200844399 九、發明說明： 【發明所屬之技術領域】 本發明疋有關於一種電子地圖產生方法及系統，特別 疋指一種應用全球衛星定位系統技術即時將新的道路加入 電子地圖之自動更新方法及系統。 【先前技術】 導航系統近年來在國内外蓬勃發展，而優良的導航系 統仰賴的就是使用正確的電子地圖資料。國内外電子地圖 之建立多採用以下幾種方式： 1·由測量單位、軍事單位提供紙本測量地圖，並將其 數位化。 2. 政府機關提供紙本或數位化的都市計劃地圖。 3. 政府機關之道路主管機關，如：高速公路主管機關 、公路主管機關之道路圖。 4. 空照圖與衛星照片。 5·實際調查道路的情況，並依據調查結果繪製成紙本 或在電腦上以人工繪製成數位化的電子地圖。 以國内為例，雖然有交通部運輸研究所負責整合台灣 電子地圖以及路網資料庫，但其内容仍有缺少與不足之處 。深究原因’乃是因為地圖來源過於複雜且整合不易，各 種來源資料年代或準確度亦不同，需要使用多人交叉分析 比對方能更新電子地圖資料，且並不能做到即時的更新。 舊有電子地圖調查與更新方法常遭遇之問題有： 1 ·來源資料的不正確。 200844399 2·不在政府機關資料内之既成道路、私設道路、内部 道路等。 3·新開設之道路、未完成之道路或整修中之道路等。 4·道路之行進方向、轉彎行車規制隨法令或行政命令 之變動。 5·其他諸多可預測或不可預測之原因。 【發明内容】 因此，本發明之目的，即在提供一種應用全球衛星定 位系統技術即時將新的道路資料加入的電子地圖自動更新 方法及糸統。 本發明電子地圖自動更新方法包含下述步驟··（a)在一 道路上的不同座標點接收全球定位系統的一定位訊號；（匕) 將每一座標點得到的該定位訊號轉換為符合一預定標準之 記錄資料；及（c)對該紀錄資料分析處理以產生一道路資料 ’並將該道路資料加入現有電子地圖。 本發明電子地圖自動更新系統包括一接收單元、一押 =單元及一儲存單元。該接收單元係支援全球定位系統之 ^準定位服務’用以在—道路上的不同座標點接收全球定 位系統的一定位訊號；該控制單元能將該定位訊號轉換輸 出為符合—敎標準之^位記錄資料；該儲存單元電性連 接該控制單元，用以安裝一虛5 々 〜 、女裝4理私式、-紀錄該定位記錄 貝枓之紀錄貢料庫及一現有地圖資料庫。 曰藉此，該處理程式供該控制單元執行以將m 點 ㈣的&位訊號轉換為符合—預定標準之記錄資料，且 200844399 對該紀錄資料分析處理以產生一道路資料，並將該道路資 料加入現有電子地圖。 、 、本發明電子地圖自動更新方法及系統是應用全球衛星 定位系統技術，其於電子地圖之製作、維護、與更新上， 比起舊有的地圖調查技術，具有優越的準確性、時效性、 單-性等優點，對於電子地圖資料庫的建構以及導航系統 上的應用有莫大的幫助。 【實施方式】 有關本發明t前述及其他技術内纟、特點與功效，在 以下配合參考圖式之較佳實施例的詳細說明中，將可清楚 的呈現。 參閱圖卜本發明電子地圖自動更新方法之較佳實施例 ’是以-移動體（如：車輛；圖未示）攜帶—電子地圖自動更 新系統2沿著一新道路52(相對於電子地圖兄已具有的一 ^有道路51而言）残取得該新道路52沿㈣多個座標點 貧料，並直接對該等座標點資料轉換處理及進行分析以更 新現有的一電子地圖53，且更新後的電子地圖兄可下載至 其他導航裝置3使用。 本發明電子地圖自動更新方法包含下述步驟：首先， 由電子地圖自動更新系統2沿著新道路52接收全球定位系 統的-定位訊號；由於該道路上具有複數座標點，電子地 圖自動更新m係將每-座標點得到的較位訊號轉換 為符合-預定標準之紀錄資料；接著，電子地圖自動更新 系統2對各該座標點之紀錄資料進行分析處理以產生供現 7 200844399 有電子地圖53更新的一道路資料，而更新後的電子地圖53 即可下載到其他導航裝置3使用。 參閱圖2，本發明電子地圖自動更新系統2之較佳實施 例包括一控制單元20、一接收單元21、一儲存單元22、一 暫存記憶體23及一傳輸模組24。 接收單元21是支援全球定位系統（Global Positioning System，簡稱 GPS)之標準定位服矛务（Standard Positioning Service，簡稱SPS )，用以接收全球定位系統的一定位訊號 ，控制單元20能將該定位訊號轉換輸出為符合NEMA0183 標準之定位記錄資料，儲存單元22安裝有一具有 NEMA0183資料分析能力之處理程式1、一紀錄資料庫221 、一現有地圖資料庫222及一更新地圖資料庫223，符合 NEMA0183標準之定位記錄資料即是儲存於紀錄資料庫221 中；暫存記憶體23用以暫存處理中的資料；傳輸模組24 用以傳輸處理完成之資料供外部的電子裝置（如··可攜式數 位裝置或個人電腦）使用。 其中NEMA0183標準是由美國國家電子製造協會 (National Electrical Manufacture Association;簡稱 NEMA) 所制定，用以整合交通資訊的一種通訊協定，但熟知該領 域之人亦可將其概念應用於其他種類的整合交通資訊之協 定而不限於NEMA0183標準。 本較佳實施例中，紀錄資料庫221係暫存符合 NEMA0183標準之定位記錄資料，NEMA0183標準定位記 錄資料之字串格式說明如表一所示。現有地圖資料庫222 8 200844399 存有目前的多數道路之資料，包括路寬、路長、速限等等 相關資料。更新地圖資料庫223用以儲存處理程式i處理 並更新後的電子地圖。 表一 範例 GPGGA 字串： --^------- $GPGGA,055731.366,2445.4558,N,12056.8481,E,1,04,7 0 123 9 μ λ _ , U，Uj.9，M，15.0，M，0.〇,〇〇〇〇*74 為保ί星定位 GGA :全球定位系統修正資料（G1〇bal p〇siti〇ni 之後的定位資訊。 Y m Flx Data> 055730.367 :標準定位時間（UTc time)格式，台灣是町 小時，因此實測時間為下午i點57分3〇#C。.〇〇，所以必須加上 2445.4558，N :緯度格式，實測為北緯24度45 4558 分27.348秒。 換算之後為北緯24度45 12056·8481，Ε :經度格式，實測為東經12〇度56^ ^ ^ 度56分50.886秒。 換算之後為東經120 1 : GPS品質指標，實測時為丄，表示由Gps修正， 定位系統。 向及有使用差分式全球衛星 04 :可供定位之衛星數目，實測時有4顆衛星可供定位。 7.0 :水平稀釋精度，0.5公尺〜99.9公尺，實測時得到7 〇八 123·9，Μ :海拔高度，實測為123.9公尺。 ’ 15.0，Μ :地表平均高度，實測為15.0公尺。 0.0:差分修正，DGPS，這個GPSReCeiver是用GPS修正 0000 :差分參考基站代碼ID。 所以沒有DGPS。 * 7 4 :總和檢查碼。 處理程式1供控制單元20讀取執行，用以自動分析事 先搜集一定數量的NEMA0183紀錄資料，進而產生如道路 輪廓（道路寬度、分隔島位置等）、道路行進方向（單向道、 雙向道）、平均行車速度、判斷是否為高速道路或是橋樑（紀 錄南度）、估計道路寬度進而判斷道路等級（一般道路/快速 道路）、判斷父通號途、（管制站、交流道）的位置、產生道路 每個時段的平均車速、產生交通號諸每個時段的平均停留 9 200844399 時間，或產生十字路 道路資料。 口或圓環等道路上 的平均轉彎時間 之 參閱圖3，處理程式 考挪n ^ 貝科處理模組11、一防每 處理杈組12、一道路分割模組13 防- 、一道路重疊分析模± 刀斤板組14 ^ ^ 5 一道路接續模組16、一道踗牲 性分析模組17、一道 道路特 。 糾方向分析漁18及-更新模組19 粗，I 版t11可自動分析符合ne购⑻之記錄資 屮’經由-疋數量之相同性質資料被分析後始產生 =析方法主要為分析職細83標準之：串 (參閱表一）。 貝丁十子甲 參閱圖3及圖4，♦知样次女丨* 田紀錄貝科庫221已儲存沿著一道路 取得且已轉換為符* NEMA咖標準之定位記錄資料，處 理程式1可供控制單元20執行的流程包括下述步驟： 首先處理&式1之資料處理模組11自紀錄資料庫 221夺中、.貝取NEMA紀錄槽案（步驟4〇1);在nema紀錄槽案 中寸找$GSGGA ^頭之字串（步驟4〇2);判斷是否找到 $GSGGA開頭之字串（步驟4〇3)?若未找到該字串，則結束 所有步驟（步驟4〇4);若找到多筆字串，則取得該等字串資 料將其暫存於暫存記憶體24中（步驟405)。 接著，標示其中一字串之指標為第一筆（步驟4〇6);接 著，碩取目前指標對應該字串之座標位置（步驟4〇7) ,·需説 明的是，除了座標位置（經緯度格式）之外，經由資料處理模 組11分析符合NEMA0183標準之GGA資料字串，還邛以 10 200844399 得到與資料信賴性相關聯的一海拔高度、一標準定位時間（ 單位至毫秒）或一衛星數目等資料。 然後，以步驟407之該座標位置為中心向外的一預定 距離内，在現有地圖資料庫222中的向量座標尋找是否已 有道路資料（步驟408)?若無，則接續圖5A圖之流程；若 有，則接續圖6A圖之流程。 參閱圖5A、圖5B及圖6A、圖6B，其處理流程主要是 為了防止資料誤差所產生之錯誤結果輸出而影響準確性， 因此以防誤處理模組丨2預先作防誤處理。 參閱圖3及圖5A，防誤處理模組12的一處 接續圖4之步驟彻，在預定距離内沒有已知:二 况下’若為第一筆資料則不作判斷(步驟Μ。，跳到步驟 5〇5讀取下—筆字串，並將下一筆字串之指標標示為第二筆 、:若為第η筆㈣)資料則與前一筆字串的座標取 ， =判斷該差值是否落在—誤差範圍内（步驟5G2)?^未落在 二:表示為一不可信資料’則不儲存亦不處理而 將Μ值⑷加i以讀取下一筆字串（步驟5〇5)，並回 之步驟407繼續進行下一筆字串的分析。 田 步驟502之判斷若落在誤差範圍内， 料’將該座標與前-筆字串之座標相連接 料（包括向量角度、長度、速度、χ車由、成為向！資 可求出）儲存於暫存記憶體23内（步驟ϋ由資料均 ，亦判斷為-不可信資料，則不儲存=5。4)?若料 存亦不處理而將指標值 11 200844399 v " 1以讀取下一筆字串（步驟505 可信資料，則接續圖5B之流程。 參閱圖3及圖5B，道路分 接續圖5A步驟5()4^4^13的—處理流程，是 程，該新料較義Λ目^岐㈣—新料的處理流 或後-路段呈一預定角度時 =路與前一路段 。 1更將具判斷為另一新的路段 :先，判斷目前找到的向量角度是否與前一向量角度 5度以上(步驟51〇)?若是 再判斷是否持45 _ 相差45度以上， 判斷為新. 0相差4 5度以上（步驟5 i i)?