starting point of the travel locus where the vehicle started traveling from the existing road link included in the navigation map data to the road not included in the road network of the navigation map data. The link number of the start link number L _S that is the link number and the link number of the road link at the end of the travel locus where the vehicle has returned from the road not included in the road network of the navigation map data to the existing road link included in the navigation map data and there terminates link number L _E, a predetermined time interval during which the road that is not included in the map data the vehicle 3 is traveling (e.g., every 1 sec) and the time t acquired by the position coordinate P (x, y) and The traveling direction N and the vehicle speed S are detected by the GPS 61 and the gyro sensor 65 and are sequentially stored in the travel locus information DB 42. Then, the travel history information stored in the travel locus information DB 42 is transmitted to the map distribution center 2 as probe data at a predetermined timing. Further, the transmitted travel locus information is deleted from the travel locus information DB 42 each time.

  The vehicle information DB 43 is a storage unit that stores information about the vehicle 3 on which the navigation device 4 is installed. As information about the vehicle 3, for example, the vehicle type (ordinary vehicle, medium-sized vehicle, large vehicle, extra large vehicle, light vehicle, etc.) and vehicle width are stored.

  The map information DB 44 stores navigation map data 53 used for travel guidance and route search of the navigation device 4. In this embodiment, a hard disk is used as an external storage device and storage medium for the travel locus information DB 42, the vehicle information DB 43, and the map information DB 44. In addition to the hard disk, a magnetic disk such as a flexible disk is used as the external storage device. Can be used as Also, a memory card, magnetic tape, magnetic drum, CD, MD, DVD, optical disk, MO, IC card, optical card, etc. can be used as an external storage device.

Here, the navigation map data 53 is composed of various information necessary for route guidance and map display, similar to the basic map data 30 described above. For example, map display data for displaying a map, intersection data regarding each intersection, and the like. , Node data relating to node points, link data relating to roads (links), search data for searching for routes, facility data relating to facilities, search data for searching for points, and the like.
The navigation map data 53 is updated by either a full update that updates the map data of all areas in the country at once or a differential update that updates the map data of only a specific area. Note that a specific update processing method for full update and differential update is a known technique and will not be described here.

  Further, the navigation ECU 45 constituting the navigation device 4 is used as a working memory when the CPU 71 performs various kinds of arithmetic processing, and the CPU 71 as the arithmetic device and the control device for controlling the navigation device 4 as a whole, and the route is In addition to the RAM 72 that stores route data and the like when it is searched for, and a control program, it also acquires travel locus information when the vehicle 3 travels on a road that is not included in the road network of the navigation map data 53 of the navigation device 4. Then, a probe data collection processing program (FIG. 7) to be transmitted to the map distribution center 2 as probe data, a route guidance processing program for searching and guiding a route based on the navigation map data 53, and a navigation based on the difference update data. Map data update processing for updating the difference of the map data 53 Program includes an internal storage device such as a flash memory 74 (FIG. 15) or the like to record a program read from the recorded ROM 73, ROM 73. As the RAM 72, ROM 73, flash memory 74, etc., a semiconductor memory, a magnetic core, or the like is used. In addition, an MPU or the like can be used instead of the CPU 71 as the arithmetic device and the control device.

  Next, the basic flow of the entire system by the map information generation system 1 configured as described above will be described with reference to FIG. FIG. 6 is an explanatory diagram showing a basic flow of the map information generation system 1 according to the present embodiment.

