JP6088720B2 - Route search apparatus and method, computer program for searching for route, and recording medium recording computer program - Google Patents

Description

  The present invention relates to an apparatus and a method for searching for a route capable of effectively acquiring information obtained from a field survey when a field survey is performed by driving a vehicle.

In general, map data used in a navigation device or the like is information such as position information obtained by actually traveling on a road to be surveyed by a vehicle, or a captured image of the front and rear of a vehicle obtained by a vehicle-mounted video camera or the like. It is created based on etc. Various developments have been carried out in order to efficiently perform field surveys (hereinafter also referred to as running conditions) that are carried out by driving a vehicle in this way.
For example, in Patent Document 1, in road surveys, warnings are given to the investigator that traffic on a road from which map information should be acquired has been started and completed, thereby reducing omissions in acquiring information for creating a map. Technology is disclosed.
See also Patent Document 2 or 3 disclosing the prior art related to the present invention.

JP 2007-212972 A JP 2004-085537 A JP 2010-230365 A

  Usually, since the in-vehicle video camera is fixed to the vehicle, the imaging range by the in-vehicle video camera is naturally determined. Therefore, in order to perform efficient running preparation, it is necessary to travel while keeping the information useful for creating the map data, that is, within the imaging range so that it can be used for creating the map data. It becomes. That is, no matter how much the road that is the target of the running condition is run, if the information to be acquired does not fall within the imaging range, it is necessary to run again on the same road so as to fall within the imaging range, which is not efficient. Even if the information to be acquired is within the shooting range, if the information cannot be used due to unclearness or the like, it is necessary to re-run, which is not efficient.

The inventors of the present invention have made extensive studies on this problem. As a result, text information on signboards (hereinafter, simply referred to as “traffic signboards”) indicating the name of an intersection suspended at a traffic signal installed at an intersection where a road with a wide road intersects, and installed near the intersection I noticed that the traffic regulation information is difficult to shoot with the in-vehicle video camera, and even if it can be taken, it may be unclear. Hereinafter, such information is referred to as “photographing difficulty information”. And even if the cause is taken with the in-vehicle video camera of the vehicle stopped on the opposite side of the intersection, the width of the intersection is wide, so that the character information on the traffic sign becomes unclear. Also, even when taking a picture when turning right or left at an intersection, the distance from the center of the intersection to the traffic light is still long, so the character information on the traffic signboard is not sufficiently clear.
Of course, if the vehicle travels straight at the intersection, the vehicle is sufficiently close to the traffic light, so that the character information on the traffic sign can be clearly photographed by an in-vehicle video camera that photographs the front of the vehicle.
Accordingly, an object of the present invention is to make it possible to provide route guidance so that the vehicle travels straight at such an intersection during field surveys.

The present invention has been made in view of the above-mentioned problems, and the first aspect is defined as follows. That is,
A first map database storing map data including information on links and nodes including target links that satisfy a predetermined condition in the first area;
A target node selection unit that selects, from the first map database, a node at which a link having a road width of the link equal to or greater than a predetermined threshold intersects;
An entrance link selection unit that selects a link that enters the selected target node and has a exit link in a straight line direction with respect to the link;
A flag setting unit that sets a flag for the selected incoming link when a road width of a link that is capable of leaving the selected incoming link and is a link other than the outgoing link in the straight direction is equal to or larger than a predetermined threshold; ,
Referring to the first map database, a search is made for a route to the destination, and for the approach link with the flag set, the route exits to the exit link in the straight direction with respect to the approach link. A route search unit;
A route search device comprising:

  According to the route search device of the first aspect defined as described above, an entry link to a node to which a link having a road width equal to or greater than a predetermined threshold is connected, and the vehicle exits in a straight direction with respect to the entry link. If a link exists and the road width of the exit links other than the exit link is equal to or greater than a predetermined threshold, a flag is set for the entry link. When the approach link with the flag set is included in the route, the route search is performed so as to exit from the approach link to the exit link in the straight direction. According to such a route search, for the specific entry link, the exit link in the straight direction is guided, so that the vehicle can approach the traffic signboard and other difficult shooting information and photograph it. It will not be blurred.

Here, a link is a component of road network data, and generally refers to data generated corresponding to a road connecting nodes between nodes corresponding to a road intersection or the like. The target link is a link that is a target of a route among links included in a normal map database, and is selected based on, for example, a link attribute. Examples of such link attributes include road width, link type, number of lanes, route number, and the like. Specifically, a link whose road width is equal to or greater than a predetermined threshold, a link whose link type is a trunk road, a highway, a link whose number of lanes is equal to or greater than a predetermined threshold, and the like are selected as target links. The target link may be selected manually by an operator in addition to being selected based on the link attribute.
Further, the exit link in the straight direction with respect to the link is not limited to the exit link that forms a straight line with the link, and the angle between the link and the exit link at the node that is the connection point between the link and the exit link. It may be an exit link whose difference is within a predetermined range. The predetermined range may be, for example, −45 degrees to +45 degrees.

The route search unit circulates the target link in the first area, and searches for a route that exits the exit link in the straight direction with respect to the entrance link for the entrance link for which the flag is set. (Second aspect).
Here, the cyclic route is a route for more efficiently circulating the target link existing in the first area. As such a cyclic route, for example, the target link in the area is written in one stroke. A route traveling in a manner, a route in which the number of times traveling on the same target link while traveling on more target links in the area is suppressed as much as possible, and the like.

