JP5660938B2 - Routing device - Google Patents

Description

  The present invention relates to a route setting device that sets an intermediate route that crosses an obstacle feature such as a river in advance and sets an optimal route.

  Conventionally, a navigation system that searches and guides a route from a departure place to a destination is used.

  As a conventional navigation system, for example, a navigation system that determines an intermediate point in advance between a departure point and a destination in searching for a route from the departure point to the destination has been proposed. Specifically, when there is a no-road area such as a large lake between the departure point and the destination, an intermediate point that bypasses the no-road area is determined based on the outer shape (for example, patent document) 1). According to the technique described in Patent Document 1, by setting an intermediate point before a route search, in the process of extending the connection of the passages that are candidate routes recommended during the route search, Since it can be extended efficiently, the burden of the route searching process is reduced.

JP 2006-3000934 A

  However, according to the invention described in Patent Document 1, an area that physically avoids a no-road area is only set as an intermediate point, and the set point is not necessarily the passing point of the optimum route. . For example, if the no-road area is a river and has a large basin between the starting point and the destination, the intermediate point that detours based on the outline of the no-road area is outside the river basin. Set to In this case, there is a possibility that the position may be located far away, and in such a case, there is a problem that it is not an appropriate intermediate point.

  Even if there are multiple bridges in the river between the starting point and the destination, and the section divided by the bridge is regarded as the above-mentioned no-road area, depending on the meandering state of the river, There are cases where the starting point and the destination are included in a no-road area. In this case, there is a problem in that an optimal waypoint cannot be set only by calculation based on the outline of the no-road area.

  An object of the present invention is to provide a route setting device that sets an optimum route after setting an appropriate waypoint that avoids an obstacle feature that hinders passage in a route between two points.

  In order to solve the above-described problems, the route setting device of the present invention provides obstacle feature data including information on the position and shape of an obstacle feature that obstructs traffic, and the obstacle feature as a point crossing the obstacle feature. A map data storage unit that stores map data including crossing point data including position information of a crossing point associated with the vehicle, and the obstacle that intersects a line segment that connects a starting point and a destination with reference to the map data A crossing obstacle feature extracting unit for extracting a feature, and the crossing obstacle feature extracting unit extracting the crossing obstacle feature, and the extracted obstacle feature and the line segment intersect If the point to be visited is an even point, the detour point through which the intersecting obstacle feature is detoured is determined based on the position of the departure point and the destination, and the position and shape information of the obstacle feature. Cross When the detour point setting unit that is set in the vicinity of the area where the harmful feature exists and the intersecting obstacle feature extracting unit extract the intersecting obstacle feature, the intersecting obstacle feature is referred to the map data. And when the detour point setting unit sets the detour point, the detour point is set as a waypoint between the departure point and the destination point. When the crossing point extraction unit extracts the crossing points, the crossing points that have been extracted are selected one by one, and the selected crossing point that is the selected crossing point is set as a temporary destination. When a first recursive process is repeated that repeats the process after the process of the intersection obstacle feature extraction unit using the starting point and the temporary destination, and the obstacle feature is not extracted in the first recursive process, In front of the selected crossing point Set as the transit point of the destination from the starting point, set the selected crossing point as a temporary starting point, and use the temporary starting point and the destination to perform processing after the processing of the intersection obstacle feature extraction unit A second recursive process that repeats the process is executed, and when the obstacle feature is not extracted in the second recursive process, the selected crossing point is set as a waypoint of a travel source to the destination; When the crossing point is extracted in the recursive process or the second recursive process, the waypoint setting unit that executes the first recursive process and the second recursive process using the crossing point as the selected crossing point; A route setting unit that obtains an optimal traveling order of the route points set by the route point setting unit and sets an optimum route between the departure point and the destination.

  Note that the above-described features do not enumerate all the features of the present invention, and a configuration (or method) including these as main parts can also be an invention.

  The route setting device according to the present invention includes obstacle feature data including information on the position and shape of an obstacle feature that obstructs traffic, and position information of a crossing point associated with the obstacle feature as a point that crosses the obstacle feature. Map data including crossing point data is stored, and when obstacle features that intersect the line segment connecting the starting point and destination are extracted, the obstacle feature is bypassed according to the intersecting state. A detour point or a crossing point that crosses an obstacle is obtained, and an optimum route is set after obtaining an optimum traveling order of the waypoints using the detour point or the crossing point as a waypoint. Therefore, according to the route setting device of the present invention, even if an obstacle feature such as a river having a vast basin, or an obstacle feature such as a meandering river, an optimal route including a detour point or a crossing point is provided. The order of the ground can be obtained. And since the waypoints that detour or traverse and their optimal travel order are obtained in advance before searching for the route, there is an advantage that no extra burden is caused in the processing related to the route search.

It is a block diagram which shows the structure of the navigation system of this embodiment. It is a block diagram which shows the structure of the route setting apparatus of this embodiment. (A)-(d) is a figure which shows the data structure of the map data utilized for the navigation system of this embodiment. It is a flowchart of an outline process of the navigation system of this embodiment. It is a flowchart of the process which sets the waypoint of the navigation system of this embodiment. It is a flowchart of the process which sets the waypoint of the navigation system of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure which shows an example of the waypoint setting of this embodiment. It is a figure explaining the route setting process of this embodiment. It is a figure which shows the other example of the waypoint setting of this embodiment.

