JP5130920B2 - Link matching system, method, and program - Google Patents

Description

  The present invention relates to a link matching system, a link matching method, and a link matching program for associating a position of a moving body with a road (link) on a map.

  The link matching system is located on the basis of the coordinates of an object (hereinafter referred to as a moving object) that is movable on the road and transmits coordinates to the server (hereinafter referred to as a moving object) such as a probe car or a mobile phone with GPS. This is a system for identifying roads. Here, each road on the map is regarded as a moving path (link) of the moving body, and the road where the moving body is located is specified. Hereinafter, the process of specifying the road on which the moving body is located is referred to as a link matching process.

  In order to perform the link matching process, it is necessary to calculate the distance between the moving body and each road from the coordinates of the moving body and the position coordinates of all roads on the map, and obtain the road having the minimum distance. However, since it takes time to calculate the distances to all roads, a method is used in which the map area is divided into grids to reduce the roads that are subject to distance calculation.

  For example, Patent Document 1 describes a navigation system that provides area data of an area around a current position of a mobile object (specifically, a navigation device).

  In addition, for example, in Patent Document 2, when a moving object exists in the vicinity of a road branch point, a position on the road is specified for a road existing in the first region centered on the estimated current position, A navigation device that specifies a position on a road for a road that exists in a second area smaller than that in the first area when it does not exist in the vicinity of the road branch point is described.

JP 2004-177364 A Japanese Patent Laid-Open No. 10-307037

  However, the method disclosed in Patent Document 1 does not consider an error in the coordinates of the moving object or road information on the map. Therefore, if there is an error in the coordinates of the mobile object or road information on the map, it is determined that the mobile object is in the other area without being determined to be in the original area, and the mobile object is actually There is a possibility of providing area data that does not include data on the road where the road is located, or area data where no road exists. As a result, there arises a problem that the road on which the moving body exists can be erroneously determined or the road on which the moving body exists cannot be determined.

  Further, if a method of changing the size of the region centered on the estimated current position of the moving body based on a certain condition as disclosed in Patent Document 2, errors can be absorbed. However, the process of setting an area centering on a moving body has a problem that it takes time to extract a road in the corresponding area every time the position of the moving body changes.

  Therefore, the present invention provides a link matching system that can accurately and quickly identify the road where the moving body is located even when the coordinates of the moving body and road information on the map include errors. An object of the present invention is to provide a link matching method and a program for link matching.

The link matching system according to the present invention is a link matching system for associating the position of a moving object with a road on a map, and for each grid obtained by dividing the map area in advance, at least a road existing in the area within the grid Link matching table storage means for storing a link matching table in which information is associated, and road information associated with a grid surrounding at least a region where the moving object is located in the link matching table, an area including the area in the grid Link matching table complementing means for complementing with the information on the road existing in the link matching table complementing means, the road matching table complementing means, the road information associated with the grid at least from the center of the grid including the area in the grid It complements by making it the information of the road which exists in the area | region below a distance .
In another aspect of the link matching system according to the present invention, a link matching table that stores, for each grid obtained by dividing a map area in advance, at least a link matching table that associates road information existing in the area within the grid is stored. Table storage means and link matching table complement that complements road information associated with a grid surrounding at least a region where a moving object is located in the link matching table with information of a road existing in a region including the region in the lattice. The link matching table complementing means includes the road information associated with each grid and the grid area of the grid in the process of generating the link matching table based on the map information including the road position information. Complementing with information of roads existing in a predetermined area, the link matching table storage means is a link matching table complement means Therefore and to store a link matching table information of the road to be associated is complemented in each grid.
In another aspect of the link matching system according to the present invention, a link matching table that stores, for each grid obtained by dividing a map area in advance, at least a link matching table that associates road information existing in the area within the grid is stored. Table storage means and link matching table complement that complements road information associated with a grid surrounding at least a region where a moving object is located in the link matching table with information of a road existing in a region including the region in the lattice. The link matching table complementing means is associated with each grid based on a link matching table in which information on roads existing in the area within the grid is associated with each grid obtained by dividing the map area into grids. The road matching information is supplemented with the road information existing in a predetermined area including the area in the grid, and the link matching table is stored. Stage, and to store the link table matching the information of the road to be associated with each grating is complemented by the link table matching complementary means.

The link matching method according to the present invention is a link matching method for associating the position of a moving object with a road on a map, and is stored in advance in a storage device for each grid obtained by dividing a map area into grids. , at least in the link table matching the information of the road existing in the region of the inner grid associates, the information of the road to be associated with a grid surrounding a region of at least the mobile is located, given that comprise the region within the grating Which is at least a certain distance from the center of the grid including at least the area in the grid .
In addition, another aspect of the link matching method according to the present invention is based on map information including road position information, and corresponds to each grid obtained by dividing the map area into grids at least information on roads existing in the areas in the grid. In the process of generating the linked link matching table, the road information associated with each grid is supplemented with the road information existing in a predetermined area including the area in the grid, and the complemented link matching table is Stores in the storage device, and when the position information of the moving body is input, it corresponds to the position information of the moving body and the grid surrounding the area where the moving body is read from the link matching table stored in the storage device The road on which the moving body is located is specified based on the information on the attached road.
In another aspect of the link matching method according to the present invention, at least information on roads existing in an area in the grid is associated with each grid obtained by dividing the map area into grids stored in advance in a storage device. Based on the link matching table, the road information associated with each grid is complemented with the road information existing in a predetermined area including the area in the grid, and the complemented link matching table is stored in the storage device. When the position information of the moving body is input, the position information of the moving body is associated with the grid surrounding the area where the moving body is read from the link matching table stored in the storage device. The road on which the moving body is located is specified based on the road information.

The link matching program according to the present invention is a link matching program for associating the position of a moving body with a road on a map, and is a computer that stores a map area in advance in a storage device. In the link matching table in which at least the road information existing in the area in the grid is associated with each grid, the road information associated with the grid surrounding the area where the moving body is located is stored in the grid. A process of complementing with information on roads existing in an area within a certain distance from a center of the grid including at least an area in the grid, which is a predetermined area including the area , is performed.
According to another aspect of the program for link matching according to the present invention, a road existing in at least an area in the grid for each grid obtained by dividing the map area into grids based on map information including road position information. in the process of generating the information link matching table that associates the information of the road to be associated with each grating, the process to supplement the information of the road existing in a predetermined region encompassing the region within the grating, complemented When the processing for storing the link matching table in the storage device and the position information of the moving body are input, the position information of the moving body and the area where the moving body read from the link matching table stored in the storage device is located And a process of identifying a road on which the mobile body is located based on the road information associated with the grid surrounding the vehicle.
According to another aspect of the program for link matching according to the present invention, for each grid obtained by dividing a map area into grids, which is stored in advance in a computer, information on roads existing at least in the area within the grid Based on the link matching table that correlates to each other, the process of complementing the road information associated with each grid with the road information existing in a predetermined area that encompasses the area within the grid, the complemented link matching table Is stored in the storage device, and the position information of the moving object is input, the position information of the moving object and the grid surrounding the area where the moving object is read from the link matching table stored in the storage device. Based on the information on the roads associated with each other, a process for specifying the road on which the moving body is located is executed.

  According to the present invention, it is possible to specify the road where the moving body is located accurately and in a short time even when the coordinates of the moving body and the road information on the map include an error. The reason is that, in the method of setting a range centering on a moving object as a target for matching in order to absorb errors, it is necessary to determine whether or not it is within the range to be matched for all roads each time. Compared to that, the correspondence between at least each grid and the roads existing in the grid is stored in advance as a link matching table, and this correspondence is complemented so that a wider range of roads can be matched. This is because information on roads existing within an appropriate range can be easily obtained.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a link matching system according to the present invention. As shown in FIG. 1, the link matching system according to the present invention includes a link matching table storage unit 11 and a link matching table complement unit 12.

  The link matching table storage unit 11 stores a link matching table in which information on roads existing in at least an area in the grid (hereinafter referred to as a grid area) is associated with each grid obtained by dividing the map area in advance. . For example, the link matching table may be information in which a grid identifier for identifying each grid obtained by dividing the map area into grids and a road identifier for identifying a road existing in the map area are associated with each other. The unit of the road may be any unit as long as the range in which the system wants to distinguish the position of the moving object is defined as one road. For example, an interval between intersections may be approximated as a single line segment and may be a single road. Further, for example, a road between intersections may be approximated by a plurality of line segments (broken lines) to make them one road. Moreover, it is good also considering a several road segment as another road for every fixed distance. Moreover, each road may or may not be distinguished by the traveling direction. The link matching table storage unit 11 may store the link matching table at the latest before the start of the link matching process.

