JP6833269B2 - Navigation device - Google Patents

Description

The present invention relates to a navigation device that updates a part of old map data to new map data and performs various processes.

Conventionally, when the first area and the second area are adjacent to each other via a boundary, the link connected to the node on the boundary in the first area and the node on the boundary in the second area are connected. There is known a navigation device that determines whether or not a link can be connected and joins map data of these first and second areas based on the determination result (see, for example, Patent Document 1). .).

In addition, when updating the map data of a specific administrative division using the map data of each administrative division, the version of the map data of the adjacent administrative division was different for the shared mesh including the boundary where the administrative divisions were adjacent to each other. There is known a navigation device that holds old and new versions of map data in some cases and uses these duplicated map data properly as needed (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 2004-245791 Japanese Unexamined Patent Publication No. 2009-80079

By the way, in order to update a part of the map data to a new one in the navigation device disclosed in the above-mentioned Patent Document 1 and Patent Document 2, it is necessary to update the map data in a predetermined range as a unit. There is a problem that the degree of freedom is low, and even if the map data is partially updated, the update range becomes wide and the capacity of the map data to be updated becomes large. For example, in the navigation device of Patent Document 1, since it is determined whether or not connection is possible using the nodes existing at the boundary between adjacent areas, it is necessary to update the map data in units of areas. Moreover, the coordinates of the node to be determined may deviate in each of the old and new map data, and depending on how much this deviation amount is allowed, erroneous connection may occur via the nodes at different positions, or conversely. , It cannot be completely excluded that the connection is not possible by mistake. Further, when trying to update a part of the map data to a new one in the navigation device of Patent Document 2, it is necessary to perform it in units of a plurality of meshes including administrative divisions and their boundaries. Therefore, if the development of some areas that span multiple administrative divisions progresses and an attempt is made to update the map data of that area, all the map data of multiple administrative divisions that include even a part of this area will be updated. It is necessary, and the capacity of the map data to be updated becomes large.

The present invention has been created in view of these points, and an object of the present invention is to provide a navigation device having a high degree of freedom in updating map data and capable of reducing the capacity of map data to be updated. There is.

In order to solve the above-mentioned problems, the navigation device of the present invention includes a map data storage means for storing map data and a navigation processing means for performing predetermined processing based on the map data stored in the map data storage means. The map data stored in the map data storage means corresponds to the first map data and the first area which is a part of the area covered by the first map data. The second map data whose contents have been updated, and the second road data that identifies the road included in the second area, which is a predetermined range around the first area, and the second map data. Corresponds to the second road data, which is substantially the same as the first road data created at the same time and contained in the first map data, and these road data based on the first and second road data. It contains matching information indicating whether or not the roads to be matched match.

Map data because it is not necessary to set a specific node at the boundary of the first area to connect with the surroundings, and it is not necessary to make the first area a specific area with many restrictions such as administrative divisions. The degree of freedom of updating can be increased. Further, since it is sufficient to limit the area for which the content needs to be updated to be the first area, the map data covers only the second road data included in this first area and the second area around it. Since it is sufficient to update the map data, the capacity of the map data to be updated can be reduced.

In addition, matching information is based on the above-mentioned second map data and update data acquisition means for acquiring the second road data, the second road data, and the first road data included in the first map data. It is desirable to further provide a means for creating matching information. Specifically, it is desirable that the above-mentioned matching information creating means creates matching information by performing matching processing on each road for the first and second road data corresponding to the second region. As a result, when updating the second map data, matching information can be created based on the second map data and the second road data, so that the amount of map data required for the update can be increased. It can be further reduced.

Further, the navigation processing means has a own vehicle position detecting means for detecting the position of the own vehicle, and the detected position of the own vehicle is from the inside to the outside of the first region or from the outside of the first region. The first map matching process that matches the movement locus of the position of the own vehicle with the first road shape specified by using the first map data when moving inside, and the position of the own vehicle The second map matching process for matching the movement locus with the second road shape specified by using the second map data is performed, and the first and second map matching processes specified by these first and second map matching processes are performed. It is desirable to switch the map data used in the navigation processing means between the first map data and the second map data by associating the two road shapes based on the matching information. As a result, the new second map data and the old first map data can be switched as necessary while performing the map matching process for correcting the position of the own vehicle.

Further, the navigation processing means described above uses route search processing to search the travel route from the departure point to the destination when both the first area and the other areas are included in the range including the departure point and the destination. At the time of calculation, it is desirable to switch the map data used in the route search process between the first map data and the second map data within the second region based on the matching information. As a result, the new second map data and the old first map data can be switched as necessary while extending the search branch in the route search process.