若是，則 m為新路段，將原有的 道路指標㈣時預M k__Q路^(k)加1(㈣512)，該 ^ 為〇,母判斷為一新路段時，便將豆 對應之道路指標變Ak+1 ^便將其 度以上，則判斷目前座桿2 ::向“度未相差45 -預定時間(步驟513)?若是:再：是否相隔 連t 再判斷目則座標與下一座標 二角度…前一向量相差一預定度數以上(步驟514) 驟51ΓΛ判斷為新路段，將原有的道路指標⑻加1，·若步 路段，將=冑514之判斷結果為否定，則判斷是在原來的 真、[、錯存在對應目前道路指標⑻的資料中（步驟515) ，再進仃下—筆字串的處理(步驟516)。 參閱圖3另12| 是接續圖4之步：：’，誤處理模組12的另一處理流程， 样 ^ 08 ’疋在預定距離内有已知道路資料的 ^作頬似圖的防誤處理，首先，若為第一筆資料則 + 4乍判斷（步驗（A1、 〇l) ’跳到步驟605讀取下一筆字串，並將 12 200844399 下-筆字串之指標標示為第二筆；若為第 與前一筆字串的座標取其差值，並判斷該差值曰）Γ料則 差範圍内（步驟602)?若未落在誤 疋否洛在誤 俨咨极, 乾圍内，表示為一不玎 : 則不储存亦不處理而將指標值⑻加丨心取： 筆子串（步驟605)，並回到圖4 靖取下— 字串的分析。 ^4之步驟術繼續進行下—筆 步驟602之判斷若落在誤差範圍 料，將該座標與前一筆字串之座標相連接以成tTi資 料（包括向量角度、長度、速度1軸、成^向置資 二求咖存於暫存記憶體23内（步驟6()3)1==均 别一座標點之加速度是否超出一 、’與 ，亦判斷為-不可信資料，則不儲：；604)?若心 /、 ^ ^亦不處理而蔣扣擴伯 η加1以頃取下一筆字串（步驟6〇5广若未超出，則進行如 圖6Β之判斷是否為一新道路的處理流程 0 是當目前找到的一條道路盥& °〆斤、路的定義 W㈣路與則—路段或後_ 角度時，便將其判斷為另一新的路段。 預疋 參閱圖6Β，道路分割模組13的另—處理流程， 判斷目前朗的向量角度是否與前—向量角度 上（步驟610)?若是向量角度相差45产 5度以 續二次皆相差45度 广判斷疋否持 ，蔣周古Μ、“ （观1)?右疋’則判斷為新路段 士將原有的-道路指標⑻加i(步驟612)，該道路 %預設為k=0,每判斷為—新路段時’便料 標變…供識別;若向量角度未相差45度=: 斷目前座標與前-座標之定位時間是否相隔—預定時間(步 13 200844399 驟613) ?若是，再判斷 否於前-向量相差一預定;，Γ 一座標之連線角200844399 IX. Description of the invention: [Technical field of invention] The present invention relates to an electronic map generation method and system, and particularly to an automatic updating method and system for automatically adding new roads to an electronic map using global satellite positioning system technology . [Prior Art] Navigation systems have flourished at home and abroad in recent years, and excellent navigation systems rely on the use of correct electronic map data. The following methods are used to establish electronic maps at home and abroad: 1. Provide a paper measurement map by the measurement unit and military unit, and digitize it. 2. Government agencies provide maps of paper or digital urban plans. 3. The road authority of the government agency, such as the road map of the competent highway authority and the highway authority. 4. Aerial photo and satellite photo. 5. Actually investigate the situation of the road and draw it into a paper based on the survey results or manually draw a digital map on the computer. Take the domestic example as an example. Although the Transportation Research Institute of the Ministry of Communications is responsible for integrating Taiwan's electronic maps and road network databases, its contents are still lacking and lacking. The reason for the problem is that the source of the map is too complicated and the integration is not easy. The age or accuracy of the various sources is different. It is necessary to use multi-person cross-analysis to update the electronic map data than the other party, and it cannot be updated instantly. Common problems encountered in the old electronic map survey and update methods are: 1 · The source data is incorrect. 200844399 2. Existing roads, private roads, internal roads, etc. that are not in the government agency materials. 3. Newly opened roads, unfinished roads or roads during renovation. 4. The direction of travel of the road, the regulation of turning traffic, or the change of administrative orders. 5. Other reasons that are predictable or unpredictable. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an electronic map automatic updating method and system for adding new road data in real time using global satellite positioning system technology. The electronic map automatic updating method of the present invention comprises the following steps: (a) receiving a positioning signal of the global positioning system at different coordinate points on a road; (匕) converting the positioning signal obtained by each of the punctuation points into a predetermined one Standard record data; and (c) analysis and processing of the record data to generate a road data 'and add the road data to an existing electronic map. The electronic map automatic updating system of the present invention comprises a receiving unit, a charging unit and a storage unit. The receiving unit is configured to support a positioning device of the global positioning system to receive a positioning signal of the global positioning system at different coordinate points on the road; the control unit can convert the positioning signal into a conforming standard. The storage unit is electrically connected to the control unit for installing a virtual 々 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 Thereby, the processing program is executed by the control unit to convert the & bit signal of m point (4) into a record data conforming to the predetermined