The third aspect of the present invention is defined as follows. That is,
In the route search device stipulated in the second aspect, a travel history database that accumulates travel histories traveled by vehicles,
Based on the travel history, a traveled link identifying unit that identifies a traveled link among the target links in the first map database;
Based on the travel history, among the identified traveled links, an entrance link that is set with the flag and that has not exited to the exit link in the straight direction with respect to the entrance link. The restart required link specifying part specified as the restart required link,
A clear link that identifies a traveled link excluding the identified restart required link among the identified traveled links as a clear link to be erased from the target link in the first map database. A specific part,
A map database update unit for updating the first map database by erasing the specified erase link from the target link in the first map database,
The route search unit searches for the route with reference to the updated first map database.

  According to the route search device of the third aspect defined as described above, a traveled link is specified based on the travel history of the vehicle from the circulation target link in the predetermined area stored in the map database, and A link that has not exited from the traveled link to the exit link in the straight direction with respect to the entry link for which the flag is set is specified as a re-running link. Then, the map database is updated by deleting the traveled links other than the re-required link from the circulation target link in the map database, and the updated map database is referred to, so Search for a patrol route that can patrol the rerun link. By identifying the traveled links that do not need to travel again based on the travel history in this way, the traveled links that do not need to travel again and the links that require traveling (re-running links and non-running links) A distinct map database can be provided. Moreover, based on the updated map database, it is possible to provide a route that can travel around the re-run link and the non-run link. Since the re-route search for visiting the link that requires the update of the map database and the travel is automatically performed, the driver can concentrate on driving and secure safety.

  A traveled link is a link traveled by a vehicle. Preferably, the target link that has completed the travel from one end point to the other end point of the target link can be specified as the traveled link (fifth aspect). According to such an apparatus, information over the entire target link can be acquired, and a more detailed map database can be created. As another example of the traveled link, a link that travels at a predetermined rate or more (for example, 50% or more) in one target link may be used as the traveled link. As another example, when a part of one target link is traveled, information indicating that the traveled part has been traveled may be given to the target link to be a traveled link. . For example, based on the coordinates where the travel history deviates from the target link, when the vehicle has already traveled to the departure point, or when the steering wheel operation is performed against the link shape of the target link, the operation is performed based on the coordinates at which the operation was performed. It is good also as having already run to the point. In this case, the said consumption link specific | specification part can be specified as a consumption link based on the traveled part in this traveled link.

When the number of non-traveling links decreases in a predetermined area, that is, when the ratio of the traveled links increases, it is not efficient to search for a route that circulates only the non-traveling links.
Therefore, the fourth aspect of the present invention is defined as follows. That is,
In the route search device defined in the third aspect, a second map database that stores map data including information on a target link that satisfies a predetermined condition in the second area;
A ratio calculation unit that calculates a ratio of the consumption link to the target link in the first area;
The route search unit searches for the route with reference to the updated first map database and the second map database when the calculated ratio is equal to or greater than a predetermined threshold.
According to the route search device of the fourth aspect defined as described above, the ratio of the consumption links in the predetermined area is calculated, and when the ratio is equal to or greater than the predetermined threshold, the area adjacent to the area is included. Since the traveling route is searched, the efficiency of the current running condition is improved.

The sixth aspect of the present invention is defined as follows. That is,
A first storage step of storing map data including information on links and nodes including target links satisfying a predetermined condition in the first area in a first map database;
A target node selecting step, wherein the target node selecting unit selects, as a target node, a node at which a link having a road width of the link equal to or greater than a predetermined threshold from the first map database;
An entry link selection step, wherein the entry link selection unit selects a link entering the selected target node, the link including an exit link in a straight direction with respect to the link as an entry link;
The flag setting unit sets a flag for the selected entry link when the road width of the link other than the exit link in the straight direction is equal to or greater than a predetermined threshold, and is a link that can exit from the selected entry link. Flag setting step to
The route search unit refers to the first map database, and is a route to the destination, and the exit link with the flag set exits to the exit link in the straight direction with respect to the entrance link. A route search step for searching for a route to be performed;
A route search method comprising:
According to the sixth aspect of the invention thus defined, the same effect as the first aspect can be obtained.

The seventh aspect of the present invention is defined as follows. That is,
In the method defined in the sixth aspect, in the route search step, the target link in the first area is circulated, and the approach link with the flag set is in the straight direction with respect to the approach link. The route to exit to the exit link is searched.
According to the seventh aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The eighth aspect of the present invention is defined as follows. That is,
In the method defined in the seventh aspect, an accumulation step of accumulating in the travel history database the travel history that the vehicle has traveled;
A traveled link identifying step, wherein the traveled link identifying unit identifies a traveled link among the target links in the first map database based on the travel history;
Based on the travel history, the re-run link identifying unit is an entry link in which the flag is set among the identified traveled links, and the exit link in the straight direction with respect to the entry link. Re-required link identification step for identifying an approach link that has not exited as a re-required link,
The disappearance link identification unit is an object to be erased from the target link in the first map database with the traveled link excluding the identified restart required link among the identified traveled links. An application link identification step to identify as a link,
A map database update unit for updating the first map database by erasing the identified erase link from the target link in the first map database; and
In the route search step, the route is searched with reference to the updated first map database.
According to the invention of the eighth aspect defined as described above, the same effect as that of the third aspect can be obtained.