It is a figure which shows the structure of the vehicle-mounted device of one Embodiment. It is explanatory drawing which shows the update range of map data. It is a flow chart which shows the operation procedure of the map data update process. It is a flow chart which shows the operation procedure when the route search process is performed in consideration of the updated map data. It is a flow chart which shows the operation procedure when the map matching process is performed in consideration of the updated map data.

Hereinafter, an in-vehicle device according to an embodiment to which the navigation device of the present invention is applied will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of an in-vehicle device of one embodiment. As shown in FIG. 1, the in-vehicle device 1 includes a navigation processing unit 10, an operation unit 20, an input control unit 22, a display processing unit 30, a display device 32, a digital-to-analog converter (D / A) 40, and a speaker 42. It includes a control unit 50, a hard disk device 70, and a USB (Universal Serial Bus) interface unit (USB I / F) 80.

The navigation processing unit 10 uses map data (details will be described later) stored in the hard disk device 70 to perform navigation processing for guiding the traveling of the vehicle on which the in-vehicle device 1 is mounted. For this purpose, the navigation processing unit 10 includes a vehicle position detection unit 11, a map matching processing unit (MM processing unit) 12, a map drawing unit 13, a route search processing unit 14, and a route guidance processing unit 15. The navigation processing unit 10 can be realized by executing a predetermined program stored in a ROM, RAM, or the like on the CPU, but a part of the navigation processing unit 10 may be realized by dedicated hardware.

The own vehicle position detection unit 11 detects the position of the own vehicle (own vehicle position) based on the outputs of the GPS device and the self-contained navigation sensor (both not shown). The map matching processing unit 12 performs map matching processing for correcting the own vehicle position by matching the movement locus of the own vehicle position detected by the own vehicle position detection unit 11 with the road shape around the own vehicle position.

The map drawing unit 13 draws a map image around the position of the own vehicle or around the position designated by the operation unit 20 based on the map data stored in the hard disk device 70. The route search processing unit 14 calculates the traveling route from the departure place (for example, the position of the own vehicle) to the destination by the route search processing. The route guidance processing unit 15 performs route guidance processing for guiding the travel of the own vehicle along the travel route (guidance route) calculated by the route search process.

The operation unit 20 is for receiving various operations by the user, and is provided with various switches, operation knobs, and the like. For example, the destination required for the route search process can be set by the user operating the operation unit 20. The input control unit 22 monitors the operation state of the operation unit 20 and detects the operation content by the user.

The display processing unit 30 outputs video signals for displaying various operation screens, input screens, etc., displays these screens on the display device 32, and displays a map image and route guidance (intersection) created by the navigation processing unit 10. Guidance) A video signal for displaying an image or the like is output and these images are displayed on the display device 32. The display device 32 is installed in front of the center of the driver's seat and the passenger seat, and is configured by using, for example, a liquid crystal display (LCD). The digital-to-analog converter 40 converts the voice data generated by the processing of the navigation processing unit 10 into an analog voice signal and outputs it from the speaker 42.

The control unit 50 is for controlling the entire in-vehicle device 1, and is realized by executing a predetermined program stored in a ROM, RAM, or the like on the CPU. Further, in FIG. 1, the navigation processing unit 10 is provided separately from the control unit 50, but a part or all of the functions of the navigation processing unit 10 may be realized by the control unit 50. The details of the control unit 50 will be described later.

The hard disk device 70 stores map data necessary for navigation processing by the navigation processing unit 10. This map data includes old map data 72, new map data 74, and match information 76.

The map data is in units of rectangular map leaves divided into appropriate sizes by longitude and latitude. The map data of each map leaf can be specified and read by specifying the map leaf number. The map leaf is provided corresponding to each of the wide area level corresponding to a large area, the detail level corresponding to a small area, and the mid-range level in between, and in the present embodiment, the map leaf at the mid-range level is provided. It is assumed that some of the contents of the included map data have been updated and that the map data included in the area-level and detail-level map leaves has not changed.

Further, the map data is represented by a coordinate set of points (nodes) expressed in latitude and longitude, and a road is composed of a connection of two or more nodes, and a portion connecting the two nodes is called a link. Map data includes road network layers for map matching and route search consisting of road lists, node tables, intersection configuration node lists, intersection net lists, etc., roads, parks, rivers, landmark buildings and facilities, etc. on the map screen. It is composed of a background layer for displaying various properties, administrative division names such as municipalities, road names, intersection names, characters such as building names, and character / symbol layers for displaying map symbols, etc. ..