standard, and 200844399 analyzes and processes the record data to generate a road material, and the road is Information is added to existing electronic maps. The method and system for automatically updating the electronic map of the present invention is a global satellite positioning system technology, which has superior accuracy and timeliness in the production, maintenance, and updating of electronic maps compared with the old map survey technology. The advantages of single-sexuality are of great help to the construction of the electronic map database and the application on the navigation system. [Embodiment] The foregoing and other technical features, features, and advantages of the present invention will be apparent from the following description of the preferred embodiments. Referring to the preferred embodiment of the electronic map automatic updating method of the present invention, a mobile object (eg, a vehicle; not shown) is carried over - an electronic map automatic updating system 2 along a new road 52 (relative to an electronic map brother) If there is a road 51, the new road 52 is depleted along the (four) coordinate points, and the data is directly converted and analyzed to update the existing one electronic map 53 and updated. The latter electronic map brother can be downloaded to other navigation devices 3 for use. The electronic map automatic updating method of the present invention comprises the following steps: First, the electronic map automatic updating system 2 receives the positioning signal of the global positioning system along the new road 52; since the road has a plurality of coordinate points, the electronic map automatically updates the m system. Converting the bit signal obtained by each punctuation into a record data conforming to the predetermined standard; then, the electronic map automatic updating system 2 analyzes and processes the record data of each punctuation point to generate a supply for the current 7 200844399 with an electronic map 53 update A road data, and the updated electronic map 53 can be downloaded to other navigation devices 3 for use. Referring to FIG. 2, a preferred embodiment of the electronic map automatic updating system 2 of the present invention includes a control unit 20, a receiving unit 21, a storage unit 22, a temporary storage memory 23, and a transmission module 24. The receiving unit 21 is a standard positioning service (SPS) supporting a Global Positioning System (GPS) for receiving a positioning signal of the global positioning system, and the control unit 20 can set the positioning signal. The conversion output is a NEMA0183-compliant positioning record data. The storage unit 22 is provided with a NEMA0183 data analysis capability processing program 1, a record database 221, an existing map database 222, and an updated map database 223, which conform to the NEMA0183 standard. The location record data is stored in the record database 221; the temporary memory 23 is used to temporarily store the processed data; the transmission module 24 is used to transmit the processed data to the external electronic device (eg, portable) Digital device or personal computer). The NEMA 0183 standard is a communication protocol developed by the National Electrical Manufacture Association (NEMA) to integrate traffic information, but people familiar with the field can apply its concept to other types of integrated transportation. The agreement on information is not limited to the NEMA0183 standard. In the preferred embodiment, the record database 221 temporarily stores the location record data conforming to the NEMA 0183 standard, and the format of the string format of the NEMA 0183 standard location record data is shown in Table 1. The existing map database 222 8 200844399 contains information on most current roads, including road width, road length, speed limit and other related information. The updated map database 223 is used to store the electronic map processed and updated by the processing program i. Table 1 Example GPGGA string: --^------- $GPGGA,055731.366,2445.4558,N,12056.8481,E,1,04,7 0 123 9 μ λ _ , U,Uj.9,M, 15.0,M,0.〇,〇〇〇〇*74 Positioning GGA for Paulo Star: GPS correction data (positioning information after G1〇bal p〇siti〇ni. Y m Flx Data> 055730.367 : Standard positioning time (UTc time) format, Taiwan is a town hour, so the measured time is 1:57 pm 3 〇#C..