  The link matching table complementing means 12 is information on roads that are associated with one grid in the link matching table stored in the link matching table storage means 11 as road information that exists in a predetermined area including the grid area. Complement. For example, the link matching table complementing means 12 may obtain information on roads associated with a target grid, information on roads existing in the grid area, and information on roads existing in a grid area near the target grid. You may supplement by taking the union with information. In addition, for example, the information on the road associated with the target grid is complemented by information on a road existing in an area within a certain distance from the center of the grid including at least the grid area of the target grid. May be. Alternatively, the information may be complemented by taking a union of road information existing in a grid area of the target grid and road information existing in an area within a certain distance from the center of the grid.

  In addition, the link matching table complementing unit 12 includes, for example, a road information associated with the grid for a grid that is not associated with any road information in the link matching table. You may make it complement with the information of the road which exists in this area | region.

  For example, the link matching table complementing unit 12 may perform the complementing process in the process of generating the link matching table. FIG. 2 is a block diagram showing a configuration example of the link matching system according to the present invention. The link matching system shown in FIG. 2 includes a link matching table generation unit 21, a link matching table storage unit 11, a moving body position information input unit 22, a link matching unit 23, and a road information output unit 24. In this configuration, the link matching table generating unit 21 includes the link matching table complementing unit 12.

  The link matching table generating means 21 is a link in which road information existing in a predetermined area including each grid area is associated with each grid obtained by dividing the map area based on map information including road position information. A means for generating a matching table. The link matching table complementing means 12 is a process of generating a link matching table on the basis of the map information by the link matching table generating means 21, and information on roads associated with each grid is a predetermined area including the grid area of the grid. It supplements with the information of the road which exists in. For example, in the process of determining whether or not to associate information on a road with a grid, the link matching table complementing unit 12 determines whether the road exists in the grid area of the target grid. Information on roads associated with each grid may be complemented by determining whether or not a predetermined area including the area exists.

  The link matching table storage unit 11 is a link matching table generated by the link matching table generating unit 21 (more specifically, a predetermined information in which road information associated with each grid by the link matching table complementing unit 12 includes a grid area). The link matching table generated by supplementing with the information of the roads existing in the area (2) is stored.

  The moving body position information input means 22 inputs position information of the moving body. When the position information of the moving body is input, the link matching unit 23 receives the position information of the moving body and a grid (the moving body) where the moving body is located in the link matching table stored in the link matching table storage unit 11. The road where the moving body is located is specified based on the road information associated with the grid surrounding the area where the moving body is located. The road information output unit 24 outputs information on the road on which the moving body specified by the link matching unit 23 is located.

  The link matching table complementing unit 12 can also perform a complementing process based on a link matching table that has already been generated. FIG. 3 is a block diagram showing another configuration example of the link matching system according to the present invention. The link matching system shown in FIG. 3 includes a link matching table generating means 21, a link matching table storage means 11, a link matching table complementing means 12, a mobile body position information input means 22, a link matching means 23, and road information. Output means 24.

  In the configuration shown in FIG. 3, the link matching table generating means 21 has already generated a link matching table in which each grid obtained by dividing the map area is associated with road information existing in the grid area. And

  The link matching table complementing unit 12 uses the link matching table generated by the link matching table generating unit 21 to convert road information associated with each grid into information on roads existing in a predetermined area including each grid area. Complement with The link matching table complementing means 12 is, for example, based on the correspondence between each grid in the link matching table generated by the link matching table generating means 21 and road information, and the road associated with each grid in the link matching table. Is updated with the sum of the road information associated with the grid and the road information associated with the grid in the vicinity of the grid, so that the road information associated with each grid is updated. You may supplement.

  It should be noted that road information that satisfies a predetermined condition (for example, a condition that it is located within a certain distance from the center of the target grid) among road information associated with neighboring grids You may make it update with the sum. In addition, the link matching table complementing unit 12 exists in a lattice in the vicinity of the lattice only for a lattice in which no road information is associated in the link matching table generated by the link matching table generating unit 21. You may make it update with the information of a road.

  The link matching table storage unit 11 stores the link matching table updated by the link matching table complementing unit 12. Even if the link matching table generated by the link matching table generating unit 21 is stored in the link matching table storing unit 11 in advance, the complemented link matching table is stored at the end of the link matching table generating step. It only has to be done. Other points may be the same as the example shown in FIG.

  Further, the link matching table complementing means 12 can also perform a complementing process when acquiring road information from a link matching table that has already been generated. FIG. 4 is a block diagram showing another configuration example of the link matching system according to the present invention. The link matching system shown in FIG. 4 includes link matching table storage means 11, candidate road information acquisition means 31, moving body position information input means 22, link matching means 23, and road information output means 24. In this configuration, the candidate road information acquisition unit 31 includes the link matching table complementing unit 12.

  The link matching table storage unit 11 only needs to store a link matching table that associates information about roads existing in the grid area with each grid obtained by dividing the map area into grids.

  Candidate road information acquisition means 31, when the position information of the moving body is input, the road information associated with the grid where the moving body is located in the link matching table, the candidate road information acquisition means 31 It is a means to acquire (read) as the information. When the link matching table complementing means 12 acquires information on the road associated with the grid on which the moving object is located from the link matching table stored in the link matching table storage means 11, each link matching table in the link matching table Using the correspondence between the grid and the road information, the road information associated with the grid where the moving body is located is supplemented with the road information existing in a predetermined area including the grid area. .

  The link matching table complementing unit 12 acquires, for example, information on roads associated with the grid where the moving object is located from the link matching table stored in the link matching table storage unit 11 by the candidate road information acquiring unit 31. In the processing, not only the road information associated with the grid but also the road information associated with the grid in the vicinity of the grid in the link matching table is read together, so that the mobile object The road information associated with the grid where the is located may be supplemented. Note that only road information satisfying a predetermined condition among road information associated with neighboring grids may be read together. In addition, the link matching table complementing unit 12 may also read the road information associated with the neighboring grids only when no road information is associated with the target grid. Good.

  In such a configuration, when the position information of the moving body is input, the link matching means 23 and the link stored in the link matching table storage means 11 by the candidate road information acquisition means 31 when the position information of the moving body is input. The road on which the moving body is located is specified based on the road information associated with the grid on which the moving body is located obtained from the matching table. Other points may be the same as the example shown in FIG.

  Hereinafter, more specific embodiments will be described with reference to the drawings.

Embodiment 1. FIG.
FIG. 5 is an explanatory diagram illustrating a configuration example of the link matching system according to the first embodiment of this invention. The link matching system shown in FIG. 5 includes a link matching table generation device 100 and a link matching execution device 200. The link matching table generation device 100 and the link matching execution device 200 are connected to be communicable.

  The link matching table generation device 100 includes a map information storage device 101, a link matching table generation unit 102, and a lattice complement unit 103. The lattice complementing unit 103 includes a neighboring lattice complementing unit 1031.

  The map information storage device 101 stores map information. Here, the map information is information including position information of roads existing in at least a predetermined map area.

  The link matching table generation unit 102 generates a link matching table. The link matching table generated by the link matching table generating unit 102 is information in which information on roads existing in the grid area is associated with each grid obtained by dividing a predetermined map area in the map information.

  The lattice complementing unit 103 supplements road information associated with each lattice of the link matching table generated by the link matching table generating unit 102. Specifically, the neighboring grid complementing unit 1031 uses the road information associated with each grid of the link matching table generated by the link matching table generating unit 102 as the road information associated with the grid. The information is updated with the sum of the road information associated with the lattice in the vicinity of the lattice.

  FIG. 6 is an explanatory diagram illustrating an example of map information stored in the map information storage device 101. The map information may be composed of, for example, a road information table as shown in FIG. 6 (a) and a road end point table as shown in FIG. 6 (b). The road information table is information in which a road ID that is an identifier for uniquely identifying a road on a map area is associated with end point information for specifying the position of the road. In the example shown in FIG. 6A, as the end point information, end point IDs that are identifiers for uniquely identifying the end points on the map area respectively assigned to the two end points (vertex 1 and apex 2) of the road are associated with each other. It has been. The road end point table is information in which end point IDs and end point position information are associated with each other for the end points included in the road information table. In the example shown in FIG. 6B, the position information of the end points is given by the X coordinate and Y coordinate of the orthogonal coordinate system introduced into the area on the map. The road on the map is represented in a graph by such a road information table and a road end point table.

  The link matching execution device 200 includes a link matching table storage device 201, a moving body position information input unit 202, a link matching unit 203, and a road information output unit 204.

