JP6322523B2 - 経路探索システム、経路探索方法及びコンピュータプログラム - Google Patents

経路探索システム、経路探索方法及びコンピュータプログラム Download PDF

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JP6322523B2
JP6322523B2 JP2014178892A JP2014178892A JP6322523B2 JP 6322523 B2 JP6322523 B2 JP 6322523B2 JP 2014178892 A JP2014178892 A JP 2014178892A JP 2014178892 A JP2014178892 A JP 2014178892A JP 6322523 B2 JP6322523 B2 JP 6322523B2
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JP2016053494A5 (enExample
JP2016053494A (ja
Inventor
大介 谷▲崎▼
大介 谷▲崎▼
豊治 日与川
豊治 日与川
竜也 加藤
竜也 加藤
元裕 中村
元裕 中村
渡邉　和紀
和紀 渡邉
博之 田代
博之 田代
啓 廣尾
啓 廣尾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aisin AW Co Ltd
Toyota Motor Corp
Zenrin Co Ltd
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Aisin AW Co Ltd
Toyota Motor Corp
Zenrin Co Ltd
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Priority to JP2014178892A priority Critical patent/JP6322523B2/ja
Priority to CN201580047381.1A priority patent/CN106662459B/zh
Priority to EP15837646.7A priority patent/EP3190386B1/en
Priority to PCT/JP2015/074661 priority patent/WO2016035744A1/ja
Priority to US15/503,858 priority patent/US10145698B2/en
Publication of JP2016053494A publication Critical patent/JP2016053494A/ja
Publication of JP2016053494A5 publication Critical patent/JP2016053494A5/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
JP2014178892A 2014-09-03 2014-09-03 経路探索システム、経路探索方法及びコンピュータプログラム Active JP6322523B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2014178892A JP6322523B2 (ja) 2014-09-03 2014-09-03 経路探索システム、経路探索方法及びコンピュータプログラム
CN201580047381.1A CN106662459B (zh) 2014-09-03 2015-08-31 路径搜索系统、路径搜索方法以及计算机程序
EP15837646.7A EP3190386B1 (en) 2014-09-03 2015-08-31 Route searching system, route search method, and computer program
PCT/JP2015/074661 WO2016035744A1 (ja) 2014-09-03 2015-08-31 経路探索システム、経路探索方法及びコンピュータプログラム
US15/503,858 US10145698B2 (en) 2014-09-03 2015-08-31 Route search system, route search method, and computer program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014178892A JP6322523B2 (ja) 2014-09-03 2014-09-03 経路探索システム、経路探索方法及びコンピュータプログラム

Publications (3)

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JP2016053494A JP2016053494A (ja) 2016-04-14
JP2016053494A5 JP2016053494A5 (enExample) 2017-04-06
JP6322523B2 true JP6322523B2 (ja) 2018-05-09

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JP2014178892A Active JP6322523B2 (ja) 2014-09-03 2014-09-03 経路探索システム、経路探索方法及びコンピュータプログラム

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US (1) US10145698B2 (enExample)
EP (1) EP3190386B1 (enExample)
JP (1) JP6322523B2 (enExample)
CN (1) CN106662459B (enExample)
WO (1) WO2016035744A1 (enExample)

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US11313692B2 (en) * 2015-09-01 2022-04-26 Honda Motor Co., Ltd. Navigation server and navigation system
US10054454B2 (en) * 2016-05-06 2018-08-21 Ford Global Technologies, Llc Network based storage of vehicle and infrastructure data for optimizing vehicle routing
CN106781470B (zh) * 2016-12-12 2022-01-28 百度在线网络技术（北京）有限公司 城市道路的运行速度的处理方法及装置
US10395520B2 (en) * 2016-12-19 2019-08-27 Here Global B.V. Method and apparatus for constructing a traffic model
US10101170B2 (en) * 2017-01-09 2018-10-16 International Business Machines Corporation Predicting an impact of a moving phenomenon on a travelling vehicle
JP2019215775A (ja) * 2018-06-14 2019-12-19 本田技研工業株式会社 移動体支援システム及び移動体支援方法
JP7346890B2 (ja) * 2019-04-17 2023-09-20 トヨタ自動車株式会社 経路探索装置及びコンピュータプログラム
US11548531B2 (en) * 2019-05-28 2023-01-10 Motional Ad Llc Autonomous vehicle fleet management for reduced traffic congestion
CN112256741A (zh) * 2020-09-07 2021-01-22 长沙市到家悠享网络科技有限公司 一种供求匹配方法、装置、电子设备以及存储介质
US11584392B2 (en) 2020-11-04 2023-02-21 Waymo Llc Route optimization for autonomous driving systems
KR102467014B1 (ko) * 2020-11-24 2022-11-15 주식회사 오비고 돌발상황 발생 시 자율주행 자동차의 운행경로를 생성하는 방법 및 이를 이용한 장치

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KR20050084501A (ko) 2002-12-27 2005-08-26 마쯔시다덴기산교 가부시키가이샤 교통 정보 제공 시스템, 교통 정보 표현 방법 및 장치
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Also Published As

Publication number Publication date
EP3190386A1 (en) 2017-07-12
CN106662459B (zh) 2019-12-24
US20170350715A1 (en) 2017-12-07
JP2016053494A (ja) 2016-04-14
WO2016035744A1 (ja) 2016-03-10
CN106662459A (zh) 2017-05-10
US10145698B2 (en) 2018-12-04
EP3190386A4 (en) 2017-09-13
EP3190386B1 (en) 2019-02-06

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