JP6932878B2 - Pathfinding device and computer program - Google Patents

Description

The present invention relates to a path search device and a computer program that search for a recommended route using a cost value.

In recent years, vehicles are often equipped with a navigation device that guides the driving of the vehicle so that the driver can easily reach a desired destination. Here, the navigation device detects the current position of the own vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD, or a network, and displays it on a liquid crystal monitor. It is a device that can be used. Further, the navigation device is equipped with a route search function for searching for the optimum route from the vehicle position to the destination when a desired destination is input, and the searched optimum route is set as a guide route and displayed. In addition to displaying the guidance route on the screen, the user is surely guided to the desired destination by providing voice guidance when approaching an intersection or the like. Further, in recent years, some mobile phones, smartphones, tablet terminals, personal computers and the like have the same functions as the above navigation devices.

On the other hand, around the road on which the vehicle travels, there are many signboards that guide the direction and distance of nearby points (for example, facilities such as stores). Such a signboard is important information when the driver travels to the destination. Therefore, for example, Japanese Patent Application Laid-Open No. 2007-240198 discloses that when there is a signboard that guides the direction or distance to the destination around the current position of the vehicle, the image of the signboard is displayed on the display. ..

Japanese Unexamined Patent Publication No. 2007-240198 (pages 9-10, FIG. 5)

Here, when the driver acquires the information on the signboard regarding the destination, it is conceivable to drive according to the guidance of the signboard. However, the route guided by the signboard and the route guided by the navigation device or the like do not always match. As a result, the driver cannot determine whether to travel on the route guided by the signboard or the route guided by the navigation device or the like, which may cause confusion.

The present invention has been made to solve the above-mentioned conventional problems, and the signboard is used because the cost value is corrected based on the information of the signboard that guides the direction of the destination and the route to the destination is searched. It is an object of the present invention to provide a route search device and a computer program capable of searching a route to a destination as much as possible according to the contents to be guided.

In order to achieve the above object, the route search device according to the present invention is installed around a road and has signboard information including information indicating the direction of the destination, including the direction and the position where the signboard is installed. With reference to the signboard information acquisition means for acquiring the signboard and the installation position of the signboard for which the signboard information has been acquired by the signboard information acquisition means, the link corresponding to the guiding direction of the signboard is easily included in the route. possess a cost correcting means for correcting the cost values, and a route searching means for searching for a route to a destination using the corrected cost value by the cost correcting means, said cost correction means, the guide of the signboard If the direction is straight ahead, the cost value is corrected so that the link is easily included in the route for the link within a predetermined distance along the road facing the signboard based on the installation position of the signboard. However, when the guide direction of the signboard is to the right, the link is included in the route for the link within a predetermined distance when the signboard is turned right from the road facing the signboard with the installation position of the signboard as a reference. The cost value is corrected so that it becomes easier, and if the guide direction of the signboard is to the left, the link within a predetermined distance turned left from the road facing the signboard with reference to the installation position of the signboard is targeted. The cost value is corrected so that the link is easily included in the route .

Further, the computer program according to the present invention is a computer program that searches for a recommended route using the cost value of the links constituting the road network. Specifically, for a signboard on which a computer is installed around a road and information for guiding the direction of a destination is drawn, a signboard information acquisition means for acquiring signboard information including the direction and the position where the signboard is installed. And, based on the installation position of the signboard from which the signboard information has been acquired by the signboard information acquisition means, the cost value is corrected so that the link corresponding to the guiding direction of the signboard is easily included in the route. It functions as a means and a route search means for searching a route to a destination using the cost value corrected by the cost correction means. Further, when the guide direction of the signboard is a straight direction, the cost correction means targets a link within a predetermined distance along the road facing the signboard with reference to the installation position of the signboard. The cost value is corrected so that it is easily included in the route, and if the guide direction of the signboard is to the right, within a predetermined distance of turning right from the road facing the signboard with reference to the installation position of the signboard. The cost value is corrected so that the link is easily included in the route, and when the guide direction of the signboard is the left direction, the signboard faces the signboard based on the installation position of the signboard. The cost value is corrected so that the link within a predetermined distance that turns left from the roadside is easily included in the route.

According to the route search device and the computer program according to the present invention having the above configuration, the cost value is corrected based on the information of the signboard that guides the direction of the destination, and the route to the destination is searched, so that the signboard guides. It is possible to search for a route to the destination as much as possible according to the contents to be done. Therefore, even if the user discovers a signboard that guides the location of the destination while moving to the destination, it is possible to approximate the route guided by the signboard and the route searched by the route search device as much as possible. This prevents the user from being confused about the route to go.

It is a schematic block diagram which showed the route search system which concerns on this embodiment. It is a block diagram which showed the structure of the path search system which concerns on this embodiment. It is a figure which showed the data structure of the signboard DB. It is a block diagram which shows typically the control system of the navigation device which concerns on this embodiment. It is a flowchart of the probe information collection processing program which concerns on this embodiment. It is a flowchart of the signboard DB creation processing program which concerns on this embodiment. This is an example showing the direction guided by the arrow mark on the signboard. It is a flowchart of the point correspondence processing program which concerns on this embodiment. It is a flowchart of the route search processing program which concerns on this embodiment. It is explanatory drawing which shows the selection method of the signboard which is the object of cost correction. It is a figure which showed the range of the link which is the target of the cost correction when the cost correction is performed based on the signboard which guides the left turn direction without guiding the distance. It is a figure which showed the range of the link which is the target of the cost correction when the cost correction is performed based on the signboard which guides a straight direction without guiding a distance. It is a figure which showed the range of the link which is the target of the cost correction when cost correction is performed based on the signboard which guides a distance and guides a left turn direction. It is a figure which showed the range of the link which is the target of the cost correction when the cost correction is performed based on the signboard which guides a distance and guides a straight direction.

Hereinafter, the route search device according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a server device. First, the schematic configuration of the route search system 2 including the server device 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic configuration diagram showing a route search system 2 according to the present embodiment. FIG. 2 is a block diagram showing the configuration of the route search system 2 according to the present embodiment.