〇〇, so you must add 2445.4558, N: latitude format, measured as north latitude 24 degrees 45 4558 points 27.348 seconds After conversion, it is 24 degrees north latitude 45 12056·8481, Ε: longitude format, measured as east longitude 12 degrees 56^^^ degrees 56 minutes 50.886 seconds. After conversion, it is east longitude 120 1 : GPS quality index, when measured, it is 丄, indicating Corrected by Gps, positioning system. The use of differential global satellite 04: the number of satellites available for positioning, there are 4 satellites available for positioning. 7.0: Horizontal dilution accuracy, 0.5 meters to 99.9 meters, measured time Get 7 〇8123·9, Μ: altitude, measured as 123.9 meters. ' 15.0, Μ : average surface height, measured as 15. 0: 0.0: Differential correction, DGPS, this GPSReCeiver is corrected by GPS 0000: differential reference base station code ID. So there is no DGPS. * 7 4: sum check code. The processing program 1 is used by the control unit 20 to read and execute Automated analysis collects a certain amount of NEMA0183 records in advance, resulting in road contours (road width, island location, etc.), road travel direction (one-way road, two-way road), average driving speed, judging whether it is a highway or bridge (recording South), estimating road width and then judging road grade (general road/fast road), judging the position of the father's pass, (control station, interchange), generating the average speed of each time of the road, generating traffic numbers The average stay time of each time period is 9 200844399, or the crossroad road data is generated. The average turning time on the road such as the mouth or the ring is shown in Figure 3. The processing program Knorr-N. Becco processing module 11, one defense per treatment杈Group 12, a road segmentation module 13 anti-, a road overlap analysis module ± a knife set 14 ^ ^ 5 a road connection module 16, a The livestock analysis module 17 and a road special. The direction analysis fish 18 and the update module 19 are thick, and the I version t11 can automatically analyze the data of the same nature as the number of records purchased by ne (8). The initial generation = analysis method is mainly for the analysis of the standard 83 standard: string (see Table 1). Bedin's ten sons refer to Figure 3 and Figure 4, ♦ Knowing the sample of the female 丨* The field record Bekoku 221 has stored the location record data taken along a road and converted to the *NEMA coffee standard, the processing program 1 is available The flow executed by the control unit 20 includes the following steps: First, the data processing module 11 of the processing & 1 is captured from the record database 221, and the NEMA recording slot is taken (step 4〇1); in the nema recording slot case Find the $GSGGA ^ header string (step 4〇2); determine if the string starting with $GSGGA is found (step 4〇3)? If the string is not found, then all steps are completed (step 4〇4); If a plurality of strings are found, the string data is obtained and temporarily stored in the temporary memory 24 (step 405). Next, the index of one of the strings is marked as the first stroke (step 4〇6); then, the current indicator corresponds to the coordinate position of the string (step 4〇7), and it should be noted that, besides the coordinate position ( In addition to the latitude and longitude format, the data processing module 11 analyzes the GGA data string conforming to the NEMA0183 standard, and obtains an altitude, a standard positioning time (unit to millisecond) or one associated with the data reliability by 10 200844399. Information on the number of satellites. Then, within a predetermined distance centered on the coordinate position of step 407, the vector coordinates in the existing map database 222 are searched for road data (step 408). If not, the flow of FIG. 5A is continued. If so, proceed to the flow of Figure 6A. Referring to FIG. 5A, FIG. 5B and FIG. 6A and FIG. 6B, the processing flow is mainly for preventing the error result output caused by the data error and affecting the accuracy. Therefore, the error prevention module 丨2 is prevented from being pre-emptively processed in advance. Referring to FIG. 3 and FIG. 5A, the step of the anti-error processing module 12 is continued from the step of FIG. 4, and there is no known within the predetermined distance: in the case of the second case, if the first data is not judged (step Μ., hopping Go to step 5〇5 to read the next-pen string, and mark the next string indicator as the second stroke: if it is the nth (four)) data, then the coordinates of the previous string are taken, = judge the difference Whether the value falls within the error range (step 5G2)? ^ does not fall in the second: it is expressed as an untrusted data', then it is not stored or processed and the value (4) is added to read the next string (step 5〇 5), and return to step 407 to continue the analysis of the next string. If the judgment of the field step 502 falls within the error range, the material 'the coordinates of the coordinates of the coordinates of the front and the pen string (including the vector angle, the length, the speed, the vehicle, and the source can be obtained) are stored. In the temporary memory 23 (steps are also determined by the data - not trusted data, then not stored = 5. 