  The link matching table storage device 201 stores a link matching table used in the link matching process. The link matching table is information indicating a set of a set of roads and a grid when the map area is divided into grids. In the present embodiment, the link matching table storage device 201 stores the link matching table generated by the link matching table generation device 100.

  FIG. 7 is an explanatory diagram illustrating the data structure of the link matching table. In the example illustrated in FIG. 7, the link matching table is represented by a two-dimensional array of road sets with a set of numbers representing a lattice as subscripts. The link matching table storage device 201 also stores the coordinates (x0, y0) of the leftmost point P0, the length w and the height h of the side of the grid as parameters for determining the grid from the points on the map. doing. In FIG. 7, R1, R2, R3, R4, R5, R6, and R7 are road IDs in the road information table. In addition, road IDs of roads that are elements are listed and enclosed in braces. For example, in FIG. 7, {R1, R2, R3} is shown as the road set of the grid (1, 2), so the roads with road ID = R1, R2, R3 correspond to the grid (1, 2). You can see that it is attached.

  The moving body position information input unit 202 inputs position information of the moving body. The timing for inputting the position information of the moving object can be set every time the position information of the moving object is transmitted from a measuring device such as GPS, or even if the transmitted data is stored for a certain period of time, It may be when the mobile device position information is inquired from the system and a response is received. FIG. 8 is an explanatory diagram illustrating an example of position information of a moving object. As shown in FIG. 8, the position information of the moving body may be information including a moving body ID for identifying the moving body and the X and Y coordinates of the position of the moving body in the map area. Note that information other than this may be included.

  The link matching means 203 corresponds to the position information of the moving body input by the moving body position information input means 202 and the grid where the moving body is located in the link matching table stored in the link matching table storage device 201. Based on the attached road set, the road on which the moving body is located is specified.

  The road information output unit 204 outputs information on the road specified by the link matching unit 203.

  This embodiment is a more specific embodiment of the configuration example shown in FIG. In the present embodiment, the link matching table generation unit 102 corresponds to the link matching table generation unit 21 in FIG. The lattice complementing unit 103 corresponds to the link matching table complementing unit 12 in FIG. Further, the link matching table storage device 201 corresponds to the link matching table storage unit 11 in FIG. Further, the moving body position information input means 202 corresponds to the moving body position information input means 22 in FIG. Further, the link matching means 203 corresponds to the link matching means 23 in FIG. Further, the road information output means 204 corresponds to the road information output means 24 in FIG.

  The map information storage device 101 is realized by a storage device such as a memory or a magnetic disk provided in the link matching table generation device 100, for example. In addition, the link matching table generating unit 102 and the lattice complementing unit 103 are realized by a processor that operates according to a program such as a CPU provided in the link matching table generating apparatus 100, for example. The link matching table storage device 201 is realized by a storage device such as a memory or a magnetic disk provided in the link matching execution device 100, for example. Moreover, the mobile body location information input unit 202 is realized by an information receiving device such as a network card provided in the link matching execution device 100, for example. Moreover, the link matching means 203 is implement | achieved by the processor which operate | moves according to programs, such as CPU with which the link matching execution apparatus 100 is provided, for example. Moreover, the road information output means 204 is implement | achieved by output devices, such as information transmitters, such as a network card with which the link matching execution apparatus 100 is provided, and a display, for example.

  When the link matching execution device 201 is incorporated in the mobile body itself, the mobile body position information input unit 202 may be demonstrated by a GPS receiver provided in the mobile body. When the link matching execution device 201 is incorporated in the mobile body itself, the link matching table storage device 201 may be realized by a database device on a network accessible from the mobile body.

  Next, the operation of this embodiment will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart showing an example of the operation of the entire link matching system of this embodiment. In the link matching system of the present embodiment, first, the link matching table generation device 100 generates a link matching table through steps S101 to S104. Then, the link matching execution device 200 uses the link matching table generated by the link matching table generation device 100, and performs link matching processing in steps S111 to S115.

  Specifically, first, the link matching table generating means 102 of the link matching table generating device 100 acquires end point information for specifying the position of each road existing in the map area from the map information storage device 101 (step S101), a link matching table is generated in which road information existing in each grid area is associated with each grid obtained by dividing the map area (step S102). Next, the lattice complementing unit 103 supplements the link matching table generated by the link matching table generating unit 102 (step S103). In the lattice complementing unit 103, the neighboring lattice complementing unit 1031 supplements the link matching table using the road set associated with the neighboring lattice of the lattice for each lattice. Then, the complemented link matching table is output to the link matching execution device 200 and stored in the link matching table storage device 201 of the link matching execution device 200 (step S104).

  Next, the operation of the link matching execution device 200 will be described. First, the link matching means 203 reads a link matching table from the link matching table storage device 201 in advance (step S111). The link matching means 203 can also read the road information associated with the required grid from the link matching table storage device 201 each time the position information of the moving object is input. is there. Thereafter, the next process is repeated until the input of the position information of the moving object is completed (step S112).

  First, the moving body position information input unit 202 inputs position information of the moving body (step S113). Next, the link matching means 203 performs a link matching process for specifying on which road the coordinates of the moving object are located (step S114). The link matching means 203 obtains where the moving body is located on the grid obtained by dividing the map area based on the position information of the moving body, and the road corresponding to the grid where the moving body is located in the link matching table. This information is used as a candidate to identify on which road the coordinates of the moving object are located. Then, the road information output unit 204 outputs road information obtained as a result of the link matching process (step S115). This series of processing (steps S113 to S115) is repeated every time position information of the moving body is input.

  Next, the operation (link matching table complementing process) of the link matching table generating unit 102 in step S102 of FIG. 9 will be described more specifically with reference to the flowchart of FIG. FIG. 10 is a flowchart showing an operation example of the link matching table generating unit 102. Here, the map area shown in FIG. 11 will be described as an example. FIG. 11 is an explanatory diagram illustrating an example of a map area. On the map area shown in FIG. 11, roads with road IDs = R1 to R13 exist. In the map area shown in FIG. 11, an xy orthogonal coordinate system having the lower left point P0 as (x0, y0) is introduced. With this coordinate system, it is possible to approximate using longitude as the x coordinate and longitude as the y coordinate.

  As shown in FIG. 10, when the link matching table generating unit 102 starts the process of generating the link matching table, first, the map matching table generating unit 102 specifies the position of each road existing in the map area from the map information storage device 101. Get end point information for. Here, for each road ID registered in the road information table, the coordinates of the end point of the road are acquired from the road end point table (step S1021). This operation is shown as step S101 in FIG.

  Next, the link matching table generation unit 102 divides the map area into lattice areas (step S1022). FIG. 12 is an explanatory diagram schematically showing a state in which the map area is divided into lattice areas. In the example shown in FIG. 12, the map area shown in FIG. 11 is divided by a 5 × 5 grid. For example, the link matching table generation unit 102 may perform grid division by dividing the x coordinate and the y coordinate at equal intervals by using the parameters w and h, starting from the point P0. The parameters w and h are a predetermined grid width (size in the x-axis direction) and grid height (size in the y-axis direction), respectively.

  Next, the link matching table generation unit 102 obtains for each road, from which of the coordinates of the end points, which lattice region the road is included (step S1023). For example, the link matching table generation unit 102 determines whether or not a grid side intersecting with the road exists from the coordinates of the two end points of the target road, and if it exists, the grid of the grid having that side. The road may be included in the area. On the other hand, if there is no grid side that intersects with the road, it is assumed that the road is in one grid area and that the road is included only in the one grid area. In the example shown in FIG. 12, for example, the road with the road ID = R1 has an edge between the grid (0, 2) and the grid (0, 3), and the grid (0, 3) and the grid (0, 4). It is found that it is included in three lattice regions of lattices (0, 2), (0, 3), and (0, 4). Further, for example, since the road with the road ID = R11 does not intersect any side, it is determined that the road is included in the area of the grid (0, 0) where the end point of the road is located. The link matching table generation unit 102 adds the road ID of the target road to the road set associated with the grid in which the target road is included in the grid area, thereby generating the link matching table. Generate (step S1024). FIG. 13 is an explanatory diagram schematically showing a link matching table generated from the example shown in FIG. For example, FIG. 13 shows that the road set associated with the grid (0, 0) is {R7, R8, R11, R12}. In addition, for example, it is indicated that the road set associated with the grid (0, 1) is {R7}. The link matching table generated here associates a grid obtained by dividing a map area with information on roads existing in the grid area.