First, as shown in FIG. 6, the navigation device 4 performs map matching based on the navigation map data 53 stored in the map information DB 44 and detection results of various sensors such as the GPS 61, and when a matching point cannot be extracted. That is, the position coordinates (latitude / longitude) of the vehicle 3 when the vehicle 3 travels on a road not included in the navigation map data 53 included in the navigation device 4 is detected. Thereafter, the detected position coordinates and the like are transmitted to the map distribution center 2 as travel locus information.
On the other hand, the map distribution center 2 that has received the travel locus information from the navigation device 4 of each vehicle 3 collects the received data and analyzes the data. In data analysis, first, an abnormal value detected due to an apparatus error or the like is removed. Next, target trajectory information is narrowed down by removing travel locus information predicted that the vehicle 3 is not traveling on a new road. Subsequently, traveling locus information traveling on the same road is grouped, and new road information relating to one new road to which the group belongs is generated for each group. Further, the number of travels of the vehicle on the new road of the generated new road information is calculated. Then, priority is set for the new road information based on the calculated number of travels.
Thereafter, the map distribution center 2 generates map data based on the new road information for which priority is set. In generating map data, first, new road information is displayed on the notification display 28 in accordance with the set priority order, and the new road information is notified to the map distribution center 2 side. The map distribution center 2 refers to the displayed new road information and actually goes to the site and collects information on the new road. Then, based on the new road information notified to the notification display 28 and the information collected on site, a new version of differential update data including the new road is created. Then, the difference update data is distributed according to the priority set in the new road information to the navigation device that requested the version update.
On the other hand, the navigation device 4 that has received the difference update data updates the navigation map data 53 stored in the map information DB 44 to a new version of map data including a new road. Then, the navigation device 4 performs map matching again based on the updated navigation map data 53, and thereafter, similarly, generation of new new road information and distribution of difference update data are repeatedly performed.

  Next, a probe data collection processing program executed by the navigation ECU 45 of the vehicle 3 and the server 20 of the map distribution center 2 in the map information generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 7 is a flowchart of the probe data collection processing program in the map information generation system 1 according to this embodiment. Here, the probe data collection processing program acquires travel locus information when the vehicle 3 travels on a road that is not included in the road network of the navigation map data 53 of the navigation device 4 and transmits it to the map distribution center 2 as probe data. This is a program for collecting the travel locus information transmitted from each vehicle 3 while the map distribution center 2 transmits the information. The program shown in the flowchart of FIG. 7 below is stored in the RAM 72 and ROM 73 provided in the navigation device 4 or the RAM 22 and ROM 23 provided in the server 20, and is set at a predetermined interval (for example, 200 ms) by the CPU 71 or CPU 21. Every).

  First, the probe data collection processing program executed by the CPU 71 of the navigation device 4 will be described with reference to FIG. 7. In step (hereinafter abbreviated as “S”) 1, the CPU 71 detects the current position of the vehicle by the GPS 61. Next, in S2, the CPU 71 performs map matching processing using the current position of the vehicle detected in S1 and the navigation map data 53 stored in the map information DB 44, and specifies the vehicle position on the map data.

  Subsequently, in S3, the CPU 71 determines whether or not a matching point could not be extracted in the map matching in S2, that is, whether or not the vehicle is traveling on a road not included in the road network of the navigation map data 53 provided in the navigation device 4. Determine. As a result, when it is determined that the vehicle is traveling on a road included in the road network of the navigation map data 53 (S3: NO), the process proceeds to S8.

On the other hand, when it is determined that the vehicle is traveling on a road that is not included in the road network of the navigation map data 53 (S3: YES), the position coordinates of the last point where the vehicle was on the existing road link are It is specified as a travel locus start point S where the vehicle has started traveling from an existing road link included in the navigation map data 53 to a road not included in the road network of the navigation map data 53. Furthermore, based on the identified travel locus start point S and the navigation map data 53, a road link with the travel locus start point S is identified as a start link, and a start link number L _S is acquired (S4). Note that S4 corresponds to the processing of the start link specifying means.

  Thereafter, in S5, the CPU 71 acquires various parameters as travel locus information at predetermined time intervals (for example, every 1 second) by the GPS 61 and various sensors, and stores them in the travel locus information DB. Here, FIG. 8 is a diagram showing an example of acquiring travel locus information when the vehicle travels on the road 101 not included in the road network of the navigation map data 53.