  Hereinafter, embodiments embodying the present invention will be described.

  As shown in FIG. 1, the navigation system 1 of this embodiment includes a mobile terminal 10 and an information center 20 connected to the mobile terminal 10 through an information network. The mobile terminal 10 is a mobile phone including a wireless communication unit 11, a current position detection unit, an image display unit, and an apparatus main body, and is used as a pedestrian navigation terminal. The information center 20 is a large computer including a data communication unit 23, an input unit 21, a display unit 22, and a computer 24. As shown in FIG. 2, the computer 24 includes a map data storage unit 241, a point setting unit 2402, an intersection obstacle feature extraction unit 2403, a waypoint setting unit 2404, a crossing point extraction unit 2405, a detour point setting unit 2406, A route setting unit 2408 and an image generation unit 243 are provided. Among these, the point setting unit 2402, the crossing obstacle feature extracting unit 2403, the waypoint setting unit 2404, the crossing point extracting unit 2405, the detour point setting unit 2406, and the route setting unit 2408 constitute a route setting device 242.

  The wireless communication unit 11 constituting the mobile terminal 10 is a transceiver including a transmitter, a receiver, and an antenna. The current position detection unit is a GPS receiver that detects the current position based on radio waves from GPS satellites, and a radio installed in an underground shopping center that is difficult to receive radio waves from GPS satellites to detect the current position. It consists of a short-range wireless position detector that obtains the current position based on short-range wireless reception from the station and outputs the current position data. The image display unit is a device such as a liquid crystal display that displays an image such as a communication menu screen or a map image on the image display surface. The apparatus main body is a housing that houses hardware including a dedicated computer. The mobile terminal 10 of the present embodiment has a touch panel function on the surface of the image display unit, and the destination, the area of the map to be displayed, the scale, the floor of the facility, and its hierarchy, etc. are specified by the user. Can be specified.

  The data communication unit 23 constituting the information center 20 has a function of connecting to the Internet W through an optical fiber, and is connected to the wireless communication unit 11 of the mobile terminal 10 from the Internet W via wireless communication. The map data storage unit 241 is an external storage device such as a flash memory, a hard disk, a DVD, or a Blu-ray disc, and stores map data. The display unit 22 is a device that displays an image on an image display surface, such as a liquid crystal display. The input unit 21 is a device such as a keyboard or a mouse that inputs instruction content from an operator or the like. The computer 24 is a large computer including an internal storage device such as a ROM and a RAM in which computer programs, processing conditions, and the like are stored in advance, and a CPU that executes the computer programs.

  The map data stored in the map data storage unit 241 is map display data such as polyline and polygon data for generating administrative boundaries, road maps, and facility maps, and can be passed by cars or pedestrians. It includes network data that expresses the connection state of the passage with nodes and links, and obstacle feature data that includes information on the position and shape of the obstacle feature that hinders traffic. The obstacle feature data is associated with crossing point data including position information of a crossing point associated with the obstacle feature as a point crossing the obstacle feature. Obstacles are geographically large features, such as rivers, that cannot be traversed directly by people or vehicles. Crossing points are, for example, bridges built to cross rivers. is there. In the present embodiment, for the river, a section divided by the position of a bridge through which cars can pass is defined as one unit of obstacle feature.

  As shown in FIG. 3A, the obstacle feature data is an obstacle feature ID that is information for recognizing the obstacle feature, and information indicating a joint obstacle feature that is constituted by a plurality of obstacle features. A certain solidarity obstacle feature ID, a crossing route ID that is information for recognizing a crossing that crosses the obstacle feature, an obstacle feature length that is information indicating the length of the obstacle feature, and a point where the obstacle features are connected to each other It includes information such as obstacle feature connection point ID that is information, shape information that is information for expressing the shape of the obstacle feature, circumscribed rectangle information that is information for recognizing the existence area of the obstacle feature . In the present embodiment, the obstacle feature is displayed on the map as a polyline using shape information that is a shape interpolation point.

  As shown in FIG. 3B, the crossing point data includes the above-described crossing road ID, the end point 1 node ID corresponding to the information of the end point 1 node that is one end point of the crossing road, and the other end point of the crossing road. Indicates the end point 2 node ID corresponding to the information of a node at a certain end point 2, the crossing link ID that is information of each link in the link row included in the crossing, the obstacle feature connection point ID described above, and the crossing cost of the crossing It includes information such as information about the passing cost. The end points 1 and 2 are, for example, end gateways, and nodes are associated with the same positions in the network data.

  The obstacle feature data is also associated with the joint obstacle feature data. As shown in FIG. 3 (c), the solidarity obstacle feature data is information indicating the type of the solidarity obstacle feature ID and the solidarity obstacle feature name, which is information indicating the name of the solidarity obstacle feature. It includes information such as a certain type of joint obstacle feature, obstacle feature ID of each obstacle feature constituting the joint obstacle feature, circumscribed rectangle information for recognizing the existence area of the joint obstacle feature. The joint obstacle feature type is registered as, for example, a river or a cliff.