The ninth aspect of the present invention is defined as follows. That is,
In the method defined in the eighth aspect, a second storing step of storing map data including information on a target link that satisfies a predetermined condition in the second area in a second map database;
A ratio calculating unit that calculates a ratio of the consumption link to the target link in the first area;
In the route search step, when the calculated ratio is equal to or greater than a predetermined threshold, the route is searched with reference to the updated first map database and the second map database.
According to the ninth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The tenth aspect of the present invention is defined as follows. That is,
In the method defined in the eighth or ninth aspect, in the traveled link specifying step, the target link that has completed the travel from one end point to the other end point of the target link is specified as the traveled link.
According to the tenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

Furthermore, the eleventh aspect of the present invention is defined as follows. That is,
A computer program for searching for a route, comprising:
First storage means for storing, in a first map database, map data including information on links and nodes including target links that satisfy a predetermined condition in the first area;
A target node selecting means for selecting, as a target node, a node intersecting a link having a road width of the link equal to or greater than a predetermined threshold from the first map database;
Incoming link selecting means for selecting, as an incoming link, a link that enters the selected target node and has a leaving link in a straight line direction with respect to the link;
Flag setting means for setting a flag for the selected entry link when a road width of a link that is capable of leaving the selected entry link and is a link other than the exit link in the straight traveling direction is equal to or greater than a predetermined threshold; ,
Referring to the first map database, a search is made for a route to the destination, and for the approach link with the flag set, the route exits to the exit link in the straight direction with respect to the approach link. Route search means,
As a computer program.
According to the eleventh aspect of the invention thus defined, the same effects as in the first aspect can be achieved.

The twelfth aspect of the present invention is defined as follows. That is,
In the computer program stipulated in the eleventh aspect, the route search means circulates the target link in the first area, and the approaching link with the flag set is in the straight direction with respect to the approaching link. Search for a route to exit to the exit link.
According to the twelfth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The thirteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the twelfth aspect, the computer is further
Accumulation means for accumulating in the travel history database the travel history of the vehicle traveling;
Based on the travel history, a traveled link identifying means for identifying a traveled link among the target links in the first map database;
Based on the travel history, among the identified traveled links, an entrance link that is set with the flag and that has not exited to the exit link in the straight direction with respect to the entrance link. Re-required link identification means to identify as a re-required link,
A clear link that identifies a traveled link excluding the identified restart required link among the identified traveled links as a clear link to be erased from the target link in the first map database. Specific means,
By functioning as a map database update means for updating the first map database by erasing the identified erase link from the target link in the first map database,
The route search means searches for the route with reference to the updated first map database.
According to the thirteenth aspect of the invention thus defined, the same effects as those of the third aspect are achieved.

The fourteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the thirteenth aspect, the computer is further
Second storage means for storing map data including information related to a target link satisfying a predetermined condition in the second area in a second map database;
A ratio calculating means for calculating a ratio of the consumption link to the target link in the first area;
The route search means searches for the route with reference to the updated first map database and the second map database when the calculated ratio is equal to or greater than a predetermined threshold.
According to the fourteenth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The fifteenth aspect of the present invention is defined as follows. That is,
In the computer program stipulated in the thirteenth or fourteenth aspect, the traveled link specifying means specifies a target link that has run from one end point to the other end point of the target link as the traveled link.
According to the fifteenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

  A recording medium for recording the computer program defined in any one of the 11th to 15th aspects is defined as the 16th aspect.

FIG. 1 is a block diagram showing a configuration of a route search apparatus 1 according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating an example of the operation of the route search apparatus 1 according to the embodiment of this invention. FIGS. 3A to 3E are schematic diagrams for explaining a road configuration represented based on links and nodes stored in the first map database 3. FIG. 4 is a block diagram showing a configuration of the route search apparatus 21 according to another embodiment of the present invention. FIG. 5 shows (A) map data stored in the first map database 23, (B) travel history data stored in the travel history database 25, and (C) updated first map database. FIG. 22 is a schematic diagram for explaining map data stored in 23. FIG. 6 is a flowchart showing an example of the operation of the route search apparatus 21 according to another embodiment of the present invention. FIG. 7 is a block diagram showing a configuration of a route search apparatus 41 according to another embodiment of the present invention. FIG. 8 is a flowchart showing an example of the operation of the route search apparatus 41 according to another embodiment of the present invention. FIG. 9 shows (A) map data stored in the first map database 23, (B) travel history data stored in the travel history database 25, and (C) updated first map database 23. It is a schematic diagram for demonstrating the map data stored in 2 and the map data stored in the 2nd map database 43. FIG. FIG. 10 is a block diagram illustrating a configuration of the mobile terminal device 51 according to the embodiment of this invention.

A route search apparatus according to an embodiment of the present invention will be described.
FIG. 1 shows a schematic configuration of the route search apparatus 1. This will be described below with reference to the schematic diagram shown in FIG.
As illustrated in FIG. 1, the route search device 1 includes a first map database 3, a target node selection unit 5, an approach link selection unit 7, a flag setting unit 9, and a route search unit 11.

  The first map database 3 stores map data for searching for a route, and includes map data including information on links and nodes in the first area. Information about the link includes road width. In addition, information that defines the characteristics of the link, such as the link type, the number of lanes, and the route number, may be stored in association with the link. Further, the information on the node is not particularly limited, and information on the presence / absence of a traffic signal may be mentioned. These data are preferably stored in association with coordinates. 3A to 3H show road configurations represented based on links and nodes stored in the first map database 3. In FIG. 3, l indicates a link and n indicates a node. As for the links, those with a road width equal to or larger than a predetermined threshold are drawn with thick lines, and those with a road width less than the predetermined threshold are drawn with thin lines.