As shown in FIG. 1, the path search system 2 according to the present embodiment basically includes a server device (path search device) 1 included in the probe center 3 and a navigation device 5 which is a communication terminal mounted on the vehicle 4. Have a target. Further, the server device 1 and the navigation device 5 are configured to be able to send and receive electronic data to and from each other via the communication network 6. Instead of the navigation device 5, for example, a mobile phone, a smartphone, a tablet terminal, or a personal computer may be used.

Here, the server device 1 provided in the probe center 3 collects and accumulates probe information (material information) including the current time and traveling information from each vehicle traveling nationwide, and also relates to a road from the accumulated probe information. Information that generates various support information (for example, road closure information, accident information, traffic jam information, travel time, etc.), distributes the generated support information to the navigation device 5, and performs various processes using the support information. It is a distribution server. In particular, in the present embodiment, the server device 1 collects information on the signboard installed around the road detected by the vehicle 4 and the traveling history of the vehicle 4 from each vehicle 4, and the signboard and the signboard based on each collected information. Create a database that links the points guided by. The "signboard" that is the target of the above database is installed around the road, and at least information (for example, arrows, letters, numbers, etc.) that guides the location of the guidance target point (for example, a facility such as a store) is drawn. The structure shall be.

Further, the server device 1 is provided with the latest version of the map information, and also performs a route search using the above-mentioned "signboard database" in response to the request of the navigation device 5. Specifically, when a destination is set in the navigation device 5, information necessary for route search such as a departure point and a destination is transmitted from the navigation device 5 to the server device 1 together with a route search request. Then, the server device 1 that has received the route search request performs a route search using the "signboard database" created based on the map information and the probe information possessed by the server device 1, and the recommended route from the departure point to the destination. Identify (center route). After that, the route information regarding the specified recommended route is transmitted to the requesting navigation device 5. Then, the navigation device 5 sets the guidance route using the route information received from the server device 1.

However, the route search process does not necessarily have to be performed by the server device 1, and may be performed by the navigation device 5. In that case, the information about the "signboard database" created based on the probe information is distributed from the server device 1 to the navigation device 5, and the navigation device 5 distributes the distributed information, the map information of the navigation device 5, and the like. The route is searched based on.

On the other hand, the navigation device 5 is mounted on the vehicle 4 and displays a map around the position of the own vehicle based on the stored map data, displays the current position of the vehicle on the map image, and sets a guide route. It is an in-vehicle device that provides movement guidance along the route. In addition, the navigation device 5 also guides the user to traffic information such as the degree of traffic congestion received from an external server device or the like. The details of the navigation device 5 will be described later.

In addition, the communication network 6 includes a large number of base stations located all over the country and a communication company that manages and controls each base station, and the base stations and communication companies are connected to each other by wire (optical fiber, ISDN, etc.) or wirelessly. It is configured by connecting. Here, the base station has a transceiver (transmitter / receiver) and an antenna for communicating with the navigation device 5. Then, while the base station performs wireless communication between the communication companies, it becomes the terminal of the communication network 6 and relays the communication of the navigation device 5 within the range (cell) of the radio wave of the base station to the server device 1. Has a role to play.

Subsequently, the configuration of the server device 1 in the route search system 2 will be described in more detail with reference to FIG. As shown in FIG. 2, the server device 1 includes a server control ECU 11, a probe information DB 12 as an information recording means connected to the server control ECU 11, a signboard DB 13, a server-side map DB 14, and a server-side communication device 15. Be prepared.

The server control ECU 11 (electronic control unit) is an electronic control unit that controls the entire server device 1, and is used as a computing device, a CPU 21 as a control device, and a working memory when the CPU 21 performs various arithmetic processes. In addition to the RAM 22 and the control program, which will be described later, a probe information collection processing program (FIG. 5), a signboard DB creation processing program (FIG. 6), a point correspondence processing program (FIG. 8), and a route search processing program (see FIG. 9). ) Etc. are recorded, and an internal storage device such as a flash memory 24 for storing a program read from the ROM 23 is provided. The server control ECU 11 has various means as a processing algorithm together with the ECU of the navigation device 5 described later. For example, the signboard information acquisition means acquires signboard information including the direction and the position where the signboard is installed for a signboard installed around the road and on which information for guiding the direction of the destination is drawn. The cost correction means corrects the cost value based on the installation position of the signboard from which the signboard information has been acquired so that the link corresponding to the guide direction of the signboard is easily included in the route. The route search means searches for a route to the destination using the cost value corrected by the cost correction means.

Further, the probe information DB 12 is a storage means for cumulatively storing probe information collected from each vehicle 4 traveling nationwide. In the present embodiment, for example, as probe information collected from the vehicle 4, (a) an image of a signboard imaged by a front camera 39 mounted on the vehicle, (b) a position of the imaged signboard, and (c). The travel history of the vehicle (the link where it traveled and the position where it stopped) is included.

Then, the server device 1 generates support information for each road nationwide by statisticizing the probe information stored in the probe information DB 12. In particular, in the present embodiment, the server device 1 collects an image of a signboard installed around the road imaged by the vehicle 4 as probe information and a traveling history of the vehicle 4 from each vehicle 4, and draws the collected information on the signboard. The signboard DB 13 is created by recognizing the information obtained and further associating the signboard with the point guided by the signboard. Then, the server device 1 specifies the cost value of the link used for the route search based on the created signboard DB 13.

Therefore, the signboard DB 13 is a database created based on the probe information stored in the probe information DB 12. In particular, in the present embodiment, a database is used to record and manage information on signboards installed around roads to guide the location of points (for example, facilities such as stores). For example, FIG. 3 is a diagram showing an example of data stored in the signboard DB 13.