  The obstacle feature data is also associated with the obstacle feature connection point data. The obstacle feature connection point, which is a point at which the obstacle features are connected, corresponds to the end point of the polyline displayed as the obstacle feature in this embodiment, and the obstacle feature IDs of all connected obstacle features. Is included. As shown in FIG. 3D, the obstacle feature connection point data is information indicating the obstacle feature connection point ID, the type indicating the type of the obstacle feature connection point, and the position of the obstacle feature connection point. It includes information such as certain latitude and longitude coordinates and connected obstacle feature IDs. These pieces of information make it possible to recognize the connection state between obstacle features. In the present embodiment, for example, if the joint obstacle feature is a river, the obstacle feature connection point is located at the intersection of the bridge crossing road and the obstacle feature. "Intersection with the road". A plurality of obstacle features may be connected to one obstacle feature connection point. This is the case, for example, when the obstacle feature is a river, when a tributary joins the main stream, and the position of the junction is the obstacle feature connection point. In this case, the type of the obstacle feature connection point is registered as “connection point”. In addition, unlike this embodiment, for example, the type when a section obtained by dividing a river, which is a joint obstacle feature, at an intermediate point between bridges, is set as one unit of obstacle feature is also registered as a “connection point”. .

  The data communication unit 23 receives data of the starting point and destination designated on the mobile terminal 10 side or the current position of the mobile terminal 10.

  The point setting unit 2402 has a function of setting two points of a starting point and a destination designated on the mobile terminal 10 side and outputting them to the cross obstacle feature extracting unit 2403. In addition, when the location setting unit 2402 receives information on the temporary destination from the waypoint setting unit described later, the location setting unit 2402 sets two points of the departure point and the temporary destination, and the intersection obstacle feature extraction unit When output to 2403 and information on the temporary departure point is received, two points of the destination and the temporary departure point are set and output to the intersection obstacle feature extraction unit 2403.

  The intersection obstacle feature extraction unit 2403 has a function of referring to the map data and extracting an obstacle feature that intersects a line segment connecting the two points of the starting point and the destination set by the point setting unit 2402. . In this embodiment, referring to circumscribing rectangle information of the joint obstacle feature data or circumscribing rectangle information of the obstacle feature data, the obstacle feature that may intersect the line segment is specified in advance. Therefore, the intersection determination can be performed efficiently. The cross obstacle feature extraction unit 2403 also has a function of extracting obstacle features that intersect with the line segments extracted by the cross obstacle feature extraction unit 2403.

  The crossing point extraction unit 2405 has a function of extracting a crossing point that crosses the obstacle feature that intersects with reference to the map data. In the present embodiment, the crossing point extraction unit 2405 includes a crossing road extraction unit 2410 and a crossing road end point extraction unit 2411. The crossing path extraction unit 2410 extracts a crossing path that crosses the obstacle feature where the line segments intersect, and the crossing path end point extraction unit 2411 extracts the end point of the crossing path as a crossing point.

  The detour point setting unit 2406 selects a detour point that passes when the detouring obstacle feature is detoured based on the information of the position of the departure point and the destination and the position and shape of the obstruction feature. It has a function of setting in the vicinity of an object existence area. The detour point setting unit 2406 is a case where the intersection obstacle feature extraction unit 2403 extracts an obstacle feature that intersects the line segment, and the line segment intersects any obstacle feature and the number of times of intersection is an even number. If it is a round, it can be determined that the two points are in the same area of the area separated by the detected obstacle feature. Set a detour point to do.

  The waypoint setting unit 2404 has a function of determining whether or not the crossing obstacle feature extraction unit 2403 has extracted the obstacle feature. The waypoint setting unit 2404 determines that the crossing obstacle feature extraction unit 2403 has not extracted the obstacle feature that intersects the line segment connecting the two points of the starting point and the destination set by the point setting unit 2402. In this case, it is determined that there is no transit point between the two points of the departure point and the destination, and the order of travel from the departure point to the destination is set. When the traveling order is set for the two set points, the two points and the traveling order are stored in the waypoint list.

  In addition, when it is determined that the crossing obstacle feature extraction unit 2403 has extracted the obstacle feature, the waypoint setting unit 2404 returns a detour point corresponding to the obstacle feature to the detour point setting unit 2406. When the detour point setting unit 2406 sets a detour point, the detour point is set as a waypoint between the departure point and the destination point, the order of travel from the departure point to the waypoint, and the destination Set the progression order to the ground.

  Furthermore, when it is determined that the crossing obstacle feature extraction unit 2403 has extracted the obstacle feature, the waypoint setting unit 2404 returns a crossing point corresponding to the obstacle feature to the crossing point extraction unit 2405. When the crossing point extraction unit 2405 extracts a crossing point, the crossing point extracted from the crossing point extraction unit 2405 is received, and the extracted crossing point is stored in the crossing point list. In this embodiment, the crossing point extraction unit 2405 extracts a crossing road corresponding to the obstacle feature that intersects the line segment, and returns the end point of the extracted crossing road as a crossing point. Moreover, in this embodiment, since the adjacent obstacle feature can be specified by the obstacle feature connection point ID associated with the obstacle feature ID of the extracted obstacle feature, a crossing path can be defined from a plurality of obstacle features. Can be extracted. Such processing is executed according to the situation. For example, when the length of the obstacle feature adjacent to the extracted obstacle feature is smaller than the threshold, the crossing road corresponding to the adjacent obstacle feature is also extracted.