FIG. 2 is an explanatory diagram showing an update range of map data. In FIG. 2, A to L show each leaf at the mid-range level. The map data (first map data) corresponding to each of these map leaves includes the above-mentioned road network layer, background layer, and character / symbol layer data. The old map data 72 stored in the hard disk device 70 corresponds to the map data of each of these map leaves.

Further, in FIG. 2, U1 indicates the range (first region) of the map data to be updated at the mid-range level. This range U1 is specified by a rectangle of an arbitrary size, but it may be specified by a shape other than the rectangle. For example, the shape along the administrative district boundary or the road may be partially included, or may be matched to the shape of the terrain. There may be no node at the intersection of the boundary of the range U1 and the road (link). The map data (second map data) corresponding to this range U1 includes the above-mentioned data of the road network layer, the background layer, and the character / symbol layer.

Further, in FIG. 2, U2 indicates an overlapping region (second region) set in a predetermined range around the range U1. The map data (second road data) of the overlapping range U2 is created at the same time as the map data to be updated in the range U1, and includes only the road network layer described above. Further, since the map data of the range U1 has not been updated with respect to the map data indicated by A to L, the map data of the overlapping range U2 is included in the map data indicated by A to L. It should be substantially the same as the road network layer (first road data) of the corresponding location. The new map data 74 stored in the hard disk device 70 corresponds to the map data of the range U1 and the overlapping range U2.

Further, in the present embodiment, the map data of the overlapping range U2 (road network layer) and the road network layer of the corresponding portion included in the map data indicated by A to L are specified by these map data. Match information 76 indicating whether or not the roads match is created and stored in the hard disk device 70. The procedure for creating the matching information 76 will be described later. The overlap range U2 described above has a size capable of this matching determination, and the size may be appropriately changed depending on the degree of roughness of the road to be the target of the matching determination.

The USB interface unit 80 is for inputting / outputting a signal to / from a mobile terminal device 90 or the like via a USB cable. The USB interface unit 80 includes a USB port and a USB host controller.

Next, the details of the control unit 50 will be described. As shown in FIG. 1, the control unit 50 has an update data acquisition unit 52 and a match information creation unit 54.

The update data acquisition unit 52 sends a predetermined transmission request from the mobile terminal device 90 to the map distribution server (not shown) by the user operating the operation unit 20, and sends the update data from the map distribution server in response to the transmission request. Receive and acquire the incoming update data. The acquired update data is stored in the hard disk device 70 as new map data 74.

The match information creation unit 54 creates match information 76 corresponding to the overlap range U2 shown in FIG. 2 based on the old map data 72 and the new map data 74. The created match information 76 is stored in the hard disk device 70.

The hard disk device 70 described above is used as the map data storage means, the navigation processing device 10 is used as the navigation processing means, the update data acquisition unit 52 is used as the update data acquisition means, and the match information creation unit 54 is used as the match information creation means. Each unit 11 corresponds to the own vehicle position detecting means.

The vehicle-mounted device 1 of the present embodiment has such a configuration, and the operation thereof will be described next.

FIG. 3 is a flow chart showing an operation procedure of the map data update process. When the map data to be updated is acquired by the update data acquisition unit 52 (step 100) and saved as new map data 74 in the hard disk device 70 (step 102), the match information creation unit 54 moves to the overlapping area U2 (FIG. For 2), road data for matching is created (step 104).

Specifically, the match information creation unit 54 organizes all the links included in the overlapping area U2 into a link row for each road so that all the links can be managed for each road. For example, for each continuous road, the corresponding link ID at the higher level (wide area level), the link sequence and node sequence included in this road, the road name of this road, etc. are stored in the hard disk device 70 as a group. Ru. This work is performed separately using each of the new map data 74 and the old map data 72. If the matching road data using the old map data 72 has already been created, this work may be omitted.

Next, the matching information creation unit 54 performs a road-by-road matching process using the matching road data created using the new map data 74 and the matching road data created using the old map data 72. (Step 106). For example, even if the coordinates of each node are deviated due to a difference in the creation time of map data, two roads including the nodes whose coordinates are deviated can be obtained by the matching process for each road. It is judged as the same. The match information creation unit 54 saves the result of the map matching process for each road as match information 76 in the hard disk device 70 (step 108). In this way, the update process when the map data to be updated is acquired is completed.