4)? If the stock is not processed, the index value 11 200844399 v " 1 to read The next string (step 505 trusted data, then the flow of Figure 5B. Referring to Figure 3 and Figure 5B, the road is continued, Figure 5A, step 5 () 4 ^ 4 ^ 13 - processing flow, is the process, the new material较 Λ 岐 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四If the angle is 5 degrees or more with the previous vector (step 51〇)? If it is judged whether it is 45 degrees or more, it is judged to be new. 0 phase difference is 4 5 degrees or more (step 5 ii). If yes, m is a new road segment. Add the original road indicator (4) to the pre-M k__Q road ^(k) plus 1 ((4) 512), the ^ is 〇, when the mother judges to be a new road segment, it will If the road indicator corresponding to the bean changes to Ak+1, then it will be above the degree. Then it is judged that the current seatpost 2::"the degree is not 45 - the predetermined time (step 513)? If yes: then: whether it is separated by t and then judged The coordinate and the next standard two angles...the previous vector differs by a predetermined degree or more (step 514). Step 51: Determine the new road segment and add 1 to the original road index (8). If the road segment is segmented, the judgment result of =胄514 is If it is negative, the judgment is in the original true, [, the error exists in the data corresponding to the current road indicator (8) (step 515), and then proceeds to the processing of the pen string (step 516). Referring to Figure 3, another 12| is continuous Step 4 of Figure 4:: ', another processing flow of the error processing module 12, the sample ^ 08 '疋 has a known road data within a predetermined distance, the anti-error processing of the similar image, first, if the first The pen data is + 4乍 judgment (step (A1, 〇l) 'Go to step 605 to read the next string, and the 12 200844399 lower-pen string indicator is marked as the second; if it is the first The coordinates of a string are taken as the difference, and the difference is judged to be within the range of the difference (step 602)? Misunderstanding, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no, no Take off - analysis of the string. Steps of ^4 continue to proceed to the next step - the judgment of step 602, if it falls within the error range, the coordinates are connected with the coordinates of the previous string to form tTi data (including vector angle, Length, speed, 1 axis, and 2 sets of funds are stored in the temporary memory 23 (step 6 () 3) 1 == whether the acceleration of one punctuation exceeds one, 'and, judged as - not If the information is not stored, please; 604)? If the heart /, ^ ^ is not processed, and the Jiang buckle expansion η plus 1 to take the next string (step 6 〇 5 wide if not exceeded, then proceed as shown in Figure 6) The process of judging whether it is a new road is to judge a new road section when it finds a road 盥& °〆, the road definition W(four) road and the road section or the rear _ angle . Referring to FIG. 6A, another process flow of the road segmentation module 13 determines whether the current vector angle is in the front-vector angle (step 610). If the vector angle is different, 45 degrees are 5 degrees to continue the difference. If the degree is judged, it will be held. Jiang Zhougu, "(View 1)? Right" will judge that the new road section will add the original - road indicator (8) to i (step 612). The road is preset to k= 0, every time it is judged as a new road segment, 'the material standard change... for identification; if the vector angles are not different by 45 degrees=: Is the current coordinate and the front-coordinate positioning time separated by each other—predetermined time (step 13 200844399 613)? If yes, then judge whether the pre-vector difference is a predetermined; Γ a standard connection angle