  Then, the waypoint setting unit 2404 selects the extracted crossing points one by one from the crossing point list, sets the selected crossing point that is the selected crossing point as a temporary destination, and sets the temporary destination information. Is sent to the point setting unit 2402. In this way, the point setting unit 2402 sets two points of the starting point and the temporary destination and outputs them to the cross obstacle feature extracting unit 2403, and the crossing obstacle feature using the starting point and the temporary destination. A process (first recursive process) for repeating the processes after the process of the extraction unit 2403 is executed. The waypoint setting unit 2404 sets the selected crossing point as a waypoint from the departure point when the obstacle feature is not extracted in the first recursive process. Further, the waypoint setting unit 2404 sends the same selected crossing point to the point setting unit 2402 as a temporary departure point. In this way, the point setting unit 2402 sets two points, the destination and the temporary departure point, and outputs the two points to the cross obstacle feature extraction unit 2403, and uses the temporary departure point and the destination to cross the obstacle feature. A process (second recursive process) for repeating the processes after the process of the extraction unit 2403 is executed. The waypoint setting unit 2404 sets the selected crossing point as the waypoint of the travel source to the destination when the obstacle feature is not extracted in the second recursive process. As described above, the waypoint setting unit 2404 has a function of setting a temporary destination or a temporary departure point, and controlling to repeat the processing after the intersection obstacle feature extraction unit 2403. In addition, when the crossing point is extracted in the first recursive process or the second recursive process, the waypoint setting unit 2404 uses the extracted crossing point as the selected crossing point and performs the first recursive process and the second recursive process. Is executed. In the present embodiment, when one end point of a crossing road set as a selected crossing point is set as a temporary destination, the other end point of the crossing road is set as a temporary starting point instead of the selected crossing point. I am going to do that. When the first and second recursive processing ends and the order of travel between the two points is set, the waypoint setting unit 2404 stores the two points and the order of travel in the waypoint list.

  Then, when the first and second recursive processes are completed and there are remaining crossing points not yet selected in the crossing point list, the waypoint setting unit 2404 uses the selected crossing point selected from the remaining crossing points. The first and second recursive processes are executed. The waypoint setting unit 2404 displays the starting point, waypoint, destination, and progress included in the waypoint list when no obstacle feature that intersects the line segment is extracted or when no crossing point remains in the crossing point list. The order information is output to the route setting unit 2408.

  In other words, when it is determined that the intersection obstacle feature extraction unit 2403 has extracted the obstacle feature, the waypoint setting unit 2404 causes the point setting unit 2402 to reset two points and sets a detour point. Or it has the function to control to repeat the process which extracts a crossing point recursively. In the present embodiment, the recursively repeating process by the waypoint setting unit 2404 is controlled so as to be determined from the departure point side. That is, one crossing point to be selected as a selected crossing point from the crossing point list is selected with priority from the one near the departure point.

  The route setting unit 2408 refers to the map data stored in the map data storage unit 241 and determines the departure point, the destination point, and the waypoint set by the point setting unit 2402 on the map, and uses network data. And calculating a route from the departure point to the destination point and setting a recommended route.

  The image generation unit 243 generates a map image based on the floor display data corresponding to the reference floor and the surrounding floor, and outputs the generated map image data to the data communication unit 23.

  The route setting device 242 according to this embodiment includes obstacle feature data including information on the position and shape of an obstacle feature that obstructs traffic, and the position of a crossing point associated with the obstacle feature as a point that crosses the obstacle feature. Map data including crossing point data including information is stored, and when obstacle features that intersect the line connecting the starting point and the destination are extracted, the obstacle feature is selected according to the state of intersection. A detour point that detours the vehicle and a crossing point that crosses the obstacle feature are obtained, and an optimum route is set after obtaining the optimum traveling order of the waypoints using the detour point or the crossing point as a waypoint. Therefore, even in the case of an obstacle such as a river having a vast basin or an obstacle such as a meandering river, it is possible to obtain the optimum order of travel of the waypoints including detour points and crossing points. In addition, since the detour and crossing waypoints and the optimal travel order thereof are obtained in advance before the route search, there is an advantage that an extra burden is not generated in the processing related to the route search.

  Processing of the navigation system 1 of the present embodiment will be described. The present embodiment is an example of a navigation system that sets a route from a current position to a destination and displays a map image each time the mobile terminal 10 moves. As shown in FIG. 4, the navigation system 1 according to the present embodiment executes a process of setting a departure point and a destination (step S400), and sets a waypoint between the two points of the departure point and the destination. A process is executed (step S500), and a process for setting a route from the departure place to the destination based on the result of step S500 is executed (step S600).

<Point setting process>
The details of the process (step S400) in which the navigation system 1 of the present embodiment sets the departure point and the destination are as follows.

  First, the user designates a destination by operating the touch panel on the mobile terminal 10 side. The mobile terminal 10 periodically detects the current position by the current position detection unit, and when receiving the user's specification, the wireless communication unit 11 transmits the information on the specified destination and the current position on the Internet W. The process which transmits to a delivery server via is performed. The mobile terminal 10 also periodically detects the current position thereafter, and transmits the latest information on the current position to the distribution server each time.