As shown in FIG. 3, the signboard DB 13 contains the installation position of the signboard, the point to be guided by the signboard (hereinafter referred to as the guidance target point), the guidance direction, and the recognition result of the characters drawn on the signboard. Each is linked and memorized. As the information for identifying the guidance target point, since there may be a plurality of facilities with the same name, it is desirable to associate the position coordinates or the identification ID in addition to the name. Further, the "guidance direction" corresponds to the direction indicated by the information (specifically, the arrow mark or the character) indicating the direction drawn on the signboard. For example, if a straight upward arrow is drawn, it is "straight ahead", if an arrow indicating the right direction or an arrow that bends to the right is drawn, it is "right", and if an arrow indicating the left direction or an arrow that bends to the left is drawn, it is drawn. Then it becomes "left". If the signboard does not have information indicating the direction, the "guidance direction" cannot be linked. Similarly, if no characters are drawn on the signboard, the "character recognition result" cannot be linked. Further, the signboard DB 13 may also store an image showing the appearance of the signboard in association with it.

Then, the server device 1 uses the information about the signboard stored in the signboard DB 13 to specify the cost value indicating the suitability as the link route, and searches for the recommended route. Details will be described later.

On the other hand, the server-side map DB 14 is a storage means for storing the server-side map information 25, which is the latest version of the map information registered based on the input data and the input operation from the outside. Here, the server-side map information 25 has basically the same configuration as the map information stored in the navigation device 5, and various types necessary for route search, route guidance, and map display including the road network. It consists of information. For example, to display network data 26 including nodes and links indicating a road network, link data 27 related to roads (links), node data related to node points, intersection data related to each intersection, point data 28 related to points such as facilities, and a map. It consists of map display data, search data for searching routes, search data for searching points, and so on.

On the other hand, the server-side communication device 15 is a communication device for communicating with each vehicle 4 or navigation device 5 for which probe information is collected via the communication network 6. In addition to the navigation device 5, traffic consisting of traffic information such as traffic congestion information, regulation information, and traffic accident information transmitted from an Internet network, a traffic information center, for example, a VICS (registered trademark: Vehicle Information and Communication System) center, etc. It is also possible to receive information.

Next, FIG. 4 for explaining the schematic configuration of the navigation device 5 with reference to FIG. 4 is a block diagram schematically showing a control system of the navigation device 5 according to the present embodiment.

As shown in FIG. 4, the navigation device 5 according to the present embodiment includes a current position detection unit 31 that detects the current position of the vehicle 4 on which the navigation device 5 is mounted, and a data recording unit 32 that records various data. , A navigation ECU 33 that performs various arithmetic processes based on the input information, an operation unit 34 that accepts operations from the user, and a liquid crystal display 35 that displays a map and a guide route to the destination to the user. It has a speaker 36 that outputs voice guidance regarding route guidance, a DVD drive 37 that reads a DVD as a storage medium, and a communication module 38 that communicates with a server device 1, a VICS center, or the like. Further, the navigation device 5 is connected to the front camera 39 via an in-vehicle network such as CAN.

Hereinafter, each component constituting the navigation device 5 will be described in order.
The current position detection unit 31 includes a GPS 41, a vehicle speed sensor 42, a steering sensor 43, a gyro sensor 44, and the like, and can detect the current position and direction of the vehicle, the traveling speed of the vehicle, the current time, and the like. .. Here, in particular, the vehicle speed sensor 42 is a sensor for detecting the moving distance and the vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs the pulse signal to the navigation ECU 33. Then, the navigation ECU 33 calculates the rotation speed and the moving distance of the drive wheels by counting the generated pulses. It is not necessary for the navigation device 5 to include all of the above four types of sensors, and the navigation device 5 may include only one or a plurality of of these sensors.

Further, the data recording unit 32 reads a hard disk (not shown) as an external storage device and a recording medium, a terminal side map DB 45, a distribution information DB 46, a predetermined program, etc. recorded on the hard disk, and also reads predetermined data on the hard disk. It is equipped with a recording head (not shown) that is a driver for writing data. The data recording unit 32 may be configured by a non-volatile memory, a memory card, or an optical disk such as a CD or DVD instead of the hard disk.

Here, the terminal-side map DB 45 is a storage means for storing map information used for route search and travel guidance in the navigation device 5. The terminal side map DB 45 is not always necessary when the map information is acquired from an external server.

Further, the distribution information DB 46 is a storage means for storing distribution information (support information related to traveling) distributed from the server device 1.

On the other hand, the navigation ECU (electronic control unit) 33 is an electronic control unit that controls the entire navigation device 5, and is a computing device, a CPU 51 as a control device, and a working memory when the CPU 51 performs various arithmetic processes. Internal storage devices such as a RAM 52 that stores route data and the like when a route is searched, a ROM 53 that records a control program and the like, and a flash memory 54 that stores a program read from the ROM 53. I have.

The operation unit 34 is operated when inputting a starting point as a traveling start point and a destination as a traveling end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 33 controls to execute various corresponding operations based on the switch signals output by pressing each switch or the like. The operation unit 34 may have a touch panel provided on the front surface of the liquid crystal display 35. It may also have a microphone and a voice recognition device.

Further, on the liquid crystal display 35, a map image including a road, traffic information, operation guidance, operation menu, key guidance, a guidance route from a departure point to a destination, guidance information along the guidance route, news, weather forecast, etc. The time, mail, TV program, etc. are displayed. A HUD or HMD may be used instead of the liquid crystal display 35.

Further, the speaker 36 outputs voice guidance for guiding the traveling along the guidance route and traffic information guidance based on the instruction from the navigation ECU 33.

The DVD drive 37 is a drive capable of reading data recorded on a recording medium such as a DVD or a CD. Then, based on the read data, music or video is reproduced, the terminal side map DB 45 is updated, and the like. A card slot for reading and writing a memory card may be provided instead of the DVD drive 37.

The communication module 38 is, for example, a communication device for receiving each information such as map update information, support information, and traffic information transmitted from the server device 1, the VICS center, the map distribution center, and the like, and is, for example, a mobile phone. And DCM.

Further, the front camera 39 is an image pickup device that is installed above the front bumper of the vehicle, behind the rearview mirror, or the like, and uses a solid-state image pickup element such as a CCD. Further, the optical axis direction is installed toward the front in the traveling direction of the vehicle. In particular, in the present embodiment, the image of the signboard captured by the front camera 39 is transmitted to the server device 1 as a part of the probe information.