  Next, the operation of the lattice complementing unit 103 in step S103 of FIG. 9 will be described more specifically with reference to the flowchart of FIG. FIG. 14 is a flowchart illustrating an operation example of the lattice complementing unit 103. As shown in FIG. 14, first, the lattice complementing unit 103 reads the link matching table generated by the link matching table generating unit 102 (step S1031). When the link matching table is read, the lattice complementing unit 103 causes the neighboring lattice complementing unit 1031 to specify each lattice registered in the link matching table and perform complementation processing. The neighborhood grid complementing unit 1031 adds the road set associated with the grid in the vicinity of the grid in the link matching table generated by the link matching table generating unit 102 to the road set associated with the designated grid. Thus, a new road set may be generated (step S1032). The lattice complementing unit 103 outputs a link matching table created as a result of performing the complementing process for all lattices registered in the link matching table generated by the link matching table generating unit 102 (step S1033).

  FIG. 15 is an explanatory diagram schematically showing a link matching table obtained as a result of performing the complementing process on the link matching table shown in FIG. In step S1032, the neighboring lattice complementing unit 1031 uses, for example, eight adjacent lattices for the designated lattice (i, j), and a road set R ′ (i, j) represented by the following equation: Should be generated. Here, it is assumed that the map area is divided by a grid of horizontal m × vertical n, and a road set associated with the grid (i, j) in the read link matching table is R (i, j) (0 ≦ i ≦ m−1, 0 ≦ j ≦ n−1).

When 1 ≦ i ≦ m−2 and 1 ≦ j ≦ n−2 R ′ (i, j) = R (i−1, j−1) −１
R (i-1, j) ∪
R (i-1, j + 1) ∪
R (i, j-1) ∪
R (i, j) ∪
R (i, j + 1) ∪
R (i + 1, j-1) ∪
R (i + 1, j) ∪
R (i + 1, j + 1)

When i = 0 and j = 0 R ′ (i, j) = R (i, j) ∪
R (i, j + 1) ∪
R (i + 1, j) ∪
R (i + 1, j + 1)

When i = 0, 1 ≦ j ≦ n−2 R ′ (i, j) = R (i, j−1) ∪
R (i, j) ∪
R (i, j + 1) ∪
R (i + 1, j-1) ∪
R (i + 1, j) ∪
R (i + 1, j + 1)

When i = 0 and j = n−1 R ′ (i, j) = R (i, j−1) ∪
R (i, j) ∪
R (i + 1, j-1) ∪
R (i + 1, j)

When 1 ≦ i ≦ m−2 and j = 0 R ′ (i, j) = R (i−1, j) ∪
R (i-1, j + 1) ∪
R (i, j) ∪
R (i, j + 1) ∪
R (i + 1, j) ∪
R (i + 1, j + 1)

When 1 ≦ i ≦ m−2 and j = n−1 R ′ (i, j) = R (i−1, j−1) ∪
R (i-1, j) ∪
R (i, j-1) ∪
R (i, j) ∪
R (i + 1, j-1) ∪
R (i + 1, j)

When i = m−1 and j = 0 R ′ (i, j) = R (i−1, j) ∪
R (i-1, j + 1) ∪
R (i, j) ∪
R (i, j + 1)

When i = m−1, 1 ≦ j ≦ n−2 R ′ (i, j) = R (i−1, j−1) ∪
R (i-1, j) ∪
R (i-1, j + 1) ∪
R (i, j-1) ∪
R (i, j) ∪
R (i, j + 1)

When i = m−1 and j = n−1 R ′ (i, j) = R (i−1, j−1) ∪
R (i-1, j) ∪
R (i, j-1) ∪
R (i, j)

  In the above, for convenience of explanation, eight lattices (i−1, j−1), (i−1, j), (i−1) adjacent to the lattice (i, j) are used as neighboring lattices. , J + 1), (i, j−1), (i, j + 1), (i + 1, j−1), (i + 1, j), (i + 1, j + 1) are shown as an example. is there. For example, with respect to the lattice (i, j), four neighboring lattices (i + 1, j), (i−1, j), (i, j + 1), (i, j−1) as neighboring lattices. ) Or 12 adjacent lattices (i−2, j), (i−1, j−1), (i−1, j), (i−1, j + 1), (i, j−2) , (I, j-1), (i, j + 1), (i, j + 2), (i + 1, j-1), (i + 1, j), (i + 1, j + 1), (i + 2, j) etc. It doesn't matter.

  Next, the operation (link matching process) of the link matching unit 203 in step S114 of FIG. 9 will be described more specifically with reference to the flowchart of FIG. FIG. 16 is a flowchart illustrating an example of a flow of link matching processing by the link matching unit 203. As illustrated in FIG. 16, the link matching unit 203 acquires the coordinates where the moving body is located as the position information of the moving body via the moving body position information input unit 202 (step S1141). This operation is shown as step S113 in FIG.

  When the coordinates at which the moving body is located are acquired, the link matching means 203 identifies the grid where the moving body is located from the coordinates of the moving body (step S1142). For example, the link matching unit 203 may specify a grid (a grid having a grid area where the moving object is located) where the moving object is located by the following method. First, the coordinates of the acquired moving object are (x, y), the coordinates of the lower left corner of the map area are (x0, y0), the horizontal width of the grid is w, and the vertical height is h. It is assumed that an orthogonal coordinate system is introduced into the map area. At this time, if the lattice corresponding to the position of the moving object is (i, j), the lattice (i, j) is the maximum satisfying i = (x−x0) / w, j = (y−y0) / h. It is calculated as an integer. When the link matching unit 203 obtains the grid on which the moving body is located, the link matching unit 203 acquires a road set associated with the grid on which the moving body is located from the link matching table. The link matching means 203 specifies the road where the moving body is located by using the road information included in the road set acquired here.

  Next, the link matching unit 203 determines the number of roads included in the acquired road set (step S1143). If the number of roads included in the road set is 1, that is, if the number of elements in the road set is 1 (Yes in step S1143), the road is identified as the road where the moving body is located, The result is output (step S1146).

  On the other hand, when there are a plurality of roads (No in step S1143), the distance between each road and the moving object is calculated (step S1144), and the moving object is positioned on the road having the smallest distance. Is identified as a road to be operated (step S1145). In this case, the road with the smallest distance is output as the specified result (step S1146). The link matching unit 203 compares the distance between the road and the moving body and, in addition to comparing the distance between the road and the moving body, if the road information and the position information of the moving body are added, Narrowing down candidates for distance comparison by may be used in combination.

  As described above, according to the present embodiment, as a set of roads associated with a grid, in addition to roads existing in the grid area, roads existing in a grid area of a nearby grid are included, Even when the coordinates of the road are not entered due to errors in the coordinates of the body, but are input as coordinates located in a nearby grid, or when there is a shift in the grid where the road exists due to errors in the position of the road A correct road can be determined in a short time without performing processing such as re-extracting candidate road information by data cleansing (removal or correction).

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described. FIG. 17 is an explanatory diagram illustrating a configuration example of the link matching system according to the second embodiment of this invention. In FIG. 17, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG. As shown in FIG. 17, in the link matching system of this embodiment, the link matching table generating device 100 replaces the link matching table generating unit 102 and the lattice complementing unit 103 with a disc type link matching table generating unit 1021 and a circle. Plate parameter input means 1022.

  The disk-type link matching table generation unit 1021 divides the map area into grids, and sets a road set corresponding to each grid to roads existing in a disk area having a given radius centered on the center of the target grid. Generate as a set. The disk-type link matching table generation means 1021 may generate a road set by determining whether or not each road exists in a disk area having a radius given from the center of the target grid. The disk parameter input means 1022 inputs the radius of the disk area used by the disk type link matching table generation means 1021. The radius may be given manually (user operation), or may be automatically determined in consideration of an error in the position information of the moving body by the grid size and GPS, or a map error. Further, it may be determined in consideration of road density. The radius is determined so that the disk region is larger than the lattice region.

  This embodiment is a more specific embodiment of the configuration example shown in FIG. In the present embodiment, the disk-type link matching table generating unit 1021 corresponds to the link matching table generating unit 21 in FIG. Note that the disc-type link matching table generating unit 1021 in the present embodiment incorporates the function of the link matching table complementing unit 12 in FIG. 2 together with the function of the link matching table generating unit 21. The disk-type link matching table generating unit 1021 is realized by a processor that operates according to a program such as a CPU provided in the link matching table generating device 100, for example. The disk parameter input unit 1022 is realized by, for example, a processor that operates according to a program such as a CPU provided in the link matching table generation device 100, or an input device such as a mouse or a keyboard.