FIG. 4 is a flow chart showing an operation procedure when the route search process is performed in consideration of the updated map data.

When the starting point and the destination are set (step 200), the route search processing unit 14 confirms the search range (step 202). Specifically, the route search processing unit 14 confirms which of the following three conditions is met.
(Condition 1) The entire rectangular range including the starting point and the destination is completely included in the range of the new map data 74 (the range shown by U1 in FIG. 2 or the range shown by U1 and U2). ..
(Condition 2) A part of the rectangular range including the starting point and the destination is not included in the range of the new map data 74 at all.
(Condition 3) In other cases (a part of the rectangular range including the departure point and the destination is included in the range of the new map data 74, and the rest is included in the range of the old map data 72 excluding the range of the new map data 74. included).

When the condition 1 is satisfied, the route search processing unit 14 uses only the new map data 74 to search the route from the departure point to the destination where the cost is the lowest under the predetermined search conditions. Calculated by processing (step 204).

When the condition 2 is satisfied, the route search processing unit 14 uses only the old map data 72 to search for a route from the departure point to the destination where the cost is the lowest under the predetermined search conditions. Calculated by processing (step 206).

When the condition 3 is satisfied, the route search processing unit 14 uses both the new map data 74 and the old map data 72, and performs matagi processing on the overlapping area U2 (FIG. 2) while performing the matagi processing of the predetermined search condition. The travel route from the starting point to the destination, which is the lowest cost, is calculated by the route search process (step 208).

Here, the matagi processing is based on the matching information 76 when the search branch is expanded from the range U1 (FIG. 2) toward the overlapping range U2 in the overlapping range U2 by using the road network layer of the new map data 74. , It is a process to correspond to the road (link) corresponding to the road network layer of the old map data 72, and by performing this matagi process, the old map data 72 continues when the search branch is further expanded from the overlapping range U2 to the outside. The route search process can be continued using the road network layer of. The same applies to the case where the search branch is extended from the outside of the overlapping range U2 toward the range U1. In the overlapping range U2, the road network layer of the old map data 72 is used to extend the search branch from the outside of the overlapping range U2 toward the range U1. When expanding the search branch from the overlapping range U2 to the range U1 by associating it with the road (link) corresponding to the road network layer of the new map data 74 based on the match information 76. The route search process can be continued using the road network layer of the new map data 74.

FIG. 5 is a flow chart showing an operation procedure when the map matching process is performed in consideration of the updated map data.

When the own vehicle position is detected by the own vehicle position detection unit 11, the map matching processing unit 12 determines whether or not the detected own vehicle position is included in the overlapping range U2 (FIG. 2) (step 300). ). If it is not included, a negative determination is made, and the map matching processing unit 12 corrects the own vehicle position by performing map matching processing using the map data corresponding to the own vehicle position (step 302). For example, when the vehicle position is included in the range U1 (FIG. 2), the map matching processing unit 12 performs map matching processing using the new map data 74. When the vehicle position is outside the overlap range U2, the map matching processing unit 12 performs map matching processing using the old map data 72.

Further, when the own vehicle position is included in the overlapping range U2, an affirmative judgment is made in the determination in step 300. Next, the map matching processing unit 12 separately performs map matching processing using each of the new map data 74 and the old map data 72 (step 304).

Next, the map matching processing unit 12 determines whether or not both the map matching processing performed using each of the new map data 74 and the old map data 72 is successful (step 306). In the case immediately after entering the overlap range U2, only one map matching process succeeds. In such a case, a negative determination is made, and the process of returning to step 300 to determine whether or not the own vehicle position is included in the overlapping range U2 is repeated.

If both map matching processes are successful, a positive judgment is made in the determination in step 306. Next, the map matching processing unit 12 determines whether or not the position of the own vehicle has passed the overlapping range U2 (step 308). If not, a negative determination is made, and the process returns to step 304, and the operations after the map matching process using each of the new map data 74 and the old map data 72 are repeated.

Further, when the position of the own vehicle exceeds the overlapping range U2, an affirmative judgment is made in the determination in step 308. Next, the map matching processing unit 12 saves the result of the map matching processing performed within the overlap range U2 in the hard disk device 70 (step 310). Further, the map matching processing unit 12 determines whether or not it is necessary to switch between old and new map data (step 312). For example, when entering the overlapping range U2 from the range U1 and further entering the outside of the overlapping range U2 (the same applies when proceeding in the opposite direction), it is necessary to switch from the new map data 74 to the old map data 72. In such a case, an affirmative determination is made, and the map matching processing unit 12 switches the map data to be used (step 314). When switching the map data, the map matching process using the map data after the switching can be continued after that based on the result of the map matching process saved in step 310 and the match information 76.