Subsequently, a probe information collection processing program executed by the server device 1 and the navigation device 5 constituting the route search system 2 according to the present embodiment having the above configuration will be described with reference to FIG. FIG. 5 is a flowchart of the probe information collection processing program according to the present embodiment. Here, the probe information collection processing program is a program that is executed after the ACC power supply (accessory power supply) of the vehicle 4 is turned on, and transmits information about the signboard detected by the vehicle 4 to the server device 1 as probe information. The program shown in the flowchart in FIG. 5 below is stored in the RAM 52 or ROM 53 included in the navigation ECU 33 or the RAM 22 or ROM 23 included in the server device 1, and is executed by the CPU 51 or the CPU 21.

First, a probe information collection processing program executed by the navigation device 5 will be described.
In step 1 (hereinafter abbreviated as S) 1, the CPU 51 acquires the vehicle information of the vehicle 4. Specifically, the current position and the current direction of the vehicle 4 are acquired based on the detection result of the current position detection unit 31. The map matching process for specifying the current position of the vehicle 4 on the map data is also performed. Furthermore, it is desirable that the current position of the vehicle 4 be specified in detail using high-precision location technology. Here, the high-precision location technology detects white lines and road surface paint information captured from a camera behind the vehicle by image recognition, and further collates the white lines and road surface paint information with a map information DB stored in advance to drive the vehicle. It is a technology that enables detection of lanes and highly accurate vehicle positions. Since the details of the high-precision location technology are already known, they will be omitted.

Next, in S2, the CPU 51 acquires the captured image captured by the front camera 39. The front camera 39 continuously captures the environment in front of the vehicle in the traveling direction while the vehicle is traveling.

Subsequently, in S3, the CPU 51 determines whether or not the signboard is included in the captured image acquired in S2. Whether or not a signboard is included in the captured image is determined, for example, by performing image recognition processing using feature points or templates. Since these image recognition processes are already known, the description thereof will be omitted. In addition, when the image of the signboard is included in the captured image, the position coordinates where the signboard is installed are also calculated. For example, it is calculated based on the vehicle information acquired in S1 and the position of the signboard included in the captured image. However, the position of the vehicle 4 when the signboard is imaged may be regarded as the position of the signboard.

Then, when it is determined that the captured image acquired in S2 includes a signboard (S3: YES), the process proceeds to S4. On the other hand, when it is determined that the captured image acquired in S2 does not include a signboard (S3: NO), the probe information collection processing program is terminated.

In S4, the CPU 51 transmits the following information as probe information to the server device 1. Specifically, it is (a) an image captured including the signboard acquired in S2, (b) the position of the imaged signboard, and (c) the traveling history of the vehicle (the link traveled or the position where the vehicle stopped). As the captured image, only the image of the signboard portion may be trimmed and transmitted. After that, the probe information collection processing program is terminated.

Next, the probe information collection processing program executed in the server device 1 will be described.
First, in S11, the CPU 21 determines whether or not probe information is transmitted from each vehicle 4 traveling nationwide.

Then, when it is determined that the probe information is transmitted (S11: YES), the transmitted probe information is received (S12). Then, the CPU 21 cumulatively stores the received probe information in the probe information DB 12 (S13).

On the other hand, when it is determined that the probe information is not transmitted (S11: NO), the probe information collection processing program is terminated.

Subsequently, a signboard DB creation processing program executed by the CPU 21 in the server device 1 constituting the route search system 2 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart of the signboard DB creation processing program according to the present embodiment. Here, the signboard DB creation processing program is a program that is executed at predetermined time intervals (for example, 24 hour intervals) and creates a DB of information about the signboard by statisticizing probe information collected from each vehicle 4. The programs shown in the flowcharts of FIGS. 6, 8 and 9 below are stored in the RAM 22 and ROM 23 included in the server device 1 and executed by the CPU 21.

Here, in the signboard DB creation processing program, in S21, the CPU 21 refers to the probe information DB 12 and determines whether or not the captured image including the signboard is newly stored from the time of the previous processing. In the probe information collection processing program (FIG. 5) described above, the captured image including the signboard is transmitted as probe information at any time from each vehicle traveling nationwide and stored in the probe information DB 12.

Then, when it is determined that the captured image including the signboard is newly stored (S21: YES), the process proceeds to S22. On the other hand, when it is determined that the captured image including the signboard is not newly stored (S21: NO), the signboard DB creation processing program is terminated. The following processing after S23 is performed on the captured image newly determined to be stored in the probe information DB 12. When a plurality of captured images are targeted, it is performed for each image.

In S22, the CPU 21 performs image recognition processing on the captured image to be processed, and extracts only the signboard portion from the captured image. For example, an image of a signboard portion is determined and extracted by performing image recognition processing using feature points and templates.

Next, in S23, the CPU 21 particularly performs an arrow mark recognition process as information indicating the direction drawn with respect to the image of the signboard extracted in S22. For example, it is recognized by performing image recognition processing using feature points. As the arrow drawn on the signboard, for example, as shown in FIG. 7, there are a straight upward arrow, an arrow indicating the right direction, an arrow that bends to the right, an arrow that indicates the left direction, an arrow that bends to the left, and the like.

Subsequently, in S24, the CPU 21 performs recognition processing (OCR) of characters (including symbols and numbers) drawn on the image of the signboard extracted in S22. Since the character recognition process for the image is already known, the description thereof will be omitted.

After that, in S25, the CPU 21 determines whether or not the signboard included in the captured image to be processed is a signboard that guides the location of a point (for example, a facility such as a store) based on the recognition results of S22 to S24. do. For example, when at least one of the character indicating the distance, the character indicating the direction, and the arrow mark is drawn, it is determined that the signboard indicates the location of the point.

Then, when it is determined that the signboard included in the captured image to be processed is a signboard that guides the location of the point (S25: YES), the process proceeds to S26. On the other hand, when it is determined that the signboard included in the captured image to be processed is not a signboard that guides the location of the point (S25: NO), the information about the signboard is not stored in the signboard DB13 and the signboard is concerned. Terminate the DB creation processing program.

Subsequently, in S26, the CPU 21 provides information that guides the direction of the guide target point (hereinafter referred to as the guide target point) by the signboard included in the captured image to be processed based on the recognition results of S22 to S24. Determine if it is a drawn sign. In addition to the arrow marks, the information that guides the direction of the guidance target point also includes characters indicating the direction such as "turn right, turn left, go straight".