The target node selection unit 5 selects, from the first map database 3, a node at which a link having a road width equal to or greater than a predetermined threshold intersects as a target node. The selection method of the said object node is not specifically limited, For example, based on the road width linked | related with the said link, the link whose road width is 15 m or more can be selected, for example. For example, in FIG. 3, is selected as a node connected to the node n ₃ other nodes are road width predetermined threshold or more links (C) (thick line links). Node n _3, a link connected to the node is not selected as the target node for both is less than the road width predetermined threshold. As another example, the target node selection unit 5 has a road width estimated from the number of lanes associated with the link equal to or greater than a predetermined threshold, or the number of lanes associated with the link is equal to or greater than a predetermined number. Based on this, the target node may be selected.

The ingress link selection unit 7 refers to the first map database 3 and is a link that enters the target node selected by the target node selection unit 5, and is an exit link in a straight direction with respect to the link The link with is selected as the entry link. Here, the exit link in the straight direction with respect to the link is not limited to the exit link that forms a straight line with the link, and the link between the link and the exit link is a node at the connection point between the link and the exit link. It may be an exit link whose angle difference is within a predetermined range. The predetermined range may be, for example, −45 degrees to +45 degrees. The exit link is a link that can exit from the entrance link, and does not include a link that cannot exit from the entrance link due to traffic restrictions or the like even if a link exists ahead of the entrance link. Examples of the link that cannot be withdrawn include a link in which an entry prohibition restriction is given to a link existing in front of the entry link, or a one-way restriction in the direction of the target node. For example, in FIG. 3, a link that can enter the target node among links other than the links l ₁₅ , l ₁₆ , and l ₁₉ that do not have the exit link in the straight direction with respect to the link is the approach link. Selected as. For example, if the one-way information to a direction of retracting the link l ₂₅ from node n ₈ is associated, the link l ₂₅ is not selected as the approach link.

The flag setting unit 9 is a link that can exit from the entry link selected by the entry link selection unit 7, and the road width of a link other than the exit link in the straight traveling direction is equal to or greater than a predetermined threshold (for example, 15 m or more). The flag is set for the selected approach link in the first map database 3. For example, in FIG. 3, the road width of the exit links l ₂ and l ₄ other than the exit link l _{3 in} the straight direction from the link l ₁ is greater than or equal to a predetermined threshold for the approach link l ₁ in FIG. The flag is set for the incoming link l ₁ . On the other hand, for the incoming link l ₈ in (B), the road widths of the outgoing links l ₅ and l ₇ other than the outgoing link l _{6 in} the straight direction from the link l ₈ are less than the predetermined threshold value, so the incoming link l _No flag is set in ₈ . Other links for which the flag is set include, for example, the links l ₉ , l ₁₃ , and l ₂₂ in (D).

The route search unit 11 refers to the first map database 3 and refers to the approach link that is a route to the destination and the flag is set by the flag setting unit 9. The route is searched to exit to the exit link in the straight direction. For example, in FIG. 3, if it contains incoming link l ₁ of (A) to the path, to the route search to exit to the link l ₃ is exiting link to straight direction.

An example of the operation of the route search apparatus 1 shown in FIG. 1 will be described with reference to FIG.
First, in step 1, the target node selection unit 5 designates an arbitrary node among the map data stored in the first map database 3.
In step 3, the target node selection unit 5 determines whether the road width of the link connected to the node designated in step 1 is equal to or greater than a predetermined threshold. When the road width is equal to or greater than the predetermined threshold (step 3: Yes), the node specified in step 1 is selected as the target node (step 5).
In step 7, the approach link selection unit 7 designates a link that enters the target node in step 5 among the map data stored in the first map database 3.

In step 9, the incoming link selection unit 7 determines whether there is an outgoing link that exits in the straight direction with respect to the link specified in step 7. When there is an exit link that exits in the straight direction (step 9: Yes), the link specified in step 7 is selected as the entrance link (step 11).
In step 13, the flag setting unit 9 determines whether or not there is an exit link other than the exit link in the straight direction with respect to the entrance link selected in step 11. When there is the exit link (step 13: Yes), the process proceeds to step 15.
In step 15, the flag setting unit 9 determines whether the road width of the exit link in step 13 is greater than or equal to a predetermined threshold value. When the road width is equal to or larger than the predetermined threshold (step 15: Yes), a flag is set for the approach link selected in step 11 in the first map database 3 (step 17).
In step 19, the route search unit 11 searches for a route to the destination based on the map data in the first map database 3. If the route includes the entry link, and the flag of step 15 is set for the entry link in the first map database 3, exit in the straight direction with respect to the entry link. Search for a route to exit the link.

FIG. 4 shows a route search device 21 according to another embodiment. 4, the same elements as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 4 shows that the target link in the first area stored in the first map database can be visited using the first map database in which the flag is set in the route search device 1. This is a route search device 21. That is, the device 21 further includes a travel history database 25, a traveled link identifying unit 27, a re-running link identifying unit 29, a disappearing link identifying unit 30, and a map database updating unit 31 in the device 1 shown in FIG. 1. Instead of the first map database 3 and the route search unit 11, a first map database 23 and a tour route search unit 33 are provided.

In the first map database 23, the map data stored in the first map database 3 and the flag set in the flag setting unit 9 of the route search device 1 are stored in association with the link (FIG. 5). (See (A)). Specifically, in FIG. 5A, a flag is set together with the link L ₁₈ in the direction toward the node N ₁ and the link L ₁₉ in the direction toward the node N ₂ . That is, for a link _{L 18,} the link _{L 18} after traveling, is route guidance to leave the link _{L 18} to the link _{L 17} is a leaving link straight direction, for links _{L 19,} the link _{L 19} running after, the route guidance to leave the link L ₁₉ to the link L ₂₀ is a leaving link straight direction. The exit link that is route-guided is not limited to the exit link that forms a straight line with the entrance link, but may be route-guided so as to exit to an exit link in which the angle difference between the entrance link and the exit link is within a predetermined range. The first map database 23 can be created by applying the above-mentioned criteria to a normal map database. Specifically, it is created by giving a high value cost (for example, cost ∞) to links other than the target link among links in a normal map database. If such a first map database is used, the target link is substantially selected as the target of the cyclic route. In addition, even if data indicating “not running” or “no running times” is input to the target link stored in the first map database 23 by default, good. In FIG. 5A, a target link for which data indicating “not running” is set is indicated by a thick line (L _{11 to} L ₂₂ ).