FIG. 8 shows a traveling example in which the vehicle enters the road 101 from the existing road link 102 and then returns to the existing road link 103. When the travel shown in FIG. 8 is performed, the time t, the position coordinates P (x, y), the traveling direction N, and the vehicle speed S are obtained at the passing points P _{11 to} P ₁₅ at predetermined time intervals (for example, 1 sec). Obtained by the GPS 61, the gyro sensor 65, and the vehicle speed sensor 50. Further, when it is detected by the ACC switch 51 that the engine of the host vehicle has been stopped, or when the shift lever is detected by the shift lever sensor 52 when the shift lever is set to “R”, the fact and that The position coordinates at the time are also stored as travel locus information.

  Further, in S6, the CPU 71 determines whether or not the vehicle has returned to an existing road included in the road network of the navigation map data 53 provided in the navigation device 4. As a result, when it is determined that the road has been returned to the road included in the road network of the navigation map data 53 (S6: YES), the process proceeds to S7. On the other hand, when it is determined that the vehicle has not returned to the road included in the road network of the navigation map data 53 (S6: NO), the process returns to S5, and the travel locus information is continuously acquired.

In S <b> 7, the CPU 71 identifies the current position coordinates detected by the GPS 61 as a travel locus end point E that has returned from a road not included in the road network of the navigation map data 53 to an existing road link included in the navigation map data 53. To do. Furthermore, identified as the end link road links of the traveling locus end point E on the basis of the current position coordinates and the navigation map data 53 detected by the GPS 61, to obtain an end link number L _E. Note that S7 corresponds to the processing of the end link specifying means.

  Thereafter, in S8, the CPU 71 determines whether or not it is time to transmit the travel locus information (see FIG. 3) acquired in S4 to the map distribution center 2 as probe data. And when it determines with it being the timing of transmission (S8: YES), the traveling locus information memorize | stored in traveling locus information DB42 is transmitted (S9). On the other hand, when it is determined that it is not the transmission timing (S8: NO), the probe data collection processing program is terminated without transmitting the travel locus information.

  Next, a probe data collection processing program executed by the CPU 21 of the map distribution center 2 will be described with reference to FIG. First, the CPU 21 receives the travel locus information transmitted from the navigation device 4 in S101. Thereafter, in S102, the traveling locus information received in S101 is cumulatively stored in the traveling locus information DB 24 (see FIG. 3). Then, new road information and difference update data are generated using the stored travel locus information as described later. Note that S101 and S102 correspond to processing of the information collecting means.

  Next, a new road information generation and notification processing program executed by the server 20 of the map distribution center 2 in the map information generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 9 is a flowchart of a new road information generation and notification processing program in the map information generation system 1 according to the present embodiment. Here, the new road information generation and notification processing program generates new road information related to the newly established new road based on the travel locus information collected by the map distribution center 2 in the probe data collection processing program (FIG. 7). This is a program for notifying the generated new road information to the map distribution center 2 side. The program shown in the flowchart of FIG. 9 below is stored in the RAM 22 or ROM 23 provided in the server 20, and is executed by the CPU 21 at predetermined intervals (for example, every 200 ms).

  The CPU 21 first removes an abnormal value detected due to a device error or the like from the travel locus information newly collected from each vehicle 3 in S11 and stored in the travel locus information DB 24. Specifically, when the position coordinates of the vehicle 3 that should have been continuously acquired are position coordinates that are completely different from only the coordinates of one point in the middle, the data relating to the position coordinates is removed. .