Then, when it is determined that the signboard included in the captured image to be processed is a signboard on which information for guiding the direction of the guidance target point is drawn (S26: YES), the process proceeds to S27. In S27, based on the recognition results of S22 to S24, the CPU 21 determines the guidance target point, which is the point to be guided by the signboard, the installation position of the signboard, the guidance direction, and the recognition result of the characters drawn on the signboard. Is linked and stored in the signboard DB 13 (FIG. 3). The installation position of the signboard is transmitted together with the image from the vehicle 4 in which the image of the signboard is captured as probe information. Further, the guidance target points are finally linked in the point correspondence processing program (FIG. 8) described later, and in S27 and S28 described later, the name of the guidance target point is given from the signboard based on the character recognition result. If it is detected, the name of the guidance target point is tentatively linked.

Further, the "guidance direction" corresponds to the direction indicated by the information (specifically, the arrow mark or the character) indicating the direction drawn on the signboard. For example, if a straight upward arrow is drawn as shown in FIG. 7, or if the characters "straight ahead" and "road" are drawn, it means "straight ahead". Also, if an arrow indicating the right direction or an arrow that bends to the right is drawn, or if the characters "turn right" or "to the right" are drawn, it will be "right". Also, if an arrow indicating the left direction or an arrow that bends to the left is drawn, or if the characters "turn left" or "turn left" are drawn, it will be "left".

On the other hand, when it is determined that the signboard included in the captured image to be processed is a signboard on which the information for guiding the direction of the guidance target point is not drawn (S26: NO), the process proceeds to S28. In S28, the CPU 21 stores only the guide target point to be guided by the signboard and the installation position of the signboard in the signboard DB 13 (FIG. 3) based on the recognition results of S22 to S24. If the characters drawn on the signboard can be recognized, the character recognition result may also be linked.

Subsequently, a point correspondence processing program executed by the CPU 21 in the server device 1 constituting the route search system 2 according to the present embodiment will be described with reference to FIG. FIG. 8 is a flowchart of the point correspondence processing program according to the present embodiment. Here, the point correspondence processing program is executed at predetermined time intervals (for example, 24 hour intervals), and information on the signboard stored in the signboard DB based on the travel history collected from each vehicle 4 and the guide target point guided by the signboard. It is a program that links.

Here, in the point correspondence processing program, in S31, the CPU 21 refers to the probe information DB 12 and extracts the travel history of the vehicle for which travel guidance has been performed using the signboard information stored in the signboard DB 13. The traveling history of the vehicle is transmitted as probe information from each vehicle traveling nationwide at any time in the above-mentioned probe information collection processing program (FIG. 5) and stored in the probe information DB 12. In addition, the travel history is associated with a flag indicating whether or not the travel guidance using the signboard information has been performed in advance, and when the travel guidance is further provided, information for specifying the type of the signboard information used for the guidance. Is also included.

As the traveling guidance using the signboard information, for example, the signboard information (direction of the guidance target point, distance to the guidance target point, etc.) is displayed on the liquid crystal display 35, or the destination is set using the signboard information. Or, when a route search is performed using signboard information, etc.

Next, in S32, the CPU 21 finally acquires the position coordinates at which the vehicle has stopped in the travel history extracted in S31.

Subsequently, in S33, the CPU 21 determines whether or not there is a POI on the map at the position where the vehicle finally stopped, based on the position coordinates where the vehicle finally stopped and the map information. The POI particularly targets points (facilities such as stores) that can be guided by signboards.

Then, when it is determined that the POI of the map is at the position where the vehicle finally stopped (S33: YES), the process proceeds to S34. On the other hand, when it is determined that there is no POI on the map at the position where the vehicle finally stopped (S33: NO), the point correspondence processing program is terminated without associating the guidance target points.

In S34, the CPU 21 links the POI of the map determined to be at the position where the vehicle is finally stopped as the guidance target point of the signboard used for the traveling guidance, and stores it in the signboard DB 13 (see FIG. 3). As the information for specifying the guidance target point stored in the signboard DB 13, since there are cases where a plurality of facilities have the same name, it is desirable to associate the position coordinates or the identification ID in addition to the name. When the result of character recognition drawn on the signboard is stored as the signboard information, the name of the POI of the map determined to be at the position where the vehicle finally stopped is actually drawn on the signboard. It is also desirable to confirm whether or not it is. As a result, it is possible to prevent the wrong guidance target point from being linked.

By linking the guidance target points according to S31 to S34, it is possible to accurately link the guidance target points targeted by the signboard even when there are a plurality of facilities with the same name nearby.

Next, a route search processing program executed by the CPU 21 in the server device 1 constituting the route search system 2 according to the present embodiment will be described with reference to FIG. FIG. 9 is a flowchart of the route search processing program according to the present embodiment. Here, the route search processing program performs a predetermined operation for performing a route search (at the time of initial search), a predetermined time interval after setting the guide route (at the time of re-search), and further to the destination. This is a program that is executed when the user approaches within a predetermined distance and searches for a recommended route to the destination using the signboard information stored in the signboard DB 13.

First, in S41, the CPU 21 receives the route search request transmitted from the navigation device 5. The route search request includes a terminal ID that identifies the navigation device 5 that is the source of the route search request, and information that identifies the departure point (for example, the current position of the vehicle) and the destination, which are the search conditions for the route search. , The current position of the source navigation device 5 (ie, the vehicle) is included. It should be noted that the information for specifying the destination is not always necessary at the time of re-search.

After that, in S42, the CPU 21 extracts from the signboard DB 13 the signboard information associated with the destination acquired in S41 as the guidance target point from the signboard information stored in the signboard DB 13 (FIG. 3). The signboard information extracted from the signboard DB 13 includes a signboard installation position, a guidance target point, a guidance direction, and a recognition result of characters drawn on the signboard.

Next, in S43, the CPU 21 determines whether or not at least one or more signboard information associated with the destination as the guidance target point in S42 can be extracted.