The travel history database 25 stores travel histories that the vehicle has traveled (see FIG. 5B). The travel history database 25 stores, for example, the history R _{1 to} R _{8 of} each link traveled by the vehicle based on the probe information of the vehicle. The travel histories R _{1 to} R ₈ of each link can be represented, for example, as dotted lines in FIG. The history of each link may include travel date and time, travel speed, traveled lane, and the like.
The traveled link specifying unit 27 specifies a traveled link among the target links in the first map database 23 based on the travel history accumulated in the travel history database 25. The method for specifying the traveled link is not particularly limited, but a part of the target link, for example, one that has traveled more than half may be specified as the traveled link. As another example, for the part that has run from one end point of the target link to the other end point is specified as the above-mentioned traveled link, or even if the target link is not completed It is good also as specifying as having already run partially. Furthermore, the information regarding the travel date and time, the travel speed, and the traveled lane can be used to identify the traveled link. For example, among the accumulated travel histories, a travel history with a travel time between 10:00 and 17:00 can be used, or a travel history with a travel speed of 60 km / h or less can be used.

Based on the travel history in the travel history database 25, the re-run link identifying unit 29 is an approach link with the flag set among the identified traveled links, An approach link that has not exited the exit link in the straight direction is identified as a re-run link. The specific method is not particularly limited, but when the angle difference between the approach link and the exit link has exited to an exit link exceeding a predetermined range, the entrance link can be identified as a re-running link. For example, the link L ₁₉ is a link that has been traveled from the travel history, but after traveling the link L ₁₉ , instead of the exit link L ₂₀ in the straight direction, turn left at the node N ₂ and exit to the link L ₁₆ . Therefore, it is specified as the above-mentioned restart link. On the other hand, the link L ₁₈ is a link that has been traveled based on the travel history, and after the travel of the link L ₁₈ , the link L ₁₈ has retreated to the retreat link L _{17 in the} straight traveling direction, and thus is not specified as the re-required link.
The consumption link specifying unit 30 sets the traveled links other than the re-required link specified by the re-required link specifying unit 29 out of the traveled links specified by the travel-completed link specifying unit 27, the It is specified as a disappearing link to be erased from an object link in one map database 23. In the example of FIG. 5A, link L ₁₁ , link L ₁₂ , link L ₁₃ , link L ₁₆ , link L ₂₂ , link L _18, and link L ₁₇ are specified as a consumption link.

  The map database update unit 31 updates the first map database by deleting the application link specified by the application link specifying unit 30 from the target link in the first map database (FIG. 5). (See (C)). As the method of the cancellation, for example, by rewriting “unrunning” data preset for the target link in the first map database 30 to “runned” data, the first map database Can be updated. As another example, the above-mentioned update may be performed by adding the number of times of travel to the consumption link, such as “the number of times of travel” is set to “the number of times of travel is 1”. . As shown in FIG. 5C, in the updated map database, only the target link for which “unrunning” data is still set can be represented by a bold line. The said map database update part 31 may update sequentially based on the said specified consumption link, and may update it at predetermined intervals. Moreover, it is good also as updating at the timing which turned off the engine, the timing which finished drive | working the searched circulation route, etc.

  The traveling route search unit 33 searches the traveling route with reference to the first map database 23 (see FIG. 5C) updated by the map database update unit 31. As a method of the search, for example, a route on which a target link for which “unrunning” data is set, or a target link for which data of “number of times of driving” is set can be traveled in a one-stroke manner. Can be searched. Of course, the tour route may include a target link other than the target link that has not traveled, a target link other than the target link that has run 0 times, and a link other than the target link. In this example, a route indicated by a dotted line in FIG. 5C is searched as the cyclic route. If there is a link that remains as an untraveled target link after traveling on the circuit route, a new circuit route may be searched to travel the link, or the route search device 41 (to be described later) It is also possible to search for a route so that it can be visited together with the target link in the adjacent area.

An example of the operation of the route search apparatus 21 shown in FIG. 4 will be described with reference to FIG.
First, in step 21, a travel history acquisition unit (not shown) acquires the travel histories R _{1 to} R ₈ of the vehicle and accumulates them in the travel history database 25. An example of the accumulated travel histories R _{1 to} R ₈ is shown in FIG.
In step 23, the traveled link specifying unit 27 refers to the first map database 23 and extracts the target link L _m corresponding to the travel history R _n acquired in step 21. For example, the target link L ₁₁ is extracted as a target link corresponding to the travel history R _1.
In step 25, the traveling Linked particular section 25, the travel history R _n obtained in step 21 it is determined whether to finish between both end points of the target link L _m in step 23. If yes in step 25, the process proceeds to step 27. For example, since the extracted travel history R ₁ travels from one end point of the target link L _{11 to} the other end point, the process proceeds to step 27. For example, if the travel history does not complete between the two end points of the corresponding target link, the process proceeds to step 39.
In step 27, the traveling Linked specifying unit 27 specifies the travel Linked the target link L _m which is extracted in step 23.