Subsequently, in S12, the CPU 21 performs improper information exclusion processing for excluding travel locus information that is predicted that the vehicle 3 is not traveling on a new road from newly collected travel locus information. Specifically, in the present embodiment, travel locus information determined to satisfy any of the following conditions (1) to (5) is excluded.
(1) Traveling track information related to the traveling track returning to the same link.
(2) Travel locus information related to a travel locus where the engine is stopped halfway.
(3) Traveling track information related to a traveling track in which the vehicle is moving backward.
(4) Travel trajectory information related to a travel trajectory between the travel trajectory start point S and the travel trajectory end point E that is less than a predetermined distance (for example, 10 m).
(5) Travel locus information related to a travel locus traveling on the road network included in the basic map data 30 of the map distribution center 2.

For example, FIG. 10 is a diagram showing a traveling locus 105 of traveling locus information corresponding to the condition (1). A travel locus 105 shown in FIG. 10 passes through points P _{11 to} P ₁₄ from the existing road link 106 and returns to the same road link 106 again. Such a travel locus is highly likely to be a travel locus that traveled in a large facility such as a parking lot or a shopping center, and the possibility of traveling on a new road is extremely low. Therefore, it is determined that it is not traveling locus information traveling on a new road, and is excluded.

  FIG. 11 is a diagram showing a travel locus 107 of the travel locus information corresponding to the condition (4). A traveling locus 107 shown in FIG. 11 enters from a traveling locus start point S of an existing road link 108 to a traveling locus end point E of the road link 109 and from the traveling locus start point S to the traveling locus end point E. The distance n is less than 10 m. Such a traveling locus is highly likely to be a traveling locus that has passed through the parking lot for a shortcut, and the possibility of traveling on a new road is extremely low. Therefore, it is determined that it is not traveling locus information traveling on a new road, and is excluded.

  Similarly, the travel trajectory of the travel trajectory information corresponding to the conditions (2) and (3) is likely to be a travel trajectory traveled in a large facility such as a parking lot or a shopping center, and travels on a new road. The likelihood of having been Therefore, it is determined that it is not traveling locus information traveling on a new road, and is excluded.

  Further, the travel locus of the travel locus information corresponding to the condition (5) is a travel locus that travels on a road that is already grasped as an existing road in the map distribution center 2. Therefore, such a traveling locus is a traveling locus that travels on an existing road that is erroneously collected because the navigation device 4 has not been updated to the new version of map information. Therefore, it is determined that it is not traveling locus information traveling on a new road, and is excluded. In the inappropriate information exclusion process of S12, the travel locus information determined to satisfy any one of the above conditions (1) to (5) is excluded, but the above-described (1) to (5) You may make it exclude the driving | running | working locus | trajectory information determined that it corresponds to multiple conditions.

Subsequently, in S13, the CPU 21 performs an information grouping process for grouping the traveling locus information by classifying the traveling locus information traveling on the same road into the same group with respect to the newly collected traveling locus information. Done. Specifically, in the present embodiment, traveling locus information determined to satisfy all of the following conditions (1) and (2) is grouped as the same group.
(1) Travel locus information related to a travel locus in which the start link and end link of the travel locus are common.
(2) Travel locus information related to a travel locus whose separation distance is within a predetermined distance (for example, 30 m).

Here, a method for determining whether or not the condition (2) is satisfied will be described with reference to a specific example of FIG. FIG. 12 shows two pieces of traveling locus information. One piece of traveling locus information is obtained from the traveling locus start point S ₁ on the existing road link 111 to the traveling locus end point E _{1 on the} existing road link 112. It is travel locus information regarding the travel locus to travel. The travel locus line 113 is a line obtained by linearly approximating the travel locus of the travel locus information from the coordinates of the passing point of the vehicle.
The other traveling locus information is traveling locus information relating to traveling loci that also travels from the traveling locus start point S ₂ on the existing road link 111 to a traveling locus end point E ₂ on the existing road link 112. The travel locus line 114 is a line obtained by linearly approximating the travel locus of the travel locus information from the coordinates of the passing point of the vehicle.