Then, when it is determined in S42 that at least one signboard information associated with the destination as the guidance target point can be extracted (S43: YES), the process proceeds to S44. On the other hand, if it is determined in S42 that the signboard information associated with the destination as the guidance target point could not be extracted (S43: NO), the cost is adjusted to S49 without adjusting the cost based on the signboard information. And migrate.

In S44, the CPU 21 determines whether or not the signboard information extracted in S42 includes information for guiding the direction of the guidance target point (that is, the destination). The information that guides the direction of the guidance target point corresponds to an arrow mark, characters indicating the direction (turn right, turn left), or the like. Further, in the signboard DB13, as shown in FIG. 3, for a signboard on which information for guiding the direction of the guidance target point is drawn, the guidance direction indicated by the information (“straight ahead”, “right”, “left”). Is linked (S27). Therefore, in the S44, it may be determined whether or not the signboard information extracted in the S42 is the information associated with the "guidance direction".

Then, when it is determined that at least one or more of the signboard information extracted in S42 includes information for guiding the direction of the guidance target point (that is, the destination) (S44: YES), the process proceeds to S45. And migrate. On the other hand, when it is determined that none of the signboard information extracted in S42 includes information for guiding the direction of the guidance target point (that is, the destination) (S44: NO), the signboard information Move to S49 without adjusting the cost based on.

In S45, the CPU 21 extracts the signboard information including the information for guiding the direction of the guidance target point (that is, the destination) from the signboard information extracted in S42. Further, among the extracted signboard information, the signboard information of the signboard installed in an area within a predetermined angle range (for example, 20 degrees) with respect to the direction from the current position of the vehicle that requested the route search to the destination. And, the signboard information of the signboard installed at the position closest to the current position of the vehicle for which the route search request is made is extracted.

For example, when the destination 61 is set in the navigation device 5 mounted on the vehicle 4 as shown in FIG. 10, signs 62 to 66 including information for guiding the direction of the destination 61 are displayed in various places. The case where it is installed will be described. In the example shown in FIG. 10, among the signboards 62 to 66, the signboards installed in the area within the predetermined angle θ range with respect to the direction from the current position of the vehicle 4 to the destination 61 are the signboards 63, 64, 66. Become. Then, among the signboards 63, 64, and 66, the signboard installed at the position closest to the current position of the vehicle 4 is the signboard 63, so that the signboard information of the signboard 63 is extracted in S45.

Next, in S46, the CPU 21 determines whether or not the information indicating the distance is drawn on the signboard from which the signboard information is extracted in S45. Specifically, it is determined whether or not the character recognition result associated with the signboard DB 13 includes a character indicating a distance (for example, 2 km, 300 m, etc.). In addition to the numerical value indicating the specific distance, the number of traffic lights and branch points (for example, the second signal, etc.) is also included in the information indicating the distance.

Then, when it is determined in S45 that the information indicating the distance is not drawn on the signboard from which the signboard information is extracted (S46: NO), the process proceeds to S47. On the other hand, when it is determined that the information indicating the distance is drawn on the signboard from which the signboard information is extracted in S45 (S46: YES), the process proceeds to S48.

In S47, the CPU 21 first extracts each link that can form a recommended route between the current position (departure point) of the vehicle and the destination based on the network data 26 included in the server-side map information 25. Then, the link data 27 of each extracted link is acquired from the server-side map information 25. Further, the cost value of each link is calculated based on the acquired link data 27 of each link and the signboard information extracted in S45. After that, the route search process from the current position of the vehicle to the destination is performed using the cost value calculated in S49. Specifically, a known Dijkstra method is used, and the route that minimizes the total cost value is used as the recommended route. The link cost value is calculated based on the link length and the average travel time, and is corrected in consideration of traffic information such as the degree of traffic congestion. Further, in the present embodiment, the cost value of the link is also corrected based on the signboard information extracted in S45.

Hereinafter, a method of correcting the cost value of the link based on the signboard information in S47 will be described.
Basically, the cost value is corrected so that the link corresponding to the guidance direction of the signboard is included in the route based on the installation position of the signboard from which the signboard information is extracted in S45. For example, as shown in FIG. 11, when the signboard information of the signboard 70 whose left direction is drawn as the guidance direction is extracted in S45, the signboard 70 is within a predetermined distance (for example, within 3 km) in the traveling direction from the installation position of the signboard 70. The cost value of the link in the rectangular area 71 over a relatively wide area with one side and within a predetermined distance (for example, 3 km) in the guidance direction is reduced (for example, × 0.5). The link along the road facing the signboard 70 may or may not be included in the rectangular area 71. As a result, even when there is no distance information and the route to the destination guided by the signboard 70 is unclear, the signboard by lowering the cost value of the link in the rectangular area 71 set in a relatively wide area. It is possible to facilitate the route guided by 70 to be included in the recommended route by the route search. When the guide direction of the signboard 70 is the right direction, the left and right sides are only reversed in FIG. 11, and the description thereof will be omitted.

Further, as shown in FIG. 12, when the signboard information of the signboard 72 in which the straight-ahead direction is drawn as the guidance direction is extracted in S45, the signboard 72 proceeds from the installation position of the signboard 72 along the road facing the signboard 72. Reduce the cost value of a relatively wide range of links within a given distance (eg, within 3 km) in the direction (eg x0.5). As a result, even when there is no distance information and the route to the destination guided by the signboard 72 is unclear, the signboard by reducing the cost value of the link along the road facing the signboard 72 in a relatively wide range. It is possible to facilitate the route guided by 72 to be included in the recommended route by the route search.

On the other hand, in S48, the CPU 21 corrects the cost value of the link based on the signboard information extracted in S45, similarly to S47. However, in S48, the range of the link to be corrected is determined based on the information indicating the distance drawn on the signboard.