In step 29, a main re-run link identifying unit 29 determines with reference to the first map database 23, whether the flag in the target link L _m extracted in step 23 is set. If yes in step 29, the process proceeds to step 30. For example, since the flags are set for the links L ₁₈ and L ₁₉ , the process proceeds to step 30.
In step 30, the rerun link specifying unit 29 refers to the travel history database 25, and the travel history acquired in step 21 exits to the exit link in the straight direction with respect to the traveled link in step 29. Determine whether or not. If yes in step 30, the process proceeds to step 33. For example, based on the travel histories R ₇ and R ₈ , the process proceeds to step 33 because the link has exited from the link L ₁₈ to the link L ₁₇ that is a exit link in the straight direction. On the other hand, based on the travel histories R ₄ and R ₅ , the process proceeds to Step 35 because the link L ₁₉ has not exited to the link L ₂₀ that is an exit link in the straight traveling direction.
In step 33, the disappearance link identifying unit 30 identifies the traveled link identified in step 27 as the disappearance link.
On the other hand, in step 35, the rerun link specifying unit 29 specifies the traveled link specified in step 27 as the rerun link required.

In step 37, the map data update unit 31, in step 33 based on the result, has been set by default to the specified target link L _m "not running" data by rewriting the "travel completed" first of The map database 23 is updated. The updated first map database 23 is represented, for example, as shown in FIG.
For travel history _{R n + 1} subsequent to the travel history _{R n,} executes step 23 to step 37 (step 39, 40).
In step 41, the traveling route search unit 33 searches the traveling route with reference to the first map database 23 updated by executing step 37. In other words, in the updated first map database 23, for example, a patrol route as indicated by a dotted line in FIG. 5C to circulate the untraveled target links L ₁₄ , L ₁₅ , L ₂₀ , L ₂₁ . Explore.

FIG. 7 shows a route search apparatus 41 according to another embodiment. In FIG. 7, the same elements as those in FIGS. 1 and 4 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 7 shows that when there are few untraveled target links in a predetermined area, search for a traveling route by combining the untraveled target links in the area and the target links in the area adjacent to the area. Is a route search device 41 capable of That is, the apparatus 41 further includes a second map database 43 and a ratio calculation unit 45 in the apparatus 21 shown in FIG. 4, and includes a cyclic route search unit 47 instead of the cyclic route search unit 33.

The second map database 43 stores map data for searching for a patrol route and including information regarding the target link in the second area adjacent to the first area. The second area only needs to be adjacent to the first area, and it is not necessary that the links in both areas are directly connected, and even if the links in both areas overlap. good. The second map database 43 may be updated by the same method as the first map database 23.
The ratio calculation unit 45 refers to the updated first map database 23 and calculates the ratio of the disappearing links to all the target links in the first area. As the calculation method, for example, the ratio of the number of links of the consumption link to the number of links of all the target links in the first area can be calculated. As another example, the ratio of the total distance of the consumption link to the total distance of all target links in the first area may be calculated.

When the ratio calculated by the ratio calculation unit 45 is equal to or greater than a predetermined threshold, the cyclic route search unit 47 refers to the updated first map database 23 and the second map database 43 to determine the cyclic route. Explore. The search method is not particularly limited, and can be performed in the same manner as the above-described traveling route search unit 33. In particular, the tour route searching unit 47 may preferentially tour the target links (untraveled target links) in the first map database 23 in which the ratio of the specified disappearance link is larger. . The predetermined threshold can be set to 80% or more, for example.
A route search system that allows some of the components of the route search device 41 to be executed by the server device may be used. The configuration that can be executed by the server device is not particularly limited. For example, the map database update unit 31, the rate calculation unit 45, and the traveling route search unit 47 can be used. By centrally managing the server device, the map database can be updated in a batch based on the traveling histories of different vehicles, and an efficient patrol route can be searched.

An example of the operation of the route search device 41 shown in FIG. 7 will be described with reference to FIG.
First, in step 51, as in step 21, a travel history acquisition unit (not shown) acquires the travel histories R _{20 to} R ₃₀ of the vehicle and accumulates them in the travel history database 25. An example of the accumulated travel histories R _{20 to} R ₃₀ is shown in FIG.

In step 53, the traveled link specifying unit 27 refers to the first map database 23 and extracts the target link L _m corresponding to the travel history R _n acquired in step 51. For example, the target link L ₂₂ is extracted as the target link corresponding to the travel history R ₂₂ .
In step 55, the traveling Linked specifying unit 27, the object in the link L _m is extracted at step 53, identifying the overlapping portions of the travel history R _n and the traveling Linked. The Specific methods, for example, it compares the coordinates of the travel history R _n of the target link L _m, travel history R _n is the partial travel Linked to the point that deviates from the target link L _m Can do. As another example, based on the probe information of the vehicle, for example, the portion up to the point of performing the steering operation against the link shape of the target link L _m may be traveling Linked. For example, in FIG. 9B, since the travel history R ₂₂ overlaps over the entire area of the corresponding target link L ₂₂ , the entire target link L ₂₂ is specified as the traveled link. On the other hand, since the travel history R ₂₉ partially overlaps with the corresponding target link L ₁₅ , the portion overlapping the travel history R ₂₉ in the target link L ₁₅ is specified as the traveled link.