In the present embodiment, the condition (2) is satisfied when the average value of the separation distance between the position coordinates for each predetermined distance from the travel locus start points S ₁ and S ₂ is within a predetermined distance (for example, 30 m). Consider it a thing.
Specifically, draw a traveling locus start point _{S 1} circle _{C 11} with a radius r from the traveling locus line 113, as shown in FIG. 12, and calculates the coordinates of the intersection _{T 11} between the circle _{C 11} and the traveling locus line 113 . Further, a circle C ₂₁ having a radius r is drawn from the travel locus start point S ₂ of the travel locus line 114, and the coordinates of the intersection T ₂₁ between the circle C ₂₁ and the travel locus line 114 are calculated.
Next, a circle _{C 12} from the intersection _{T 11} of radius r of the traveling locus line 113, and calculates the coordinates of the intersection _{T 12} between the circle _{C 12} and the traveling locus line 113. Further, a circle _{C 22} with a radius r from the intersection _{T 21} of the traveling locus line 114, and calculates the coordinates of the intersection _{T 22} between the circle _{C 22} and the traveling locus line 114. In the same manner, the intersection _T 13 _{through T 16,} and calculates an intersection point _T 23 _{through T 26.} Then, the distance between the intersection point _{T 11} and _{T 21,} the distance between the intersection point _{T 12} and _{T 22,} the distance between the intersection point _{T 13} and _{T 23,} the distance between the intersection point _{T 14} and _{T 24,} the intersection point _{T 15} When the distance between T ₂₅ and the distance between intersections T ₁₆ and T ₂₆ are respectively calculated and the average value is within a predetermined distance (for example, 30 m), the two travel locus information shown in FIG. It is determined that the distance is travel locus information related to a travel locus within a predetermined distance (for example, 30 m), and is classified into the same group.

As shown in FIG. 13, when the condition (2) is determined for three or more pieces of travel locus information, for example, the intersection points T _{11 to} T _1N , the intersection points T _{21 to} T _2N , and the intersection point T _{31 are used.} It is desirable to set a representative point for each of T _3N ,. Specifically, when the average value of the distance to each intersection and the set representative point is within a predetermined distance (for example, 30 m), the travel locus information indicates that the separation distance is within the predetermined distance (for example, 30 m). It is determined that the travel locus information is related to a certain travel locus, and is classified into the same group.
Moreover, you may determine using a standard deviation. In that case, the travel trajectory information whose distance between the intersection and the representative point is within the average value ± σ is determined to be travel trajectory information related to the travel trajectory whose separation distance is within the predetermined distance, and is classified into the same group. The
Here, there are various methods for setting the representative point. As an example, a method using the average value of the coordinates of each intersection will be described. Specifically, as shown in FIG. 12, when there are two travel tracks based on the travel track information, intermediate points between the intersection points T _{11 to} T _1N and the intersection points T _{21 to} T _2N are set as representative points. To do. Then, as shown in FIG. 13, when a third travel locus is newly collected for the two travel tracks, each representative point set for the two travel tracks and the intersections T ₃₁ to T ₃₁ . Each intermediate point of _T3N is reset as a new representative point. Similarly, when the number of travel tracks increases by 4, 5, the intermediate point between the already set representative point and the intersection of the newly collected travel tracks is set again as a new representative point. The representative point may be set using the median value instead of the average value.
Further, S13 corresponds to the processing of the information grouping unit and the distance calculating unit. In the information grouping process of S13, the travel locus information determined to satisfy both the above conditions (1) and (2) is grouped, but one of the above conditions (1) and (2) is set. The traveling locus information determined to be applicable may be grouped.

Next, in S14, the CPU 21 performs a new road information generation process for generating new road information on one new road specified by the travel regulation information belonging to the group grouped in S13. Is called. Specifically, as shown in FIG. 4, with respect to the travel locus information grouped, a start link number L _AS and an end link number L _AE for each group, and a predetermined distance from the start point for the travel locus belonging to the group. An average position coordinate P _A (X, Y) for each (for example, 10 m) is calculated, and new road information is generated by the combination thereof. When there are a plurality of groups, new road information is generated for the number of groups. However, the new road information is not generated again for a group in which the newly collected travel locus information has not been classified since the previous new road information generation process was performed. Further, S14 corresponds to the processing of the new road information generating means.