  Next, the operation of this embodiment will be described with reference to the flowchart of FIG. FIG. 18 is a flowchart showing an example of the operation of the entire link matching system of this embodiment. In FIG. 18, the same operations as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  When the disc-type link matching table generating unit 1021 of the link matching table generating device 100 acquires end point information for specifying the position of each road existing in the map area from the map information storage device 101 (step S101), the disc Using the parameters input from the parameter input means 1022, information on roads existing in a disc area having a given radius centered on the center of the grid is associated with each grid obtained by dividing the map area into grids. A link matching table is generated (step S201). Then, the generated link matching table is output to the link matching execution device 200 and stored in the link matching table storage device 201 of the link matching execution device 200 (step S104).

  Here, the operation (link matching table generation processing) of the disk type link matching table generation unit 1021 in step S201 in FIG. 18 will be described more specifically. The disc type link matching table generating unit 1021 first divides the map area into grids as in the first embodiment. FIG. 19 is an explanatory diagram schematically showing a state in which a map area is divided into lattice areas. In the example shown in FIG. 19, the coordinates of the lower left point P0 of the map area are set to (x0, y0) as in FIG. 12, and the grid is divided into a grid of width w and height h starting from this point P0. ing. At this time, the coordinates of the center of the lattice (i, j) are (x0 + (i + 1/2) w, y0 + (j + 1/2) h). The radius of the disk input by the disk parameter input means 1021 is r. However, in general, r × r> (w / 2) × (w / 2) + (h / 2) × (h / 2) should be satisfied.

  The disk-type link matching table generating unit 1021 sets a road set associated with the grid (i, j) to a disk having a radius r from the center (x0 + (i + 1/2) w, y0 + (j + 1/2) h) of the grid. It is determined as a set of roads existing in the area. For example, in the example illustrated in FIG. 19, the road set associated with the grid (2, 2) is {R6, R8, R9}.

  As described above, according to the present embodiment, the road set associated with the grid can be determined without depending on the grid size, and roads that are separated by two or more grid sizes are included in the road set associated with the grid. In addition, it is possible to include only roads close to the target grid among the roads of adjacent grids. As a result, by specifying the radius of the disc according to the size of the error, a link matching table corresponding to the error can be generated, and the error of the position of the moving object and the error of the position of the road are independent of the size of the grid. Even in this case, the correct road can be determined efficiently.

Embodiment 3. FIG.
Next, a third embodiment of the present invention will be described. FIG. 20 is an explanatory diagram showing a configuration example of the link matching system according to the third embodiment of the present invention. In FIG. 20, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG. As shown in FIG. 20, in the link matching system of this embodiment, the link matching table generation device 100 includes a blank lattice complement unit 104 instead of the lattice complement unit 103.

  The blank grid complement unit 104 includes a blank grid detection unit 1041 and a blank grid complement unit 1042, and complements a road set associated with a grid having a grid area in which no road exists in the link matching table. Hereinafter, a grid having a grid area where no road exists is referred to as a blank grid.

  The blank grid detector 1041 detects blank grids in the link matching table. Hereinafter, the list of blank grids detected by the blank grid detection unit 1041 is referred to as a blank grid list. For each blank grid included in the blank grid list, the blank grid complementing unit 1042 complements a road set associated with the blank grid with a road set of a grid in the vicinity of the blank grid. Note that the complementing method may be the same as in the first embodiment. Specifically, it may be complemented by adding a road set element of a grid in the vicinity of each empty grid to the road set associated with the blank grid.

  The blank grid detecting unit 1041 and the blank grid complementing unit 1042 are realized by a processor that operates according to a program such as a CPU provided in the link matching table generation device 100, for example.

  Next, the operation of this embodiment will be described with reference to the flowchart of FIG. FIG. 21 is a flowchart showing an example of the operation of the entire link matching system of this embodiment. In FIG. 21, the same operations as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  When the link matching table generating unit 102 generates the link matching table, the blank lattice complementing unit 104 of the link matching table generating apparatus 100 supplements the generated link matching table (step S301). Here, first, the blank grid detection means 1041 determines whether or not a blank grid is included in the link matching table, and generates a blank grid list. Then, the blank grid complementing unit 1042 supplements the link matching table for each blank grid included in the blank grid list using the road set associated with the neighboring grid of the blank grid.

  FIG. 22 is a flowchart showing an example of the operation of the blank lattice complementing unit 104 in step S301 of FIG. As shown in FIG. 22, first, the blank lattice complementing unit 104 reads the link matching table generated by the link matching table generating unit 102 (step S3011). When the link matching table is read, the blank grid detection unit 1041 determines the number of roads included in the grid area (that is, the road set associated with each grid for all grids in the link matching table). The number of contained elements) is counted, and it is determined whether or not it is a blank grid, and a blank grid list is generated (step S3012).

  Next, the blank grid detection unit 1041 determines whether or not a blank grid exists based on the generated blank grid list (step S3013). If there is no blank grid list, the link matching table storage device 201 stores the link matching table as it is. (No in step S3013, step S3015).

  On the other hand, if a blank grid exists (Yes in step S3013), the blank grid detection unit 1041 outputs the blank grid list to the blank grid complementing unit 1042 together with the link matching table. For example, in the case of the link matching table shown in FIG. 13, {grid (2, 2), (2, 3), (3, 3)} is generated as a blank lattice list.

  The blank grid complement means 1042 receives the link matching table and the blank grid list as inputs, and for all grids included in the blank grid list, the road set associated with the grid corresponds to the grids in the vicinity of the grid. It complements with the attached road set (step S3014). The blank grid complementing means 1042 generates a new road set by adding a road set associated with a grid that is not a blank grid among the grids in the vicinity of the grid to the road set associated with the grid. Good. The blank lattice complementing unit 104 outputs a link matching table created as a result of performing complement processing on all blank lattices in the link matching table generated by the link matching table generating unit 102 (step S3015). Here, considering the case where the entire neighborhood is blank, the processing of steps S3012 to S3014 is repeated a finite number of times.

  FIG. 23 is an explanatory diagram schematically showing a link matching table obtained as a result of performing the complementing process on the link matching table shown in FIG. In step S3014, the blank grid complementing unit 1042 uses, for example, eight adjacent grids for the target blank grid (i, j), and a road set represented by the same formula as in the first embodiment. R ′ (i, j) may be generated. Note that the lattice used as the neighboring lattice is not limited to eight adjacent lattices, and four adjacent lattices, 12 neighboring lattices, or the like may be used.

  As described above, according to the present embodiment, since the blank grid complementing unit 104 complements the blank grid with the road set of the nearest grid, there is no blank grid in the link matching table used in the present invention. For example, when a link matching table having a blank lattice is used, there is a problem that the link matching process cannot be continued when the lattice determined to be located is a blank lattice. FIG. 23 is an explanatory diagram schematically illustrating an example in which the link matching process fails due to a blank lattice. In the example shown in FIG. 23, the grid where the moving body is actually positioned is (2, 1), but it is determined that the grid is determined to be positioned in the blank grid (2, 2) due to an error in position information. In such a case, if the grid (2, 2) in the link matching table remains a blank grid, there is no candidate road, and the link matching process cannot be continued, resulting in an error. Even if a process for extracting candidate roads again is performed, it takes time to be identified.

  On the other hand, in the present embodiment, the link matching unit 203 can always process the position information of the moving object unless there is no road in the map area. Accordingly, even when an error exceeding a grid near a certain map occurs in the position of the moving body or the road as shown in FIG. 24, the processing of the link matching execution device 200 does not stop, and the position of the moving body You can get a road to do.

Embodiment 4 FIG.
Next, a fourth embodiment of the present invention will be described. FIG. 25 is an explanatory diagram showing a configuration example of the link matching system of the fourth embodiment according to the present invention. In FIG. 25, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG. As shown in FIG. 25, in the link matching system of the present embodiment, the link matching table generation device 100 replaces the disc type link matching table generation unit 1021 and the disc parameter input unit 1022 in the second embodiment, A disc-type link matching table generation unit 1023 for each lattice and a disc parameter table input unit 1024 are provided.

  The disc-type link matching table generation unit 1023 for each grid divides the map area into grids, and sets the road set associated with each grid within a disc area having a radius given to each grid centered on the center of the target grid. Is generated as a set of roads existing in The disc parameter table input means 1024 inputs the disc parameter table used by the disc-by-grid disc type link matching table generation means 1023.

  FIG. 26 is an explanatory diagram illustrating an example of the data structure of the disk parameter table. The disc parameter table is a table (information) indicating the radius of the disc area given to each lattice, which is used by the disc-based disc-type link matching table generating unit 1023 to generate the link matching table. In FIG. 26, the radius of the disc region applied to the lattice (i, j) is given by r (i, j) (0 ≦ i, j <5).