或步驟614之判斷社果為數以上（步驟614)?若步驟6U 將其儲存在對應目前道长原來的路&’ — 略私軚（k)的貧料中（步驟615)，再進 仃下一筆子串的處理（步驟616)。 再進 接續圖6B，若步㈣。或步驟 結果為肯定，或步驟613成丰_ ^ 則需透過以下分析以佟飾《判斷結果為肯定， 路結合，包括述路線之道路資訊來與現有道 l括由道路連接分析模組14進 程序_621)，由道路重疊分析模組15進行— 廊程序（步驟622)，紀錄輪廉 路輪 宮疮/止时 U雨左里之一定比率為道路 、：^ 623);另外，由道路特性分析模組Η將每 之各座標點高度之平均值紀錄為各該路段之道路高^ 624)’依據道路高度判斷該路段是否為高速 二 道路特性分析模組Π並判斷紀錄停留丨。秒以=:， 4® - 一 上的座4示點 :二 ，當紀錄同一相近距離的交通號諸點 =一預疋數量，將該點確料—交通㈣（㈣625)，且 、、，己錄道路平均行車速度（步驟62 ㈣行一道路方向修正程序（步驟627)Λ路方向分析模組 模^道路連接分析程序（步驟621)方面，由道路連接分析 料座㈣斷各該向量資料連接之紀錄資料與現有地圖資 來判斷22^資料產生兩條相交之道路時，依據該紀錄資料 路的連接特性。在資料不全的情況本系統將會以 取保寸的依據來判斷道路的連接特性，分別如下·· 200844399 l兩條道路相交但不互诵 ^ 9 . ^ (如向架道路與平面道路）。 兩條道路相交相通’但僅能右轉。 3·兩條道路相交相通，但僅能左轉。 4.兩條道路相交相通，可以左轉與右轉。 在修正道路輪廓程序（步驟622)方面，係由道路重疊分 析杈組15係進行道路重 里逢糾斷，當系統初 NEMA〇183紀錄資料後 初"析 路之开㈠針一 將所有仃車紀錄貧料以暫存道Or the number of judgments in step 614 is more than one (step 614)? If step 6U stores it in the poor material corresponding to the original road & '- slightly private (k) (step 615), then enter Processing of the next substring (step 616). Then proceed to Figure 6B, if step (four). Or the result of the step is affirmative, or step 613 Cheng Feng _ ^ will need to pass the following analysis to 佟 《 "The judgment result is affirmative, the road combination, including the road information of the route to the existing road including the road connection analysis module 14 The procedure _621) is performed by the road overlap analysis module 15 - a gallery procedure (step 622), and a certain ratio of the round road to the sore/stop time U rain left is a road, :^ 623); The characteristic analysis module records the average value of each punctuation height as the road height of each road section. 624) According to the road height, it is judged whether the road section is a high-speed two-road characteristic analysis module and judges the record staying. Seconds ==, 4® - Block 4 on the first point: Second, when recording the traffic numbers of the same close distance = the number of pre-array, the point is confirmed - traffic (four) ((four) 625), and,,, The average road speed of the recorded road (step 62 (four) line one road direction correction procedure (step 627), the road direction direction analysis module module road connection analysis program (step 621), the road connection analysis block (four) breaks each of the vector data When the connection record data and the existing map resources are used to judge the 22^ data to generate two intersecting roads, according to the connection characteristics of the record data path, in the case of incomplete data, the system will judge the connection characteristics of the road based on the basis of the insurance coverage. , respectively, as follows · · 200844399 l Two roads intersect but do not cross each other ^ 9 . ^ (such as the road to the road and the plane road). The two roads meet each other 'but can only turn right. 3 · The two roads meet, but Only turn left. 4. The two roads can communicate with each other and can be turned left and right. In the process of correcting the road contour program (step 622), the road overlap analysis 杈 group 15 is used to correct the roads. NEMA〇183 After the record data, the beginning of the "disclosure" (1) needle one will all the vehicles record poor materials to temporarily save the road
7式儲存，暫存道路可能與現 A 則由道路接續模組16實施道路連接。 …有重邊 參閱圖3,防誤處理模組12另外可設計數種資料檢查 機制如.僅採用定位四顆衛星以上之資料、道路上之反向 1⑽f料予以忽略 '道路上無正向前進但有左右飄移 之!月形在GGA定位準確度範圍内之訊號漂移、失去衛星 訊號時所造成的問題及其他細節修正之紀錄資料。 以上經由防誤處理模組12防止#料誤差及道路分割模 組13的處理後，即產生多個路段組成一道路網，及各座標 點之高度、速度等資料，接下來則是在預定距離内有已知 道路資料的情況下，由道路連接分析模組14進行接續已知 路線及道路重疊分析模組15修飾新增路線等流程。 參閱圖7’假設電子地圖已取得一第—次紀錄路徑7〇1 及-第二次紀錄路# 702，貝,m路重疊分析模组15會分析 第一次紀錄路徑701及第二次紀錄路徑7〇2二道路重疊之 區0 其原理說明如下：假設系統已儲存有第一次紀錄路徑 15 200844399 701及一第二次紀錄路徑7〇2之情況下，分析第二次紀錄路 徑702道路尾端之三個紀錄座標（如：X"、Xu、Xu)，並以 該等座標擴大50公尺搜尋是否有其他路段(如：第一次紀錄 路裣701)之座標與此三座標靠近，並計算紀錄資料之三個 紀錄座標（如·· χ"、Χΐ2、χΐ3)之點與點間的角度，藉此產生 點與點相交之9G度切線（如·· L!、L2、L3)，再計算此切線 與另一連接道路（如··第一次紀錄路徑7〇1)之交會點（如： Mm、Μ)，最後再計算交會點（如·· &、χ22、Μ)與原 始紀錄座標（如·· Xll、χΐ2、χΐ3)之距離（如··山、4、叫，並 以該等距離判斷第一次紀錄路徑7()1及第二次紀錄路徑 疋否屬於同'道路。 I路重f刀析模組15除了判斷第一次紀錄路徑7〇 1及 第二次紀錄路a 702是否屬於同一道路，亦可以就交會點（ 如：X21、X22、x23)與原始紀錄座標（如：χπ、χΐ2、· χΐ3)之距 離（如：山、d2、d3)來推測其道路寬度，巾由道路寬度也可 進一步推估道路中央的分隔島位置。 當道路重疊分析模組15判斷為部份重疊(也就是一部份 已有資料但-部分尚未有資料的情況）時，就必須要由道路 接續模組16實料路接續分析，將第_:欠紀錄路徑701及 第二次紀錄路徑702兩道踗印韩咨％la π逼路紀錄貝枓加以平均並儲存為單 一道路，本較佳實施例是當差距扁 、 J疋田至距在5公尺内則會判斷為同 一道路（如：d!、d2、d3均小於5公尺B士、 2 a尺日寸），並自動將第一次 紀錄路徑701及第二次紀錄路徑702 环給仏/υ2 一路線銜接成同一道 路0 16 ^00844399 參間圖8,在道路方向修正 道路方w析触u分㈣路彳=2驟627)方面，係由 統初步分析刪細83紀錄；;^向，分析方法是當系 料(如第-次紀錄路徑701及第〜曰將所有打車紀錄資 路之形切存，由道路方向分丨錄路徑7G2)以暫存道 進方向，判斷道路為單行道或是雙向道。 路仃 的雙二Γ具有分隔島(以道路寬度推估)甚至是有高低落差 路，，方向分析模…直接判 人^路^ 7ί)1及弟二次紀錄路徑702為兩條行進 目I i目反的單向道。