  When the process of transmitting data by the mobile terminal 10 is completed, the data communication unit 23 receives the destination information and the current position information on the distribution server side, and receives these data as the point setting unit 2402 of the route setting device. Execute the process to output to. In the information center 20, the computer 24 executes a process in which the point setting unit 2402 sets two points, a destination based on the destination information and a departure point based on the current position information (step S400). 7 to 15 are diagrams illustrating examples of waypoint settings according to the present embodiment, respectively. First, in the example of the waypoint setting of this embodiment shown in FIG. 7, two points of a departure point S and a destination G are set on the map.

<Route setting process>
Next, processing (step S500) in which the navigation system 1 of the present embodiment sets a waypoint between two points set by the point setting unit 2402 will be described in detail with reference to FIGS. 5 and 6. . When step S400 is completed, the computer 24 refers to the map data by the crossing obstacle feature extraction unit 2403 and connects the line segment between the two points of the departure point S and the destination G set by the point setting unit 2402. The process which extracts the obstruction feature which crosses is performed (step S501). In an example of the waypoint setting of the present embodiment, as shown in FIG. 7, when a line segment SN00 connecting the departure point S and the destination G is drawn, an obstacle feature KW3 that intersects the line segment SN00 is Extracted. The obstacle feature KW3 is one of the obstacle features KW1 to KW4 constituting the joint obstacle feature KW in which the joint obstacle feature type is registered as a river in the joint obstacle feature data. The obstacle feature KW2 and the obstacle feature KW3 are connected by an obstacle feature connection point (not shown) located at the intersection of the joint obstacle feature KW and the crossing path HS2, and the obstacle feature KW3 and the obstacle place The object KW4 is connected to an obstacle feature connection point (not shown) located at the intersection of the joint obstacle feature KW and the crossing path HS1. Also, the obstacle feature KW1 and the obstacle feature KW2 are connected by an obstacle feature connection point GR. The obstacle feature connection point GR is a junction of the joint obstacle feature KW and the joint obstacle feature KS. At the obstacle feature connection point GR, the obstacle feature KS1 and the joint failure that constitute the joint obstacle feature KS. The obstacle features KW1 and KS2 constituting the feature KW are connected.

  When step S501 ends, the computer 24 uses the waypoint setting unit 2404 to execute a process of determining whether or not an obstacle feature has been extracted in the previous process (step S502). If the computer 24 determines in step S502 that no obstacle feature has been extracted in the previous process (step S502: No), the computer 24 ends the process of setting the waypoint (step S500).

  If the computer 24 determines in step S502 that an obstacle feature has been extracted in the previous process (step S502: Yes), the route obstacle setting unit 2404 causes the intersection obstacle feature extraction unit 2403 to be extracted. A process of requesting and receiving the obstacle feature extracted by is executed (step S503).

  When step S503 ends, the computer 24 uses the detour point setting unit 2406 to execute a process of setting a detour point through which the obstacle feature that intersects is detoured (step S504). Specifically, when the line segment intersects with any obstacle feature and the number of times of intersection is an even number, a detour point is set. In the present embodiment, the detour point is set by obtaining a tangent to the obstacle feature for both of the two set points, and when the intersection of the obtained tangents is within a predetermined distance from the obstacle feature, Set as a detour point. Specifically, the shape and line segment of the obstacle feature between the odd-numbered intersection point and the next intersection point when viewed from the departure point side of the two points among the plurality of intersection points of the line segment and the obstacle feature. All areas surrounded by are calculated, the smallest convex figure that includes them is calculated, and the tangent is obtained from the two points with respect to the convex figure. If the intersection of the obtained tangents is not within a predetermined distance from the obstacle feature, a tangent to the obstacle feature parallel to the line segment connecting the two set points is obtained, and this tangent and The intersection point between the two obtained tangents is obtained, and an intermediate point between the obtained intersection points is set as a detour point.

  Another example different from the example of the waypoint setting of this embodiment shown in FIG. 7 is shown in FIG. As shown in FIG. 16, intersections P1, P2, P3, and P4 between the line segment SN70 and the obstacle feature KW7 are first extracted. Next, an area A1 surrounded by a line segment composed of an odd number P1 from the starting point S and the next intersection P2 and the obstacle feature KW7 is obtained, and similarly, an area A2 is obtained from P3 and P4. Tangent lines L1 and L2 from the starting point S and the destination G are obtained for the smallest convex figure A3 including these A1 and A2. When it is determined that D7 which is the intersection of L1 and L2 is more than the predetermined distance from the obstacle feature KW7, a line L3 parallel to the line segment SN70 and in contact with the area A3 is obtained, and L1 The intermediate point D8 at the intersection with L2 is set as a detour point.

  In an example of the waypoint setting of this embodiment, as shown in FIG. 8, the intersection D1 of the tangents TG11 and TG12 with respect to the obstacle feature KW is set as a detour point. When step S504 is completed, the computer 24 uses the waypoint setting unit 2404 to execute a process of determining whether or not a detour point has been set in the previous process (step S505).