As described above, in the in-vehicle device 1 of the present embodiment, it is not necessary to set a specific node at the boundary of the range U1 to make a connection with the surroundings, and the range U1 is a specific area with many restrictions such as an administrative division. Therefore, it is possible to increase the degree of freedom in updating the map data. Further, since it is sufficient to set the range U1 by limiting the area where the contents of the map data need to be updated, only the map data of this range U1 and the road data (road network layer) included in the overlapping range U2 around it are targeted. Since the map data may be updated in the above, the capacity of the map data to be updated can be reduced.

Further, when updating the map data, the in-vehicle device 1 can create the matching information 76 based on the map data of the range U1 and the road data included in the overlapping range U2 around the range U1, so that the matching information 76 can be created. It is not necessary to acquire the map data from the map distribution server, and the amount of map data required for updating can be further reduced.

Further, it is possible to switch between the new map data 74 and the old map data 72 as needed while performing the map matching process for correcting the position of the own vehicle. Further, it is possible to switch between the new map data 74 and the old map data 72 as needed while extending the search branch in the route search process.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, in the above-described embodiment, the map data to be updated is acquired from the map distribution server, but it may be acquired by reading the map data stored in the semiconductor memory, CD-R, or the like.

Further, in the above-described embodiment, the present invention is applied to the navigation device as the in-vehicle device 1, but the present invention can be applied to the navigation device other than the in-vehicle device.

Further, in the above-described embodiment, the map data is stored in the hard disk device 70, but other storage media may be used. For example, it is conceivable to replace the old map data 72 with a semiconductor memory, store the old map data 72 on a CD or DVD, and store the new map data 74 and the match information 76, which are additionally acquired or created, in the semiconductor memory.

As described above, according to the present invention, it is not necessary to set a specific node at the boundary of the first area to connect with the surroundings, and the first area is specified with many restrictions such as administrative divisions. Since it is not necessary to set it as the area of, the degree of freedom of updating the map data can be increased. Further, since it is sufficient to limit the area for which the content needs to be updated to be the first area, the map data covers only the second road data included in this first area and the second area around it. Since it is sufficient to update the map data, the capacity of the map data to be updated can be reduced.

1 In-vehicle device 10 Navigation processing unit 11 Vehicle position detection unit 12 Map matching processing unit (MM processing unit)
13 Map drawing unit 14 Route search processing unit 20 Operation unit 32 Display device 50 Control unit 52 Update data acquisition unit 54 Match information creation unit 70 Hard disk device 72 Old map data 74 New map data 76 Match information

Claims (5)

A navigation device including a map data storage means for storing map data and a navigation processing means for performing predetermined processing based on the map data stored in the map data storage means.
The contents of the map data stored in the map data storage means are updated corresponding to the first map data and the first area which is a part of the area covered by the first map data. The second map data and the second road data that identifies the road included in the second region, which is a predetermined range around the first region, at the same time as the second map data. The second road data that is created and substantially the same as the first road data included in the first map data, and corresponds to these road data based on the first and second road data. A navigation device characterized in that it contains matching information indicating whether or not the roads match. An update data acquisition means for acquiring the second map data and the second road data, and
A matching information creating means for creating the matching information based on the second road data and the first road data included in the first map data.
The navigation device according to claim 1, further comprising. The matching information creating means, by performing a matching process with the road units for the first and second road data corresponding to the second region, to claim 2, characterized in that to create the matching information The navigation device described. The navigation processing means has a own vehicle position detecting means for detecting the position of the own vehicle, and the detected position of the own vehicle is from the inside to the outside of the first region or outside the first region. The first map matching process of matching the movement locus of the position of the own vehicle with the first road shape specified by using the first map data when moving inward from the above, and the self. A second map matching process is performed to match the movement locus of the vehicle position with the second road shape specified by using the second map data, and the first and second map matching processes identify the vehicle. By associating the first and second road shapes based on the matching information, the map data used in the navigation processing means can be switched between the first map data and the second map data. The navigation device according to any one of claims 1 to 3. When the range including the starting point and the destination includes both the first area and the other areas, the navigation processing means searches for a travel route from the starting point to the destination by route search processing. At the time of calculation, the map data used in the route search process is switched between the first map data and the second map data within the second region based on the matching information. The navigation device according to any one of claims 1 to 4.

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