  Next, the operation of this embodiment will be described with reference to the flowchart of FIG. FIG. 27 is a flowchart showing an example of the operation of the entire link matching system of this embodiment. In FIG. 27, the same operations as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  When the disc-by-grid link matching table generating unit 1023 of the link matching table generating device 100 acquires end point information for identifying the position of each road existing in the map area from the map information storage device 101 (step S101), The radius corresponding to each grid centered on the center of the grid for each grid obtained by dividing the map area using the radius for each grid indicated by the disk parameter table input from the disk parameter table input means 1024 A link matching table in which information on roads existing in the disc area is associated is generated (step S401). Then, the generated link matching table is output to the link matching execution device 200 and stored in the link matching table storage device 201 of the link matching execution device 200 (step S104).

  The operation of the disc type link matching table generating unit 1023 for each lattice in step S401 is basically the same as the operation (step S201) of the disc type link matching table generating unit 1021 in the second embodiment shown in FIG. In the present embodiment, the radius r of the disk in step S201 of the second embodiment may be set as r (i, j).

  As described above, according to the present embodiment, since the radius of the disk can be specified for each grid, the radius of the disk corresponding to the size of the position information and the road information error of the map and the density of the road for each grid. By specifying, it is possible to determine a set of roads according to the size of the error and the density of the road, and to generate an appropriate link matching table. Even if the road density is different, the correct road can be quickly identified.

  Note that the first embodiment and the second embodiment or the fourth embodiment may be combined. For example, the lattice complementing unit 103 in the first embodiment may complement the link matching table generated by the disc type link matching table generating unit 1021 in the second embodiment.

  Further, the second embodiment or the fourth embodiment may be combined with the third embodiment. For example, the blank lattice complementing unit 104 in the third embodiment may complement the link matching table generated by the disc type link matching table generating unit 1021 in the second embodiment. It is also possible to combine the third embodiment with the embodiment in which the first embodiment is combined with the second embodiment or the fourth embodiment. For example, for the link matching table generated by the disk-type link matching table generating unit 1021 in the second embodiment complemented by the grid complementing unit 103 in the first embodiment, the blank grid complementing unit 104 in the third embodiment is targeted. May complement the blank grid.

Embodiment 5. FIG.
Next, a fifth embodiment of the present invention will be described. FIG. 28 is an explanatory diagram showing a configuration example of the link matching system of the fifth embodiment according to the present invention. In FIG. 28, the same components as those of the first embodiment are denoted by the same reference numerals as those in FIG. The link matching system shown in FIG. 28 includes a link matching execution device 200. The link matching execution device 200 includes a link matching table storage device 201, a candidate road information acquisition unit 205, a moving body position information input unit 202, and a link. Matching means 203 and road information output means 204 are provided. Further, the candidate road information acquisition unit 205 includes a neighboring grid complementing unit 2051.

  In the present embodiment, the link matching table storage device 201 has a link matching table in which information on roads existing in the grid area is associated with each grid obtained by grid-dividing at least a predetermined map area in the map information. It only has to be memorized. For example, the link matching table generated by the link matching table generating unit 102 in the first embodiment may be stored. The link matching table may include a blank grid.

  The candidate road information acquisition unit 205 acquires (reads out) information on the road set associated with the grid where the moving object is located from the link matching table in response to an instruction from the link matching unit 203. In the present embodiment, the candidate road information acquisition unit 205 performs processing for acquiring road set information from the link matching table via the neighborhood grid complementing unit 2051.

  When the neighborhood grid complementing unit 2051 reads a road set associated with the designated grid from the link matching table stored in the link matching table storage device 201, the neighborhood grid complementing unit 2051 uses the road set as a grid near the grid. It complements using the road set corresponding to. For example, the neighboring grid complementing unit 2051 is configured to apply a road set associated with a grid specified in the link matching table stored in the link matching table storage device 201 to four neighboring neighbors of the grid in the link matching table, What is necessary is just to complement by adding the road set matched with the grid | lattice of adjacent 8 vicinity or 12 vicinity. As a specific complementing method, the method described in the first embodiment may be used. Here, the complemented road set is output from the candidate road information acquisition unit 205 to the link matching unit 203 as a road set associated with the grid where the moving object is located.

  The link matching means 203 identifies the road on which the mobile body is located using the road information included in the road set associated with the grid on which the mobile body is received received from the candidate road information acquisition unit 205.

  This embodiment is a more specific embodiment of the configuration example shown in FIG. In the present embodiment, the candidate road information acquisition unit 205 corresponds to the candidate road information acquisition unit 31 in FIG. Further, the neighboring grid complementing means 2051 corresponds to the link matching table complementing means 12 in FIG. The link matching table storage device 201 corresponds to the link matching table storage unit 11 in FIG. Further, the moving body position information input means 202 corresponds to the moving body position information input means 22 in FIG. The link matching unit 203 corresponds to the link matching unit 23 in FIG. Further, the road information output means 204 corresponds to the road information output means 24 in FIG. The candidate road information acquisition unit 205 and the neighborhood grid complementing unit 2051 are realized by a processor that operates according to a program such as a CPU provided in the link matching execution device 200, for example.

  Next, the operation of this embodiment will be described with reference to the flowchart of FIG. FIG. 29 is a flowchart showing an example of the operation of the entire link matching system of this embodiment. In FIG. 29, the same operations as those in the first embodiment are denoted by the same reference numerals as those in FIG. As shown in FIG. 29, in the link matching execution device 200 of the present embodiment, at least the link matching means 123 is a link matching table storage device via the candidate road information acquisition unit 205 (more specifically, the neighborhood grid complementing means 2051). It differs from the first embodiment in that road set information is acquired from 201.

  As shown in FIG. 29, in this embodiment, the link matching means 203 is necessary each time the position information of the moving body is input without reading the link matching table from the link matching table storage device 201 in advance. Read the link matching table for the grid. The link matching execution device 200 repeats the next process until the input of the position information of the moving object is completed (step S112).

  First, the moving body position information input unit 202 inputs position information of the moving body (step S113). Next, the link matching means 203 reads the road information associated with the grid where the mobile body is located in the link matching table based on the position information of the mobile body via the candidate road information acquisition unit 205 (step S211). At this time, the neighboring grid complementing unit 2051 of the candidate road information acquisition unit 205 is associated with the grid specified in the link matching table stored in the link matching table storage device 201 (the grid where the moving object is located). The union of the road set and the road set associated with the neighboring grid is output. Next, the link matching means 203 performs a link matching process using the road information included in the acquired (read out) road set, and specifies the road where the moving body is located (step S114). For example, the link matching unit 203 may calculate the distance between each road and the moving body, and specify the road having the smallest distance as the road on which the moving body is located. Then, the road information output unit 204 outputs road information obtained as a result of the link matching process (step S115). This series of processing (steps S113 to S115) is repeated every time the position information of the moving body is input.

  FIG. 30 is a flowchart showing an example of the operation of the candidate road information acquisition unit 205 (more specifically, the neighboring grid complementing unit 2051) in step S211 of FIG. As shown in FIG. 30, the neighborhood grid complementing unit 2051 first reads a road set associated with the designated grid (step S2111). That is, the neighborhood grid complementing unit 2051 reads out information on roads included in the road set associated with the grid specified in the link matching table from the link matching table storage device 201. Next, the neighboring grid complementing unit 2051 obtains a grid that is in the vicinity of the specified grid, and reads information on roads included in the road set associated with the grid from the link matching table storage device 201 (step S2112). . Thereafter, the neighboring grid complementing unit 2051 obtains the union of roads read in step S2111 and step S2112 (step S2113). Then, the neighboring grid complementing unit 2051 outputs the calculated union to the link matching unit 203 as a road set associated with the grid specified in the link matching table (step S2114).

  In the above description, the mode in which the road set associated with the designated grid and the road set associated with the neighboring grid are read in stages has been described. Alternatively, a set of roads associated with the grid may be read from the link matching table storage device 201 collectively. Further, the read operation may be performed in parallel.

  As described above, according to the present embodiment, candidate road information is re-extracted by cleansing (removing or correcting) input data, even when an error is included in the coordinates of the input moving object. It can be expected that the accuracy of link matching is maintained without performing the above process. That is, the neighboring grid complementing means 2051 reads out the road included in the neighboring grid area in addition to the grid area obtained from the position information of the moving body and passes it to the link matching means 203. This is because the road included in the lattice area obtained from the position information and the lattice area in the vicinity thereof can be the target of matching.