  When the computer 24 determines in step S505 that no detour point is set (step S505: No), the computer 24 proceeds to step S507. If the computer 24 determines in step S505 that a detour point has been set (step S505: Yes), the waypoint setting unit 2404 causes the detour point to be set between two set points. A process of setting as a waypoint through is executed (step S506). Note that the computer 24 also sets a traveling order from the departure point to the waypoint and a traveling order from the waypoint to the destination by the waypoint setting unit 2404. In an example of the waypoint setting of the present embodiment, the detour point D1 shown in FIG. 8 set by the process of step S504 is set as the waypoint D1, and the traveling order from the departure point S to the waypoint D1 and the waypoint The traveling order from D1 to the destination G is also set. At this time, since the destination side of the two points is the destination of the final arrival point, one route in the order of departure point S-route point D1-destination G is determined.

  When step S506 ends, the computer 24 requests the crossing point extraction unit 2405 to return the crossing point corresponding to the obstacle feature by the waypoint setting unit 2404, and the crossing point extraction unit 2405 causes the crossing obstacle to intersect. A crossing point that crosses the feature is extracted and returned to the waypoint setting unit 2404. Then, the computer 24 uses the waypoint setting unit 2404 to create and store a crossing point list including the extracted crossing points (step S507). In the present embodiment, the crossing road registered in association with the crossing obstacle feature is specified, and further, the end point of the crossing road registered in association with the specified crossing road is specified, and this is used as the crossing point. Extract. For example, in the example of the waypoint setting of the present embodiment, as shown in FIG. 9, the obstacle features KW are registered in association with crossing paths HS1 and HS2 which are bridges. Further, end points HS1T1 and HS1T2 are registered in association with the crossing path HS1, and end points HS2T1 and HS2T2 are registered in association with the crossing path HS2. In the present embodiment, the obstacle features that intersect with the line segments SN01, SN02, SN03, and SN04 that connect with the departure point S for each of the identified crossing end points are extracted and intersected with the obstacle features. The end point of the crossing road in which the number of times the line segments intersect is an odd number is not stored in the crossing point list because it is separated by the departure place and the obstacle feature. In the example of the waypoint setting of this embodiment shown in FIG. 9, the waypoint setting unit 2404 creates and stores a crossing point list composed of crossing points HS1T1 and HS2T2.

  When step S507 is completed, the computer 24 uses the waypoint setting unit 2404 to select one of the extracted crossing points from the crossing point list (step S508). The selected crossing point is set as the selected crossing point. In the present embodiment, since one crossing point selected as a selected crossing point from the crossing point list is selected with priority from the side closer to the departure point, in the example of the waypoint setting, FIG. First, the crossing point HS1T1 is selected.

First recursive process (departure point S-crossing point HS1T1):
When step S508 is completed, the computer 24 selects one of the extracted crossing points one by one from the crossing point list by the waypoint setting unit 2404, and sets the selected crossing point that is the selected crossing point as a temporary destination. Then, information on the temporary destination is sent to the point setting unit 2402, and the point setting unit 2402 sets two points of the departure point and the temporary destination, and outputs them to the cross obstacle feature extraction unit 2403, and step S500. A first recursive process that repeats the above process is executed (step S509). Specifically, in the example of the waypoint setting according to the present embodiment, the recursive process of step S500 is executed using two points of the starting point S and the selected crossing point HS1T1 as the temporary destination shown in FIG. Is done. In the case shown in FIG. 10, since the obstacle feature that intersects the line segment SN11 connecting the two points is not extracted in step S502, the selected crossing point HS1T1 is set as the waypoint of the destination from the departure point S. .

Second recursive process (crossing point HS1T1-destination G):
When step S509 ends, the computer 24 sends the same selected crossing point HS1T1 as a temporary departure point to the point setting unit 2402 by the waypoint setting unit 2404, and the point setting unit 2402 sets the destination and temporary departure point 2 Two points are set and output to the intersection obstacle feature extraction unit 2403, and the second recursive process is repeated to repeat the process of step S500 (step S510). Specifically, in the example of the waypoint setting according to the present embodiment, the recursive process of step S500 is executed using two points of the destination G and the selected crossing point HS1T1 as the temporary departure point shown in FIG. Is done. At this time, since the order of travel from the departure point S is set for the crossing point HS1T1 in step S509, the order of travel from the departure point S to the other end point HS1T2 in the crossing route HS1 is determined. The second recursive process is executed with the crossing point HS1T2 as a temporary departure point. As shown in FIG. 11, in step S501 in the second recursive process, the intersecting obstacle feature KW3 is extracted from the line segment SN12 connecting the two points. Then, in step S507 in the second recursive process, the crossing point HS1T1 in the U-turn direction or the crossing point HS2T2 in which the number of times the line segment intersects is an odd number is not added to the crossing point list, and the line segments intersect. The crossing point HS2T1 whose number of times is 0 is added to the crossing point list and stored.

First recursion process (crossing point HS1T2-crossing point HS2T1):
In an example of the waypoint setting of the present embodiment, since the crossing point is extracted in the second recursive process (crossing point HS1T1-destination G) described above, the extracted crossing point is selected as the selected crossing point. The recursive process and the second recursive process are executed. When step S508 ends, in step S509, a crossing point HS2T1 is selected, and a first recursive process using two points with the selected crossing point HS2T1 as a temporary destination is executed. The starting point in this case is the crossing point HS1T2 used as a temporary starting point when calculating the crossing point HS2T1. With respect to these two points, as shown in FIG. 12, since the obstacle feature that intersects the line segment SN21 connecting the two points is not extracted in step S502 in the first recursive process, the selected crossing point HS2T1 is selected as this point. It is set as the waypoint of travel from the crossing point HS1T2, which is sometimes the departure point.