Hereinafter, a method of correcting the cost value of the link based on the signboard information in S48 will be described.
Basically, based on the installation position of the signboard from which the signboard information was extracted in S45, the cost is such that the link corresponding to the guidance direction of the signboard and within the distance drawn on the signboard is included in the route. Correct the value. For example, as shown in FIG. 13, when the signboard information of the signboard 73 in which the left direction is drawn as the guidance direction in S45 and "300 m after turning left at the second traffic light" is extracted, the signboard is displayed. The cost value of the link within the distance from the installation position of 73 to the second signal in the traveling direction and within 300 m in the guiding direction from the intersection of the corresponding traffic light is reduced (for example, × 0.5). As a result, the route to the destination guided by the signboard 73 can be easily included in the recommended route by the route search. The cost value of the link in the rectangular area with one side within the distance from the installation position of the signboard 73 to the second signal in the traveling direction and one side within 300 m in the guiding direction may be reduced. When the guide direction of the signboard 73 is to the right, the left and right sides are only reversed in FIG. 13, and the description thereof will be omitted.

On the other hand, as shown in FIG. 14, when the straight-ahead direction is drawn as the guide direction in S45 and the signboard information of the signboard 75 drawn as "straight-ahead 1 km" is extracted, along the road facing the signboard 75. Therefore, the cost value of the link within 1 km in the traveling direction from the installation position of the signboard 75 is reduced (for example, × 0.5). As a result, the route to the destination guided by the signboard 75 can be easily included in the recommended route by the route search.

After that, in S50, the CPU 21 delivers the recommended route searched in S48 or S49 to the navigation device 5 that has requested the route search. Then, in the navigation device 5 in which the recommended route is distributed, the distributed recommended route is guided to the user via the liquid crystal display 35 or the like at the time of the first route search in which the destination is set. Then, the recommended route guided based on the user's operation is set as the guidance route of the navigation device 5, and the traveling guidance based on the set guidance route is performed. On the other hand, at the time of re-search in which the guidance route has already been set in the navigation device 5, the current guidance route is replaced with the delivered recommended route.

The navigation device 5 may be configured to execute the route search processing (S42 to S49) instead of the server device 1. In that case, the signboard DB 13 is configured to be distributed from the server device 1 to the navigation device 5. Further, the signboard DB creation processing program (FIG. 6) and the point correspondence processing program (FIG. 8) may also be executed by the navigation device 5.

As described in detail above, in the server device 1 and the computer program executed by the server device 1 according to the present embodiment, the direction of the signboard installed around the road and on which the information for guiding the direction of the destination is drawn. Acquire signboard information including the position where the signboard is installed (S42, S45), and make it easier for the route to include a link corresponding to the direction in which the signboard is guided, based on the acquired signboard installation position. Since the cost value is corrected (S47) and the route to the destination is searched for using the corrected cost value (S49), the route to the destination is searched as much as possible according to the contents guided by the signboard. It becomes possible to do. Therefore, even if the driver finds a signboard that guides the location of the destination while traveling to the destination, the route guided by the signboard and the route searched by the server device 1 can be approximated as much as possible. It is possible and prevents the driver from confusing the route he or she travels.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various improvements and modifications can be made without departing from the gist of the present invention.
For example, in the present embodiment, one server device 1 performs a process of creating a signboard DB 13 and a process of searching for a recommended route, respectively, but a process of creating a signboard DB 13 and a process of searching for a recommended route are separate. It may be done by the server device of. For example, the server device 1 may receive the signboard DB 13 created by another server device and perform the route search process.

Further, in the present embodiment, when there are many signboards guiding the destination, the area is within a predetermined angle range with respect to the direction from the user's current position to the destination, and the user's current position is the most. Although the signboard information of the nearby signboard is selected and the cost is corrected by using the selected signboard information, the signboard information may be selected based on other criteria. For example, the signboard information of the signboard installed along the guide route set in the current navigation device 5 may be preferentially selected.

Further, in the present embodiment, the cost of the corresponding link (for example, the link in the rectangular area 71 in FIG. 11) is used as a means for correcting the cost value so that the link corresponding to the guide direction of the signboard is easily included in the route. Although the correction is made to lower the value, the correction may be made to raise the cost value of links other than the corresponding link.

Further, in the present embodiment, the probe information is used as the material for creating the signboard DB 13, but an information other than the probe information may be used. For example, it can be created from the image information of Street View.

Further, in the present embodiment, the execution subject of the signboard DB creation processing program shown in FIG. 6, the point correspondence processing program shown in FIG. 8, and the route search processing program shown in FIG. 9 is the server device 1 of the probe center 3. The navigation device 5 may be configured to execute a part or all of it. Further, instead of the navigation device 5, the route search system 2 can be configured by another device having a route search function. For example, mobile phones, smartphones, tablet terminals, personal computers and the like are possible.

Further, although the embodiment in which the path search device according to the present invention is embodied has been described above, the path search device can also have the following configuration, and in that case, the following effects are obtained.

For example, the first configuration is as follows.
Signboard information acquisition means (21) for acquiring signboard information including the direction and the position where the signboard is installed for a signboard on which information for guiding the direction of the destination is drawn installed around the road, and the signboard information. With the cost correction means (21) that corrects the cost value so that the link corresponding to the guide direction of the signboard is easily included in the route based on the installation position of the signboard from which the signboard information is acquired by the acquisition means. , a route searching means for searching for a route to a destination (21) using the corrected cost value by the cost correcting means, have a, the cost correction means, the direction of guiding of the signboard in straight direction In some cases, the cost value is corrected so that the link is easily included in the route for the link within a predetermined distance along the road facing the signboard based on the installation position of the signboard, and the signboard is guided. When the direction is to the right, the cost value is such that the link is easily included in the route for the link within a predetermined distance that is turned right from the road facing the signboard based on the installation position of the signboard. If the guide direction of the signboard is to the left, the link will be the route for the link within a predetermined distance that is turned left from the road facing the signboard with reference to the installation position of the signboard. Correct the cost value to make it easier to include.
According to the route search device having the above configuration, the cost value is corrected based on the information of the signboard that guides the direction of the destination, and the route to the destination is searched. It is possible to search for a route to the destination. Therefore, even if the user discovers a signboard that guides the location of the destination while moving to the destination, it is possible to approximate the route guided by the signboard and the route searched by the route search device as much as possible. This prevents the user from being confused about the route to go.