  Furthermore, in S15, the CPU 21 calculates the number of travels that the vehicle has traveled on the new road of the new road information generated in S14. Specifically, the number of pieces of traveling locus information belonging to the same group that is the basis of the generated new traveling road information is the number of travelings that the vehicle has traveled on the new road.

  In S16, the CPU 21 sets a priority order for the new road information based on the number of travels calculated in S15. Specifically, higher priority is set in order from new road information regarding new roads with a large number of traveling.

In S17, the new road information is notified to the map distribution center 2 side using the notification display 28 according to the priority set in S16. Here, FIG. 14 is a diagram showing a display screen 120 of the notification display 28 for notifying new road information.
As shown in FIG. 14, the display screen 120 includes a surrounding map image including the new road 121 and a new road list 122. Here, in the new road list 122, addresses indicating the positions of the new roads are shown in a list form, and the new roads with higher priority set are arranged higher. When the user selects a new road from the new road list 122, the selected new road and its surrounding map are displayed on the notification display 28. For example, in FIG. 14, a new road in “Aichi prefecture XX city △ town” having the highest priority is selected in the new road list 122, and the corresponding new road 121 is displayed on the map. Therefore, the new road information having a higher priority is notified with priority.

  Next, the map data update processing program executed by the navigation ECU 45 of the vehicle 3 and the server 20 of the map distribution center 2 in the map information generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 15 is a flowchart of the map data update processing program according to this embodiment. Here, the map data update processing program updates a specific area of the navigation map data 53 of the navigation device 4 to a new version of map data based on the difference update data newly distributed from the map distribution center 2. It is. The program shown in the flowchart of FIG. 15 below is stored in the RAM 72 or ROM 73 provided in the navigation device 4 or the RAM 22 or ROM 23 provided in the server 20, and is determined by the CPU 71 or CPU 21 at a predetermined interval (for example, 200 ms). Every).

  First, a map data update processing program executed by the CPU 71 of the navigation device 4 will be described with reference to FIG. First, in S21, the CPU 71 determines whether or not the map update start condition is satisfied, specifically that the accessory is turned on, that home registration (including change) has been performed using the operation unit 46, or It is determined using the operation unit 46 whether or not the destination of the route search is set. If it is determined that none of the above conditions is satisfied (S21: NO), the processing program is terminated. On the other hand, if it is determined that any of the above conditions is satisfied (S21: YES), the process proceeds to S22. And migrate.

  In S22, the CPU 71 transmits navigation information for executing map update to the map distribution center 2. Here, the information transmitted as the navigation information includes an identification ID for identifying the navigation device 4, registered home coordinates, and the destination coordinates when the destination is set.

  Next, in S <b> 23, the CPU 71 receives the difference update data 31 transmitted from the map distribution center 2 via the communication module 5. The received difference update data 31 includes version information for specifying the version of the difference update data 31. Furthermore, in S24, the difference update processing of the navigation map data 53 stored in the map information DB 44 is performed using the difference update data 31 received in S23. As a result, it is updated to new map data including the newly established new road.

  Next, a map data update processing program executed by the CPU 21 of the map distribution center 2 will be described. First, in S121, the CPU 21 receives navigation information for executing map update from the navigation device 4. Here, the navigation information from the navigation device 4 is transmitted when the power of the navigation device 4 is turned on, when the home is registered, or when the destination is set.

  Next, in S122, the CPU 21 acquires the version of the navigation map data 53 currently stored in the map information DB 44 of the navigation device 4. Specifically, the version management DB 27 is referred to, the navigation device 4 to be updated is identified from the identification ID received as navigation information in S121, and the version of the navigation map data 53 of the identified navigation device 4 is determined for each area. Extracted from the version management DB 27.