Second recursive process (crossing point HS2T2-destination G):
In an example of the waypoint setting according to the present embodiment, when step S509 ends, in step S510, the second recursive process is executed using two points with the selected crossing point HS2T1 as a temporary departure point. In this case, since the order of travel from the destination S is determined in the immediately preceding step S509 at the selected crossing point HS2T1, the order of travel to the other end point HS2T2 in the crossing path HS2 is determined, and as a result, the crossing point HS2T2 Becomes the temporary departure point, and the second recursive process is executed. For these two points, as shown in FIG. 13, since the obstacle feature that intersects the line segment SN22 connecting the two points is not extracted in step S502 in the second recursive process, the selected crossing point HS2T2 is set to the destination G Set as a waypoint to travel to.

  The recursive process of step S509 and step S510 is executed, and the waypoint setting unit 2404 executes a process of adding and storing the two set points and their progress in the waypoint list (step S511). In an example of the waypoint setting of this embodiment, one route in the order of the departure point S-crossing point HS1T1-crossing point HS1T2-crossing point HS2T1-crossing point HS2T2-destination G is determined and added to the waypoint list. Is done.

  When step S511 is completed, the computer 24 uses the waypoint setting unit 2404 to determine whether or not a crossing point remains in the crossing point list that stores the crossing points that are candidate route points in the present embodiment. Is executed (step S512). If the computer 24 determines in step S512 that there is a crossing point remaining in the crossing point list (step S512: Yes), the computer 24 proceeds to step S508. In the example of the waypoint setting of the present embodiment, since the crossing point HS2T2 remains in the crossing point list at the time when the processing so far is executed, the first crossing point HS2T2 is selected as the selected crossing point. The second recursive process is executed.

  The starting point and the destination used when calculating the crossing point HS2T2 are the starting point S and the destination G based on the user's operation. In an example of the waypoint setting of the present embodiment, as shown in FIG. 14, in the first recursive process, the obstacle feature KW that intersects the line segment SN31 connecting the two points is extracted in step S502, and Since the intersecting point is an even point, a detour point D3 is set between the departure point S and the route point D3 in step S506. Thereby, the traveling order of the departure point S-route point D3-crossing point HS2T2 is determined. In the next step S507, the crossing point HS1T1 is stored in the crossing point list. When the crossing point HS1T1 is stored in the crossing point list, as described above, one route in the order of the departure point S-crossing point HS1T1-crossing point HS1T2-crossing point HS2T1-crossing point HS2T2 is determined. Become. Next, HS2T1, which is the other end point of the crossing point HS2T2 that is a temporary destination, is a temporary departure point, and a route obtained by performing the subsequent recursive process is a route that returns to the departure point S. Therefore, these route orders are not added to the waypoint list.

  If it is determined in step S512 that no crossing point remains in the crossing point list (step S512: No), the computer 24 determines the waypoint list by the waypoint setting unit 2404 and includes it in the route point list. A process of outputting information on the departure point, waypoint, destination, and traveling order to the route setting unit 2408 is executed, and thereafter, the process of setting the waypoint (step S500) ends. In an example of the waypoint setting according to the present embodiment, when the processing so far is executed, the crossing point list in the waypoint setting from the departure point S to the destination G is empty, so the waypoint setting is finished. To do.

<Route setting process>
Next, in the navigation system 1 of this embodiment, the process (step S600) for setting a route from the departure point to the destination based on the waypoint list determined by the point setting unit will be described in detail. In the present embodiment, it is assumed that the route list that is set in the order of travel that can be reached by traversing or avoiding the obstacle feature between the first set starting point and destination point is acquired. Then, the route search process is performed for all the route point progression patterns corresponding to the route point list in which the acquired progression order is fixed, and the route in the optimum progression order with the lowest passing cost is set. In an example of the waypoint setting of the present embodiment, as shown in FIG. 15, one route in the order of the departure point S-passage point D1-destination G set by the process of setting the waypoint described above, or A route search is performed for each of the other routes in the order of the departure point S, the crossing point HS1T1, the crossing point HS1T2, the crossing point HS2T1, the crossing point HS2T2, and the destination G, and the optimum route with the lowest passing cost is set.

  In addition, unlike the crossing point, the set detour point does not have to reach the point with certainty, but is a region that serves as a guide for efficiently avoiding obstacle features. As shown in FIG. 15, by providing a predetermined area D1W centered on the detour point D1 set as a waypoint as the detour point arrival area D1W, the path passage is extended to the extent that the obstacle feature KW can be avoided. The processing can be transferred to the next waypoint as having reached the detour point D1.

<Others>
In addition, this invention is not limited to the above-mentioned embodiment, A various change and improvement are possible in the range which does not deviate from the summary of this invention. For example, in the above-described embodiment, in step S508, the crossing point is extracted from the side closer to the starting point in the traveling order. For example, the crossing point is extracted from the side closer to the destination in the traveling order. Alternatively, it may be taken out randomly.