Steps 57 to 61 can be performed in the same manner as steps 29 to 35 described above. In this example, since the flag is set for the target link L ₁₉ , the process proceeds to step 59. Further, based on the travel histories R ₂₅ and R ₂₆ , the process proceeds to step 60 because the link has exited from the link L ₁₉ to the link L ₂₀ that is a exit link in the straight traveling direction.
In step 62, the map database updating unit 31 rewrites based on the result of step 60, the data "not running" that has been set to the specified target link L _m to "travel completed", or partly specific With respect to the traveled link, the first map database 23 is updated by reflecting information indicating that the travel has been performed for the portion.
For travel history _{R n + 1} subsequent to the travel history _{R n,} executes step 53 to step 62 (step 63 and 65).
In step 67, the ratio calculation unit 45 calculates the total distance of all the target links in the first map database 23.
In subsequent step 68, the ratio calculation unit 45 calculates the total distance of the portion identified as the disappearing link among the target links in the first map database 23.
In step 69, the ratio calculation unit 45 calculates the ratio of the consumption links to all the target links based on the calculation results of steps 67 and 68. As a result of the calculation, when the ratio of the application link is 80% or more (step 70: Yes), the process proceeds to step 71.

In step 71, the traveling route searching unit 47 refers to the updated first map database 23 and the second map database 43, and deletes the untraveled target link in the first area (of the target links). Search for a patrol route to circulate the non-running link in the second area). That is, in the first map database 23 is updated, in order to cycle through non-running portion of the target link L _15, for example, in FIG. 9 (C), the searching for a patrol route as shown by a dotted line.
On the other hand, if No in step 70, the process proceeds to step 73.
In step 73, the traveling route search unit 47 searches the traveling route for traveling the untraveled link in the first area with reference to the updated first map database 23.

FIG. 10 shows a mobile terminal device 51 of the embodiment. 10, the same elements as those in FIGS. 1, 4 and 7 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 10 shows a mobile terminal device 51 including the device 41 shown in FIG. The mobile terminal device 51 includes a control unit 510, a memory unit 511, an input unit 512, an output unit 513, an interface unit 514, a terminal position specifying unit 515, a probe information acquisition unit 516, a first map database 23, a second A map database 43, a travel history database 25, a traveled link specifying unit 27, a re-run link specifying unit 29, a consumption link specifying unit 30, a ratio calculating unit 45, a map database updating unit 31, and a traveling route searching unit 47 are provided. Yes.

The control unit 510 is a computer device including a CPU, a buffer memory, and other devices, and controls other elements constituting the mobile terminal device 51.
A computer program is stored in the memory unit 511, and the computer program is read into the control unit 510, which is a computer device, and causes it to function. This computer program includes an internal hard disk or internal memory as a storage device of a mobile terminal device, an SD (registered trademark) memory card, a memory stick, a smart media, a compact flash (registered) as a storage medium replaceable with the mobile terminal device. Trademark), DVD, and other general-purpose media.
The input unit 512 is used for inputting a user command, for example. Specifically, it is used for inputting a destination or the like in the route search. As the input unit 512, a pointing device such as a touch panel that cooperates with the display content of a mouse, a light pen, or a display, or a voice input device such as a keyboard or a microphone can be used.

The output unit 513 includes a display, and other information such as the position of the terminal device specified by the terminal position specifying unit 515 described later, the tour route searched by the tour route search unit 47, the display of the target link and the non-running link, etc. Is displayed. The output unit 513 can include a voice transmission unit.
The interface unit 514 connects the mobile terminal device 51 to a wireless network or the like.
The terminal location specifying unit 515 specifies the current location information of the terminal device using a GPS device or a gyro device. In addition, the current time can be specified.
The probe information acquisition unit 516 acquires vehicle probe information. The probe information acquisition unit 516 may acquire probe information transmitted from vehicles connected wirelessly via a network, or may be temporarily stored in a memory in the vehicle and obtained directly or via a wire. It is good also as acquiring probe information. The probe information includes at least coordinate information and ID information for specifying the probe car. Such information can be specified if the vehicle has a position detection function such as GPS. Furthermore, time information, speed information, heading information, altitude information, accelerator opening, engine speed, longitudinal acceleration, yaw rate, stop lamp, ABS warning lamp, fuel consumption, remaining power capacity, rudder angle (steering wheel rotation angle information) ), Shift lever information or the like.

  Although the embodiments and examples of the present invention have been described above, two or more of the embodiments (examples) may be combined and implemented. Alternatively, one of these embodiments (examples) may be partially implemented. Furthermore, among these, two or more embodiments (examples) may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 21 41 route search device 3 23 43 map database (map DB)
5 Target node selection unit 7 Incoming link selection unit 9 Flag setting unit 11 33 47 Route search unit 25 Travel history database (travel history DB)
27 Traveled link identifying unit 29 Re-running link identifying unit 30 Disappearing link identifying unit 31 Map database updating unit (map DB updating unit)
45 Ratio calculator

Claims (16)