又例如巷弄等紀錄資料重疊之道路， 2分析方向所佔之比率’如果有十次紀錄資料經過此次 =L為左在右的話則道路方向分析模組18會判別為左 <之早向道，若此時出現一次右往左之紀錄資料則會加 以=錄’但系統仍會設定此路為單向道；直到另一向的紀 錄育料比率超過一預定比例（如：20%)後，則會自動更改此 道路為雙向道。 、、再參閱圖3，最後，更新模組19將前述處理後得到的 道路貝料整合於現有的電子地圖，將其儲存至更新地圖資 料庫223内供其他導航裝置3下載使用。 、 歸、、内上述，由於本發明電子地圖自動更新方法及系統 是即時將新的道路資料加入現有電子地圖，比起舊有的地 圖調查技術，更具有優越的準確性、時效性及單一性等優 點，因此對於電子地圖資料庫的建構以及汽車導航系統上 的應用有莫大的幫助。 17 200844399 淮以上所述者，僅為本發明之較佳實施例而已，當不 月b以此限疋本發明實施之範圍，即大凡依本發明中請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1疋一不意圖，說明本發明電子地圖自動更新方法 之較佳實施例； 圖2是一電路方塊圖，說明本發明電子地圖自動更新 系統之較佳實施例； 圖3是一不意圖，說明本發明電子地圖自動更新系統 之處理程式具有的各模組； 圖4是一流程圖，說明處理程式的資料處理模組執行 的流程， 圖5A是一流程圖，說明處理程式的防誤處理模組的一 處理流程； 圖5B是一流程圖，說明處理程式的道路分割模組的一 處理流程； 圖6A是一流程圖，說明處理程式的防誤處理模組的另 一處理流程； 圖6B是-流程圖，說明處理程式的道路分割模組的另 一處理流程； 圖6C是-流程圖，說明處理程式透過分析處理以修飾 道路資訊； 圖7是一示意圖，說明電子地圖已取得_ ^ 弟一次紀錄 18 200844399 路徑及一第二次紀錄路徑時，分析第一次紀錄路徑及第二 次紀錄路徑二道路重疊之原理；及 圖8是一示意圖，說明電子地圖已取得一第一次紀錄 路徑及一第二次紀錄路徑時，分析道路行進方向之原理。 19 200844399 【主要元件符號說明】 1 ....... 11…… • ··貧料處理模組 12...... ···防誤處理模組 13...... •••道路分割模組 14...... 道路連接分析模組 15...... 道路重疊分析模組 16...... •••道路接續模組 17...... 道路特性分析模組 18...... 道路方向分析模組 19...... 更新模組 2 ....... …電子地圖自動 新系統 20...... •••控制單元 21...... …接收單元 22...... •••錯存單元 221 ···· _矣己錄資Μ庙 222 現有地圖 資 料庫 223 更新地圖 資 料庫 23·· 暫存記憶 體 24" 傳輸模組 3… 導航裝置 401 〜408 步驟 501' 〜505 步驟 510〜516 步驟 51 ·. 現有道路 52·· 新道路 53·· 電子地圖 601 〜605 步驟 610〜614 步驟 621 〜627 步驟 701 第一次紀 錄 路徑 702 第二次紀 錄 路後 20Type 7 storage, the temporary road may be connected to the existing road A by the road connection module 16. ...with the heavy side referring to Figure 3, the anti-error processing module 12 can also design several kinds of data inspection mechanisms, such as using only the data of four satellites or more, and the reverse 1 (10) f material on the road to ignore the fact that there is no forward direction on the road. However, there are left and right drifts! The signal drift of the moon shape within the GGA positioning accuracy range, the problems caused by the loss of satellite signals and other details of the corrections. After the above-mentioned anti-error processing module 12 prevents the # material error and the processing of the road segmentation module 13, a plurality of road segments are formed to form a road network, and the height and speed of each coordinate point, etc., and then at a predetermined distance. When there is known road data, the road connection analysis module 14 performs a process of connecting the known route and the road overlap analysis module 15 to modify the new route. Referring to FIG. 7', it is assumed that the electronic map has obtained a first record path 7〇1 and a second record path #702, and the m and m overlap analysis modules 15 analyze the first record path 701 and the second record. The path of 7〇2 and 2 road overlaps is as follows: Assume that the system has stored the first record path 15 200844399 701 and a second record path 7〇2, analyze the second record path 702 road The three record coordinates at the end (eg X", Xu, Xu), and the coordinates of the coordinates are 50 meters to find out if there are other sections (such as: the first record of the road 701) and the coordinates are close to the three coordinates. And calculate the angle between the points of the three record coordinates (such as ·· χ", Χΐ2, χΐ3) of the record data, thereby generating a 9G degree tangent intersecting the points (such as ··· L!, L2, L3 ), then calculate the intersection point of this tangent line with another connected road (such as ··································································· ) the distance from the original record coordinates (such as ····················· The equidistance judges whether the first record path 7()1 and the second record path are the same as the road. The I road weight f knife analysis module 15 determines the first record path 7〇1 and the second record. Whether road a 702 belongs to the same road, or the distance between the intersection point (such as: X21, X22, x23) and the original record coordinates (such as: χπ, χΐ2, ·3) (such as: mountain, d2, d3) The width of the road, the width of the towel from the width of the road can also be further estimated as the position of the island in the middle of the road. When the road overlap analysis module 15 determines that the overlap is partially overlapped (that is, when some of the existing data is available, but some of the data is not yet available) It is necessary to analyze the actual connection of the road connection module 16 and average the _: record path 701 and the second record path 702. For