  It is also possible to calculate the approximate cost of a route between two points based on the total value of the line segment distance between the waypoints, and to perform a route search only for the waypoint route pattern narrowed down to one. For example, after obtaining all waypoint travel patterns that can be reached by avoiding obstacles between the first set starting point and destination point, calculate the approximate cost mentioned above for each waypoint progress pattern, It is also possible to output only the transit route pattern with the lowest estimated cost to the route setting unit.

  In addition, for example, when there are a plurality of routes because there are a plurality of crossing points between two points, for example, only the waypoints that make up the route with the lowest estimated cost are the waypoints between the two points. Can also be confirmed.

  Further, in the above-described embodiment, the information on the end points of the crossing road extracted by the crossing road end point extracting unit is held as data prepared in advance, but the map is obtained from the information on the intersection of the obstacle feature and the crossing road. It may be extracted each time by referring to the data and following the route that the user can pass.

  In the above-described embodiment, the crossing point data includes information on the crossing road that crosses the obstacle feature and its end points, and extracts the crossing road corresponding to the obstacle feature that crosses the line segment, The end point of the extracted crossing road is used as the crossing point, but there is no data like a crossing road, and one crossing point is registered on the obstacle feature, and such a simplified crossing point is used. It is also possible to provide a navigation system that sets a waypoint.

  Further, in the above-described embodiment, when a line segment composed of two points intersects an obstacle feature with respect to a crossing point where the route order cannot be determined, the obstacle feature ID and the number of intersections are set as the first departure. If the same obstacle feature ID and the number of intersections are equal to or greater than the obstacle feature ID and the number of intersections of the obstacle feature obtained by the line connecting the place and the destination, it will not be added to the crossing point list You can also.

  Further, in the above-described embodiment, when a detour point is set by two points, the detour point is determined as a waypoint, and the crossing point extracted after that is not determined as a route point. If the approximate cost from the point to the crossing point or the number of intersections with the obstacle feature is clearly larger than the approximate cost from the detour point to the destination, or if the number of intersections with the obstacle feature is extremely large, The recursive process can be interrupted without determining the point as a transit point.

23 ... Data communication unit 24 ... Computer 241 ... Map data storage unit 2403 ... Crossing obstacle feature extraction unit 2404 ... Intermediary place setting unit 2405 ... Crossing point extraction unit 2406 ... Detour point setting unit 2410 ... Crossing road extraction unit 2411 ... Crossing road end point extraction unit 242 ... Route setting device

Claims (3)

Including obstacle feature data including information on the position and shape of obstacle features that obstruct traffic, and crossing point data including position information of a crossing point associated with the obstacle feature as a point crossing the obstacle feature A map data storage unit for storing map data;
An intersecting obstacle feature extracting unit that extracts the obstacle feature that intersects with a line segment connecting a starting point and a destination with reference to the map data;
When the intersecting obstacle feature extraction unit extracts the intersecting obstacle feature and the point where the extracted obstacle feature and the line segment intersect is an even point, the intersection A detour point through which a detoured obstacle feature is detoured is set near the existence area of the intersecting obstruction feature based on the position of the starting point and the destination, and the position and shape information of the obstruction feature Detour point setting section,
When the crossing obstacle feature extraction unit extracts the crossing obstacle feature, a crossing point extraction unit that extracts a crossing point that crosses the crossing obstacle feature with reference to the map data;
When the detour point setting unit sets the detour point, the detour point is set as a waypoint between the departure point and the destination point, and the crossing point extraction unit extracts the crossing point The selected crossing points are selected one by one, the selected crossing point that is the selected crossing point is set as a temporary destination, and the crossing obstacle is set using the departure point and the temporary destination. A first recursive process that repeats the process after the process of the feature extraction unit is executed, and when the obstacle feature is not extracted in the first recursive process, the selected crossing point is determined as a transit point of the destination from the departure point. A second recursive process that sets the selected crossing point as a temporary departure point and repeats the subsequent processing of the intersection obstacle feature extraction unit using the temporary departure point and the destination. Let it run When the obstacle feature is not extracted in the recursive process, the selected crossing point is set as a transit point of the travel source to the destination, and the crossing point is extracted in the first recursive process or the second recursive process. When it is done, the waypoint setting unit for executing the first recursive process and the second recursive process with the crossing point as the selected crossing point,
A route setting device comprising: a route setting unit that obtains an optimal traveling order of the route points set by the route point setting unit and sets an optimum route between the departure point and the destination. The route setting device according to claim 1,
The map data includes information on a crossing that crosses the obstacle feature and an end point of the crossing,
The crossing point extraction unit includes a crossing path extraction unit that extracts the crossing road that crosses the obstacle feature intersected by the line segments, and a crossing road end point extraction unit that extracts the end point of the crossing road as the crossing point; A path setting device comprising: The route setting device according to claim 1,
The map data includes a plurality of the obstacle features and includes information capable of recognizing a connection state between the obstacle features,
The route setting device, wherein the crossing point extraction unit additionally extracts the crossing points that cross the obstacle feature connected to the obstacle feature extracted by the crossing obstacle feature extraction unit.