  Thereafter, in S123, the CPU 21 compares and updates the version of the map data that the navigation device 4 currently has with the latest version of the map data that the map distribution center 2 has in the update target area of the navigation device 4 that has transmitted the navigation information. It is determined whether there is an area (S124). The area to be updated differs depending on the condition under which the navigation device 4 has started the map data difference update process, the registered home position, and the set destination position.

If it is determined that there is an area to be updated (S124: YES), all the difference update data 31 necessary for updating the area is extracted from the center-side map information DB 26 (S125). Then, the extracted difference update data 31 is distributed to the navigation device 4 (S126). Here, especially in the map information generation system 1 according to the present embodiment, when the difference update data is distributed, the newly added new road information with higher priority is preferentially distributed to the navigation device 4. To do.
On the other hand, when it is determined that there is no area to be updated (S124: NO), the process ends without transmitting the difference update data 31 to the navigation device 4.

As described above in detail, in the map information generation system 1 according to the present embodiment, the travel locus information when the vehicle 3 as a probe car travels on a road not included in the navigation map data 53 provided in the navigation device 4 is probed. Data is transmitted to the map distribution center 2 as data (S7). On the other hand, the map distribution center 2 that has received the travel locus information from the navigation device 4 of each vehicle 3 collects the received data and further travels on the same road. Since the new road information for one new road is generated for each group (S14) after grouping the traveling locus information to be grouped (S13), when generating new road information from the traveling locus of the vehicle, the same road On the other hand, it is possible to prevent a plurality of new road information from being generated. Accordingly, it is possible to reduce the processing load on the server 20 and the navigation ECU 45 and reduce the necessary storage area.
In addition, since the travel track information related to the travel track in which the road link of the travel track start point S and the road link of the travel track end point E are the same road link is grouped, new road information is generated from the travel track of the vehicle 3. In this case, it is possible to accurately classify the traveling locus traveling on the same road based on the link connection.
Further, with respect to the travel trajectories of the collected travel trajectory information, the average value of the separation distance between the position coordinates for each predetermined distance is calculated, and the travel related to the travel trajectory in which the calculated average distance is within the predetermined distance Since the trajectory information is grouped, when new road information is generated from the travel trajectory of the vehicle, the travel trajectory traveling on the same road can be accurately classified based on the arrangement of the travel trajectory.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
In this embodiment, the navigation device 4 performs the recording of the travel locus information of the vehicle 3 (S5) and the identification of the start link and the end link (S4, S7), and collects the travel locus information from each vehicle 3 (S102). The map distribution center 2 performs exclusion of inappropriate data (S11, S12), information grouping (S13), generation of new road information (S14), and priority setting (S16). However, the navigation device 4 and the map distribution center 2 may perform the above processing.

  For example, as another embodiment, the navigation device 4 performs recording of the travel locus information of the vehicle 3 (S5), identification of the start link and end link (S4, S7), and exclusion of inappropriate data (S11, S12), The map distribution center 2 collects travel locus information from which unsuitable data has been deleted from each vehicle 3 (S102), groups information (S13), generates new road information (S14), and sets priorities (S16). You may make it do.

  Further, as another embodiment, recording of travel locus information of the vehicle 3 (S5), identification of the start link and end link (S4, S7), exclusion of inappropriate data (S11, S12), and information grouping (S13) The navigation device 4 may perform all of the generation of new road information (S14) and the setting of priority (S16). In this case, new road information cannot be generated in consideration of the travel trajectory of other vehicles, but there is no need to go through the map distribution center 2 for generating new road information. Therefore, the navigation map data 53 can be updated without actually investigating a new road on the map distribution center 2 side. As a result, communication costs can be reduced and map data can be updated more quickly.