Embodiment 6. FIG.
Next, a sixth embodiment of the present invention will be described. FIG. 31 is an explanatory diagram showing a configuration example of a link matching system according to the sixth embodiment of the present invention. In FIG. 31, the same components as those of the fifth embodiment are denoted by the same reference numerals as those of FIG. As shown in FIG. 31, in the link matching system of the present embodiment, the candidate road information acquisition unit 205 of the link matching execution device 200 replaces the neighboring grid complementing unit 2051 with a disc type grid complementing unit 2052 and a disc parameter table. Input means 2053.

  In the present embodiment, the candidate road information acquisition unit 205 performs processing for acquiring road set information from the link matching table via the disk-type lattice complementing unit 2052. The disc type lattice complementing means 2052 is also associated with the grid specified from the link matching table stored in the link matching table storage device 201, as in the neighborhood grid complementing means 2051 in the fifth embodiment. Is complemented with the road set corresponding to the grid near the grid. In the disc type lattice complementing means 2052, based on the radius of the disc of the designated lattice indicated by the disc parameter table inputted by the disc parameter table input means 2053, the disc type lattice complementing means 2052 is within a certain distance from the center of the designated lattice. It complements with the road set which exists in the disk area.

  The disk-type lattice complementing unit 2052 calculates a lattice in the vicinity of the specified lattice using the radius value of the specified lattice indicated by the disk parameter table input by the disk parameter table input unit 2053. To do. For example, the disk-type lattice complementing means 2052 reads the radius value r (i, j) given to the designated lattice from the disk parameter table input by the disk parameter table input means 2053, and designates the designated lattice. A disc region centered on the radius r (i, j) may be calculated from the center of the. In such a case, the disc type lattice complementing means 2052 uses each lattice included in the disc region as a lattice in the vicinity of the designated lattice. Whether or not a road included in a set of roads associated with a grid that is in the vicinity exists in a disc area centered on a radius r (i, j) from the center of the specified grid. What is necessary is just to complement a set of roads by determining. The other points are the same as in the fifth embodiment.

  As described above, according to the present embodiment, the correct road can be quickly identified even when the error of the coordinates of the moving object or the road position varies depending on the position on the map area or when the road density is different. By specifying the radius of the disc according to the size of the error of the location information and road information of the map and the density of the road for each lattice, it is included in the lattice area corresponding to the neighborhood based on the size of the disc that differs for each lattice Since the road is read out and passed to the link matching unit 203, the link matching unit 203 can obtain an appropriate candidate without determining whether or not the road is a matching target each time according to the coordinates of the moving object. Because.

  For example, it is possible to execute the blank grid complement processing described in the third embodiment when the road matching execution apparatus 200 reads a road set. For example, if the blank grid detecting unit 205 includes the blank grid complementing unit 1042 described in the third embodiment and the designated grid is a blank grid, the blank grid (in this case, the moving object is positioned). You may make it complement the road set of the considered grid.

  In addition, for example, after completion according to the fifth embodiment or the sixth embodiment, it is determined whether or not the designated lattice is a blank lattice, and if the lattice remains blank even after completion, It is also possible for the blank grid complementing means 1042 to complement the road set of the blank grid (here, the grid on which the moving object is considered) using a wider range of proximity grids.

  The present invention can be suitably applied particularly to an application for performing processing for associating a large amount of moving body position information with a road at high speed.

It is a schematic block diagram of the link matching system by this invention. It is a block diagram which shows the example of 1 structure of the link matching system by this invention. It is a block diagram which shows the other structural example of the link matching system by this invention. It is a block diagram which shows the other structural example of the link matching system by this invention. It is explanatory drawing which shows the structural example of the link matching system by 1st Embodiment. It is explanatory drawing which shows the example of the map information which the map information storage device 101 memorize | stores. It is explanatory drawing which illustrated the data structure of the link matching table | surface. It is explanatory drawing which shows the example of the positional information on a moving body. It is a flowchart which shows an example of operation | movement of the whole link matching system of 1st Embodiment. 6 is a flowchart showing an operation example of a link matching table generation unit 102. It is explanatory drawing which shows the example of a map area | region. It is explanatory drawing which showed typically that a map area | region was divided | segmented into the lattice area | region. It is explanatory drawing which showed the link matching table | surface produced | generated typically. 5 is a flowchart illustrating an operation example of a lattice complementing unit 103. It is explanatory drawing which shows typically the link matching table obtained as a result of performing a complementation process. It is a flowchart which shows an example of the link matching processing flow by the link matching means. It is explanatory drawing which shows the structural example of the link matching system of 2nd Embodiment. It is a flowchart which shows an example of operation | movement of the link matching system whole of 2nd Embodiment. It is explanatory drawing which showed typically that a map area | region was divided | segmented into the lattice area | region. It is explanatory drawing which shows the structural example of the link matching system of 3rd Embodiment. It is a flowchart which shows an example of operation | movement of the link matching system whole of 3rd Embodiment. 6 is a flowchart showing an example of the operation of a blank grid complementing unit 104. It is explanatory drawing which shows typically the link matching table obtained as a result of performing a complementation process. It is explanatory drawing which shows the relationship between the error range of the positional information on a moving body, and a blank lattice. It is explanatory drawing which shows the structural example of the link matching system of 4th Embodiment. It is explanatory drawing which illustrated the example of the data structure of the disk parameter table | surface. It is a flowchart which shows an example of operation | movement of the link matching system whole of 4th Embodiment. It is explanatory drawing which shows the structural example of the link matching system of 5th Embodiment. It is a flowchart which shows an example of operation | movement of the whole link matching system of 5th Embodiment. 10 is a flowchart showing an example of the operation of a neighboring grid complementing unit 2051. It is explanatory drawing which shows the structural example of the link matching system of 6th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Link matching table memory | storage means 12 Link matching table complementing means 21 Link matching table production | generation means 22 Mobile body position information input means 23 Link matching means 24 Road information output means 31 Candidate road information acquisition means 100 Link matching production | generation apparatus 101 Map information storage apparatus 102 Link Matching Table Generation Unit 1021 Disc Type Link Matching Table Generation Unit 1022 Disc Parameter Input Unit 1023 Disc Type Disc Link Matching Table Generation Unit 1024 Disc Parameter Table Input Unit 103 Grid Completion Unit 1031 Neighboring Grid Completion Unit 104 Blank Grid Completion Unit 1041 Blank lattice detection means 1042 Blank lattice complement means 200 Link matching execution device 201 Link matching table storage device 202 Mobile object position information input means 203 Link matching means 204 Road Information Output Unit 205 Candidate Road Information Acquisition Unit 2051 Neighboring Grid Complementing Unit 2052 Disc Type Grid Complementing Unit 2053 Disc Parameter Table Input Unit

Claims (30)