A first map database storing map data including information on links and nodes including target links that satisfy a predetermined condition in the first area;
A target node selection unit that selects, from the first map database, a node at which a link having a road width of the link equal to or greater than a predetermined threshold intersects;
An entrance link selection unit that selects a link that enters the selected target node and has a exit link in a straight line direction with respect to the link;
A flag setting unit that sets a flag for the selected incoming link when a road width of a link that is capable of leaving the selected incoming link and is a link other than the outgoing link in the straight direction is equal to or larger than a predetermined threshold; ,
Referring to the first map database, a search is made for a route to the destination, and for the approach link with the flag set, the route exits to the exit link in the straight direction with respect to the approach link. A route search unit;
A route search device comprising: The route search unit circulates the target link in the first area, and searches for a route exiting the exit link in the straight direction with respect to the entrance link for the entrance link with the flag set. ,
The route search device according to claim 1. A travel history database that accumulates travel histories that the vehicle has traveled;
Based on the travel history, a traveled link identifying unit that identifies a traveled link among the target links in the first map database;
Based on the travel history, among the identified traveled links, an entrance link that is set with the flag and that has not exited to the exit link in the straight direction with respect to the entrance link. The restart required link specifying part specified as the restart required link,
A clear link that identifies a traveled link excluding the identified restart required link among the identified traveled links as a clear link to be erased from the target link in the first map database. A specific part,
A map database update unit for updating the first map database by erasing the specified erase link from the target link in the first map database,
The route search unit searches for the route with reference to the updated first map database.
The route search device according to claim 2. A second map database for storing map data including information on a target link that satisfies a predetermined condition in the second area;
A ratio calculation unit that calculates a ratio of the consumption link to the target link in the first area;
The route search unit searches for the route by referring to the updated first map database and the second map database when the calculated ratio is equal to or greater than a predetermined threshold.
The route search device according to claim 3. The traveled link specifying unit specifies the target link that has completed the run from one end point of the target link to the other end point as the traveled link,
The route search device according to claim 3 or 4. A first storage step of storing map data including information on links and nodes including target links satisfying a predetermined condition in the first area in a first map database;
A target node selecting step, wherein the target node selecting unit selects, as a target node, a node at which a link having a road width of the link equal to or greater than a predetermined threshold from the first map database;
An entry link selection step, wherein the entry link selection unit selects a link entering the selected target node, the link including an exit link in a straight direction with respect to the link as an entry link;
The flag setting unit sets a flag for the selected entry link when the road width of the link other than the exit link in the straight direction is equal to or greater than a predetermined threshold, and is a link that can exit from the selected entry link. Flag setting step to
The route search unit refers to the first map database, and is a route to the destination, and the exit link with the flag set exits to the exit link in the straight direction with respect to the entrance link. A route search step for searching for a route to be performed;
A route search method comprising: In the route search step, the target link in the first area is circulated, and for the ingress link for which the flag is set, a route for exiting the exit link in the straight direction with respect to the ingress link is searched. ,
The route search method according to claim 6. An accumulation step for accumulating the travel history of the vehicle in the travel history database;
A traveled link identifying step, wherein the traveled link identifying unit identifies a traveled link among the target links in the first map database based on the travel history;
Based on the travel history, the re-run link identifying unit is an entry link in which the flag is set among the identified traveled links, and the exit link in the straight direction with respect to the entry link. Re-required link identification step for identifying an approach link that has not exited as a re-required link,
The disappearance link identification unit is an object to be erased from the target link in the first map database with the traveled link excluding the identified restart required link among the identified traveled links. An application link identification step to identify as a link,
A map database update unit for updating the first map database by erasing the identified erase link from the target link in the first map database; and
In the route search step, the route is searched with reference to the updated first map database.
The route search method according to claim 7. A second storing step of storing map data including information on a target link satisfying a predetermined condition in the second area in a second map database;
A ratio calculating unit that calculates a ratio of the consumption link to the target link in the first area;
In the route search step, when the calculated ratio is equal to or greater than a predetermined threshold, the route is searched with reference to the updated first map database and the second map database.
The route search method according to claim 8. In the traveled link specifying step, the target link that has completely run from one end point of the target link to the other end point is specified as the traveled link.
The route search method according to claim 8 or 9. A computer program for searching for a route, comprising:
First storage means for storing, in a first map database, map data including information on links and nodes including target links that satisfy a predetermined condition in the first area;
A target node selecting means for selecting, as a target node, a node intersecting a link having a road width of the link equal to or greater than a predetermined threshold from the first map database;
Incoming link selecting means for selecting, as an incoming link, a link that enters the selected target node and has a leaving link in a straight line direction with respect to the link;
Flag setting means for setting a flag for the selected entry link when a road width of a link that is capable of leaving the selected entry link and is a link other than the exit link in the straight traveling direction is equal to or greater than a predetermined threshold; ,
Referring to the first map database, a search is made for a route to the destination, and for the approach link with the flag set, the route exits to the exit link in the straight direction with respect to the approach link. Route search means,
As a computer program. The route search means circulates the target link in the first area, and searches for a route exiting the exit link in the straight direction with respect to the entrance link for the entrance link for which the flag is set. ,
The computer program according to claim 11. Said computer further
Accumulation means for accumulating in the travel history database the travel history of the vehicle traveling;
Based on the travel history, a traveled link identifying means for identifying a traveled link among the target links in the first map database;
Based on the travel history, among the identified traveled links, an entrance link that is set with the flag and that has not exited to the exit link in the straight direction with respect to the entrance link. Re-required link identification means to identify as a re-required link,
A clear link that identifies a traveled link excluding the identified restart required link among the identified traveled links as a clear link to be erased from the target link in the first map database. Specific means,
By functioning as a map database update means for updating the first map database by erasing the identified erase link from the target link in the first map database,
The route search means searches for the route with reference to the updated first map database;
The computer program according to claim 12. Said computer further
Second storage means for storing map data including information related to a target link satisfying a predetermined condition in the second area in a second map database;
A ratio calculating means for calculating a ratio of the consumption link to the target link in the first area;
The route search means searches for the route with reference to the updated first map database and the second map database when the calculated ratio is equal to or greater than a predetermined threshold.
The computer program according to claim 13. The traveled link specifying means specifies the target link that has completed the travel from one end point of the target link to the other end point as the traveled link,
The computer program according to claim 13 or 14.   The recording medium which records the computer program as described in any one of Claims 11-15.

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