  Furthermore, as another embodiment, the navigation device 4 only records the travel locus information of the vehicle 3 (S5), collects the travel locus information from each vehicle 3 (S102), and specifies the start link and end link (S4). , S7), exclusion of inappropriate data (S11, S12), information grouping (S13), generation of new road information (S14), and priority setting (S16) may be performed by the map distribution center 2. good.

  Further, the basic map data 30 and the difference update data 31 included in the map distribution center 2 may be generated by the server 20 without human intervention. In other words, the server 20 may be configured to generate a new version of map data including a new road based on the new road information generated in S14 and the past version of map information.

  In the present embodiment, the new road information is notified and distributed according to the set priority order. However, the navigation map data 53 may be updated according to the priority order. For example, it is possible to preferentially update with differential update data including new road information with high priority.

  In the present embodiment, the generated new road information is notified on the notification display 28 provided in the map distribution center 2, but can be notified on a PC owned by the user of the navigation device 4. You may do it. That is, after setting the priority in S16 of FIG. 9, new road information is distributed to the user's PC, so that the user can check the new road information via the PC. In addition, as for the delivery with respect to a user's PC, it is desirable to preferentially deliver new road information with a higher priority.

It is a schematic structure figure showing a map information generation system concerning this embodiment. It is the block diagram which showed the structure of the map information generation system which concerns on this embodiment. It is the figure which showed an example of the memory area of travel locus information DB. It is the figure which showed an example of the memory area of new road information DB. It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is explanatory drawing which showed the basic flow of the map information generation system which concerns on this embodiment. It is a flowchart of the probe data collection process program in the map information generation system which concerns on this embodiment. It is the figure which showed the acquisition example of the driving | running | working locus | trajectory information when a vehicle drive | works the road which is not included in the road network of navigation map data. It is a flowchart of the new road information generation and notification processing program in the map information generation system concerning this embodiment. It is the figure which showed the example of the driving track information excluded in step 12. It is the figure which showed the example of the driving track information excluded in step 12. It is the figure which showed the example of the driving track information grouped in step. It is the figure which showed the example of the driving track information grouped in step. It is the figure which showed the display screen of the display for alerting | reporting new road information. It is a flowchart of the map data update process program in the map information generation system which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Map information generation system 2 Map distribution center 3 Vehicle 4 Navigation apparatus 20 Server 21 CPU
22 RAM
23 ROM
45 Navigation ECU
51 ACC switch 52 Shift lever sensor 53 Navigation map data 71 CPU
72 RAM
73 ROM

Claims (3)

Information collecting means for collecting travel locus information relating to a travel locus of a vehicle traveling on a road not included in the road network of the map information;
A new road information generating means for generating new road information related to a new road based on the travel locus information collected by the information collecting means,
A start link specifying means for specifying a road link of a travel locus starting point where the vehicle starts traveling from an existing road link included in the map information to a road not included in the road network of the map information;
An end link specifying means for specifying a road link of a travel locus end point returned from a road not included in the road network of the map information to an existing road link included in the map information;
Of the travel trajectory information collected by the information collecting means , group the travel trajectory information related to the travel trajectory in which the road link at the travel trajectory start point and the road link at the travel trajectory end point are the same road link. Have information grouping means,
The map information generating system according to claim 1, wherein the new road information generating means generates new road information relating to one new road for each group based on the travel locus information grouped by the information grouping means. A distance calculating means for calculating a separation distance between each traveling locus with respect to the traveling locus of a plurality of traveling locus information collected by the information collecting means;
The map information generation system according to claim 1 , wherein the information grouping unit groups traveling locus information relating to a traveling locus in which the separation distance calculated by the distance calculating unit is within a predetermined distance. According to claim 2 wherein the distance calculating means, characterized in that to calculate the average value of the distance between the position coordinates for each predetermined distance with respect to the travel path of a plurality of traveling locus information as the distance between the traveling locus Map information generation system.

Images