A link matching system that associates the position of a moving object with a road on a map,
Link matching table storage means for storing a link matching table that associates at least road information existing in an area in the grid with respect to each grid obtained by dividing the map area in advance;
Link matching table complementing means for complementing road information associated with a grid surrounding at least a region where the moving body is located in the link matching table with information of a road existing in a region encompassing the region in the lattice. ,
The link matching table complementing means complements the road information associated with the grid by using the road information existing in an area within a certain distance from the center of the grid including at least the area in the grid. Link matching system characterized by Mobile object position information input means for inputting position information of the mobile object;
When the position information of the moving object is input, the position information of the moving object and the road information associated with the grid surrounding the area where the moving object is complemented by the link matching table complementing means. The link matching system according to claim 1, further comprising: a link matching unit that identifies a road on which the moving body is located. In the process of generating a link matching table based on map information including road position information, the link matching table complementing means includes road information associated with each grid in a predetermined area including the grid area of the grid. Supplement with road information
3. The link matching system according to claim 1, wherein the link matching table storage unit stores a link matching table in which road information associated with each grid is supplemented by the link matching table complementing unit. The link matching table complementing means is based on a link matching table in which information on roads existing in the area in the grid is associated with each grid obtained by dividing the map area into grid information. Supplemented with information on roads existing in a given area that encompasses the area in the grid,
3. The link matching system according to claim 1, wherein the link matching table storage unit stores a link matching table in which road information associated with each grid is supplemented by the link matching table complementing unit. The link matching table storage means stores a link matching table in which information on roads existing in the area in the grid is associated with each grid obtained by dividing the map area into grids,
When the link matching table complementing means obtains information on the road associated with the grid surrounding the area where the moving body is located from the link matching table stored in the link matching table storage means, Based on the correspondence between each grid and road information, the road information associated with the grid surrounding the area where the moving object is located is a road existing in a predetermined area including the area in the grid. The link matching system according to claim 1 or 2, wherein the link matching system is supplemented with the information. The distance from the radius to become the center of the grating disc when complementing a link matching table, one of claims 1 having the designated parameter input means for inputting by specifying the user as the designated parameter of Claim 5 link matching system according to any one of claims. The link matching system according to claim 6 , wherein the designated parameter input means inputs the distance from the center of the lattice, which is the radius of the disk for each lattice, by causing the user to designate as a designated parameter. The link matching table complementing means uses road information that exists in a predetermined area including the area in the grid as road information that is associated with a grid that is not associated with any road information in the link matching table. Complementary The link matching system according to any one of claims 1 to 8 . A link matching system that associates the position of a moving object with a road on a map,
Link matching table storage means for storing a link matching table that associates at least road information existing in an area in the grid with respect to each grid obtained by dividing the map area in advance;
Link matching table complementing means for complementing road information associated with a grid surrounding at least a region where the moving body is located in the link matching table with information of a road existing in a region encompassing the region in the lattice. ,
In the process of generating a link matching table based on map information including road position information, the link matching table complementing means converts road information associated with each grid into a predetermined area including the grid area of the grid. Supplemented with existing road information,
The link matching table storage means stores a link matching table supplemented with road information associated with each grid by the link matching table complementing means.
Link matching system characterized by that. A link matching system that associates the position of a moving object with a road on a map,
Link matching table storage means for storing a link matching table that associates at least road information existing in an area in the grid with respect to each grid obtained by dividing the map area in advance;
Link matching table complementing means for complementing road information associated with a grid surrounding at least a region where the moving body is located in the link matching table with information of a road existing in a region encompassing the region in the lattice. ,
The link matching table complementing means obtains the road information associated with each grid based on the link matching table in which the information on roads existing in the area in the grid is associated with each grid obtained by dividing the map area into grids. , Supplemented with information of roads existing in a predetermined area that encompasses the area in the grid,
The link matching table storage means stores a link matching table supplemented with road information associated with each grid by the link matching table complementing means.
Link matching system characterized by that. A link matching method for associating the position of a moving object with a road on a map,
Enclose at least the area where the moving object is located in the link matching table that is stored in advance in the storage device and that maps each map area divided into grids and associates at least road information existing in the area within the grid. The road information associated with the grid is information on roads existing in an area within a certain distance from the center of the grid including at least the area in the grid, which is a predetermined area including the area in the grid. A link matching method characterized by complementation. When the position information of the moving body is input, based on the position information of the moving body and road information associated with a grid surrounding the area where the moving body is located in the complemented link matching table, The link matching method according to claim 11, wherein a road on which the moving body is located is specified. In the process of generating a link matching table based on map information including road position information, the road information associated with each grid is supplemented with the road information existing in a predetermined area including the area in the grid. ,
Storing the complemented link matching table in a storage device;
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. The link matching method according to claim 11 or 12, wherein a road on which the moving body is located is identified based on the information of the mobile terminal. Based on the link matching table that associates the road information existing in the area in the grid with each grid obtained by dividing the map area into grids, the road information associated with each grid is included in the area in the grid Supplemented with information on roads that exist in a given area,
Storing the complemented link matching table in a storage device;
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. The link matching method according to claim 11 or 12, wherein a road on which the moving body is located is identified based on the information of the mobile terminal. A link matching table in which information on roads existing in an area in the grid is associated with each grid obtained by dividing the map area into a grid is stored in a storage device.
Correspondence between each grid in the link matching table and road information when acquiring road information associated with the grid surrounding the region where the moving body is located from the link matching table stored in the storage device The road information associated with the grid surrounding the area where the moving body is located is complemented with the information of the road existing in a predetermined area including the area in the grid based on the relationship. The link matching method according to claim 12. Enter the distance from the center of the grid, which is the radius of the disk when complementing the link matching table, as a specified parameter and enter it.
The link matching method according to any one of claims 11 to 15 , wherein information on a road associated with a lattice is supplemented using a distance specified by a user as the specified parameter. Enter the distance from the center of the grid, which is the radius of the disk for each grid, and let the user specify it as a specified parameter.
The link matching method according to claim 16 , wherein road information associated with a grid is complemented using a distance to the grid specified by a user as the specified parameter. 12. The road information associated with a grid that is not associated with any road information in the link matching table is supplemented with road information existing in a predetermined area including the area in the grid. 18. The link matching method according to any one of items 17 . A link matching method for associating the position of a moving object with a road on a map,
In the process of generating a link matching table that associates at least the road information existing in the area within the grid for each grid obtained by dividing the map area into grids based on the map information including the road position information. The road information to be associated is supplemented with road information existing in a predetermined area including the area in the grid,
Storing the complemented link matching table in a storage device;
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. And the road where the moving body is located
A link matching method characterized by that. A link matching method for associating the position of a moving object with a road on a map,
Roads that are stored in advance in the storage device and that are associated with each grid based on a link matching table that associates at least the information of roads existing in the area within the grid with each grid obtained by dividing the map area into grids Is supplemented with information on roads existing in a predetermined area including the area in the grid,
Storing the complemented link matching table in a storage device;
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. And the road where the moving body is located
A link matching method characterized by that. A link matching program for associating the position of a moving object with a road on a map,
On the computer,
Enclose at least the area where the moving object is located in the link matching table that is stored in advance in the storage device and that maps each map area divided into grids and associates at least road information existing in the area within the grid. The road information associated with the grid is information on roads existing in an area within a certain distance from the center of the grid including at least the area in the grid, which is a predetermined area including the area in the grid. A program for link matching to execute complementary processing. On the computer,
When the position information of the moving body is input, based on the position information of the moving body and road information associated with a grid surrounding the area where the moving body is located in the complemented link matching table, The link matching program according to claim 21, wherein a process for specifying a road on which the moving body is located is executed. On the computer,
In the process of generating a link matching table based on map information including road position information, road information associated with each grid is supplemented with road information existing in a predetermined area including the area in the grid. processing,
When the process of storing the complemented link matching table in the storage device and the position information of the moving body are input, the position information of the moving body and the link matching table stored in the storage device are read. The link matching according to claim 21 or 22, wherein a process for identifying a road on which the mobile body is located is executed based on road information associated with a grid surrounding an area in which the mobile body is located. program. On the computer,
Based on the link matching table that associates the road information existing in the area in the grid with each grid obtained by dividing the map area into grids, the road information associated with each grid is included in the area in the grid Processing that complements with information on roads that exist in a given area,
When the process of storing the complemented link matching table in the storage device and the position information of the moving body are input, the position information of the moving body and the link matching table stored in the storage device are read. The link matching according to claim 21 or 22, wherein a process for identifying a road on which the mobile body is located is executed based on road information associated with a grid surrounding an area in which the mobile body is located. program. A computer having a storage device that stores a link matching table that associates information on roads existing in the area in the grid with each grid obtained by dividing the map area into grids,
Correspondence between each grid in the link matching table and road information when acquiring road information associated with the grid surrounding the region where the moving body is located from the link matching table stored in the storage device Based on the relationship, a process of complementing road information associated with a grid surrounding the area where the moving body is located with information on a road existing in a predetermined area including the area in the grid is executed. The program for link matching according to claim 21 or claim 22. On the computer,
The information of the road to be associated with the lattice, of claim 25 a distance was designated by the user as the designated parameter of claims 21 to execute the processing for complementing with a radius of the disc around the center of the grating The link matching program according to any one of the above. On the computer,
The information of the road to be associated to the lattice of claim 26 for executing processing for complementing with a distance to the grating which was designated by the user as the designated parameter as the radius of the disc around the center of the grating Link matching program. On the computer,
Executing a process of complementing road information associated with a grid to which no road information is associated in the link matching table with information on a road existing in a predetermined area including the area in the grid. The link matching program according to any one of claims 21 to 27 . A link matching program for associating the position of a moving object with a road on a map,
On the computer,
In the process of generating a link matching table that associates at least the road information existing in the area within the grid for each grid obtained by dividing the map area into grids based on the map information including the road position information. A process of complementing road information to be associated with road information existing in a predetermined area including the area in the grid ;
Processing for storing the complemented link matching table in a storage device; and
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. To identify the road where the moving body is located based on the information of
Link matching program to execute. A link matching program for associating the position of a moving object with a road on a map,
On the computer,
Roads that are stored in advance in the storage device and that are associated with each lattice based on a link matching table that associates at least the information of roads existing in the region within the lattice with respect to each lattice obtained by dividing the map region into lattices A process for supplementing the information of the road with information on a road existing in a predetermined area including the area in the grid,
Processing for storing the complemented link matching table in a storage device; and
When the position information of the moving body is input, the road is associated with the position information of the moving body and a grid surrounding the area where the moving body is read from the link matching table stored in the storage device. To identify the road where the moving body is located based on the information of
Link matching program to execute.

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