The second configuration is as follows.
The signboard information acquisition means (21) has a storage medium (13) for storing the signboard information regarding the signboards installed in various places, and the signboard information acquisition means (21) relates to a signboard on which information for guiding the direction of the destination is drawn from the storage medium. The signboard information is extracted.
According to the path search device having the above configuration, it is possible to reduce the processing load of the path search process by creating a database of information on the signboard used for the path search process in advance. In addition, it is possible to shorten the time required for the route search process. Further, if the information stored in the database is distributed, the same route search can be performed on the distribution destination device.

The third configuration is as follows.
An information collecting means (21) that collects information about a signboard detected by the vehicle from each vehicle (4) traveling in various places, and a storage medium that stores the signboard information using the information collected by the information collecting means. It has a database creation means (21) for creating (13).
According to the route search device having the above configuration, by collecting the information about the signboard from each vehicle, it is possible to reduce the work load for collecting the information of the signboards in various parts of the country. In addition, it will be possible to quickly respond to the removal or new installation of signboards.

The fourth configuration is as follows.
The signboard used for the travel guidance indicates the direction of the travel history collecting means (21) for collecting the travel history of the vehicle (4) for which the travel guidance is performed using the signboard, and the stop position of the vehicle based on the travel history. The signboard information acquisition means (21) has a point linking means (21) that is linked to the signboard information and stored in the storage medium (13) as a point to guide the signboard information. The associated signboard information is extracted.
According to the route search device having the above configuration, even if there are a plurality of facilities having the same name or a similar name in the vicinity and a large number of signboards guiding each facility are installed in a mixed manner. , It is possible to clearly link each signboard to the signboard that guides the direction of which facility and store it as a database.

The fifth configuration is as follows.
The signboard information includes the distance for a signboard on which information for guiding the distance is drawn, and the predetermined distance is defined as the distance drawn on the signboard .
According to the route search device having the above configuration, it is possible to correct the cost value so that the link between the installation position of the signboard and the destination is likely to be included in the route. As a result, it becomes possible to search for a route to the destination as much as possible according to the contents guided by the signboard.

The sixth configuration is as follows.
The signboard information acquisition means (21) acquires the signboard information of a signboard installed in an area within a predetermined angle range with respect to the direction from the user's current position to the destination.
According to the route search device having the above configuration, it is possible to correct the cost value by using the signboard information of the signboard that is likely to be found when the user moves to the destination. As a result, even if the user finds a signboard that guides the location of the destination while moving to the destination, the route guided by the signboard and the route searched by the route search device can be approximated as much as possible. It is possible and prevents the user from confusing the route to be traveled.

1 Server device 2 Pathfinding system 3 Probe center 4 Vehicle 5 Navigation device 12 Probe information DB
13 Signboard DB
21 CPU
22 RAM
23 ROM
61 Destinations 62-66, 70, 72, 73, 75 Signs

Claims (7)

Signboard information acquisition means for acquiring signboard information including the direction and the position where the signboard is installed for a signboard that is installed around the road and has information that guides the direction of the destination.
With the cost correction means for correcting the cost value so that the link corresponding to the guiding direction of the signboard is easily included in the route based on the installation position of the signboard from which the signboard information is acquired by the signboard information acquisition means. ,
Have a, a route searching means for searching for a route to a destination using the corrected cost value by the cost correcting means,
The cost correction means
When the guide direction of the signboard is a straight direction, the link is easily included in the route for the link within a predetermined distance along the road facing the signboard with reference to the installation position of the signboard. Correct the cost value,
When the guide direction of the signboard is to the right, the link is likely to be included in the route for the link within a predetermined distance of turning right from the road facing the signboard with the installation position of the signboard as a reference. Correct the cost value so that
When the guide direction of the signboard is to the left, the link is likely to be included in the route for the link within a predetermined distance when the signboard is turned left from the road facing the signboard with the installation position of the signboard as a reference. A route search device that corrects the cost value. It has a storage medium that stores the signboard information related to the signboards installed in various places.
The route search device according to claim 1, wherein the signboard information acquisition means extracts the signboard information relating to a signboard on which information for guiding the direction of a destination is drawn from the storage medium. Information collecting means for collecting information about the signboard detected by each vehicle traveling in various places, and
The route search device according to claim 2, further comprising a database creating means for creating the storage medium in which the signboard information is stored using the information collected by the information collecting means. A driving history collecting means for collecting the driving history of a vehicle for which driving guidance is provided using a signboard, and a driving history collecting means.
It has a point linking means for linking the stop position of the vehicle based on the travel history with the signboard information as a point where the signboard used for the travel guidance guides the direction and storing the vehicle in the storage medium.
The route search device according to claim 2 or 3, wherein the signboard information acquisition means extracts the signboard information associated with a destination from the storage medium. The signboard information also includes the distance for a signboard on which information for guiding the distance is drawn.
The route search device according to any one of claims 1 to 4, wherein the predetermined distance is the distance drawn on the signboard. The signboard information acquisition means according to any one of claims 1 to 5, wherein the signboard information acquisition means acquires the signboard information of a signboard installed in an area within a predetermined angle range with respect to the direction from the user's current position to the destination. Route search device. Computer,
Signboard information acquisition means for acquiring signboard information including the direction and the position where the signboard is installed for a signboard that is installed around the road and has information that guides the direction of the destination.
With the cost correction means for correcting the cost value so that the link corresponding to the guiding direction of the signboard is easily included in the route based on the installation position of the signboard from which the signboard information is acquired by the signboard information acquisition means. ,
A route search means for searching a route to a destination using the cost value corrected by the cost correction means, and a route search means.
It is a computer program to make it work .
The cost correction means
When the guide direction of the signboard is a straight direction, the link is easily included in the route for the link within a predetermined distance along the road facing the signboard with reference to the installation position of the signboard. Correct the cost value,
When the guide direction of the signboard is to the right, the link is likely to be included in the route for the link within a predetermined distance of turning right from the road facing the signboard with the installation position of the signboard as a reference. Correct the cost value so that
When the guide direction of the signboard is to the left, the link is likely to be included in the route for the link within a predetermined distance when the signboard is turned left from the road facing the signboard with the installation position of the signboard as a reference. A computer program that compensates for cost values .

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