a single road, the preferred embodiment is to judge the same road when the gap is flat and J to the distance of 5 meters (eg d!, d2, d3 are less than 5 meters B, 2 a feet) ), and automatically loop the first record path 701 and the second record path 702 to 仏/υ 2 The first route is connected to the same road 0 16 ^00844399. Figure 8 is in the direction of the road. In the direction of the road, the road is corrected, and the sub-division (4) is 彳 = 2 (step 627). The analysis method is to use the material (such as the first record path 701 and the first record to cut all the forms of the taxi record, and the road direction is divided into the path 7G2) to temporarily store the road direction and determine the road as One-way or two-way. The double Γ of Lulu has a separate island (estimated by the width of the road) or even a high and low drop road, the direction analysis mode... directly judges the road ^ 7ί) 1 and the second record path 702 is the two travel destination I The one-way road opposite to i. For example, the road where the records overlap, such as lanes, 2 the ratio of the direction of analysis. 'If there are ten records, the road direction analysis module 18 will judge the left < early if there is 10 = left to the right. To the road, if there is a record of right to left at this time, it will be recorded as 'recorded' but the system will still set the road as a one-way road; until the record rate of the other direction exceeds a predetermined ratio (eg 20%) After that, this road will be automatically changed to a two-way track. Referring to FIG. 3, finally, the update module 19 integrates the processed road material into the existing electronic map, and stores it in the updated map database 223 for downloading by other navigation devices 3. According to the above, the automatic updating method and system of the electronic map of the present invention instantly adds new road data to the existing electronic map, and has superior accuracy, timeliness and unity compared to the old map surveying technology. And so on, so it is of great help to the construction of the electronic map database and the application on the car navigation system. 17 200844399 The above is only a preferred embodiment of the present invention, and is not limited to the scope of the present invention, that is, the simple scope of the patent scope and the description of the invention in the present invention. Equivalent variations and modifications are still within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a preferred embodiment of an electronic map automatic updating system of the present invention; FIG. 3 is a schematic diagram showing each module of the processing program of the electronic map automatic updating system of the present invention; FIG. 4 is a flowchart showing the flow of execution of the data processing module of the processing program, and FIG. 5A is a flowchart illustrating A processing flow of the error prevention processing module of the processing program; FIG. 5B is a flowchart illustrating a processing flow of the road segmentation module of the processing program; FIG. 6A is a flowchart illustrating the error prevention processing module of the processing program FIG. 6B is a flowchart showing another processing flow of the road segmentation module of the processing program; FIG. 6C is a flowchart showing the processing program modifying the road information through analysis processing; FIG. 7 is a schematic diagram. Explain that the electronic map has been obtained _ ^ brother once recorded 18 200844399 path and a second record path, analyze the first record path and the second record path two The principle of road overlap; and Figure 8 is a schematic diagram illustrating the principle of analyzing the direction of travel of a road when the electronic map has obtained a first record path and a second record path. 19 200844399 [Explanation of main component symbols] 1 ....... 11...... • · Poor material processing module 12... ···Anti-error processing module 13... • Road segmentation module 14... Road connection analysis module 15... Road overlap analysis module 16... ••• Road connection module 17..... Road characteristics analysis module 18... Road direction analysis module 19... Update module 2............ Electronic map automatic new system 20... ••Control unit 21.........Receiving unit 22... ••• erroneous unit 221 ···· _ 矣 录 Μ 222 222 222 Existing map database 223 Update map database 23 ·· Temporary memory 24" Transfer module 3... Navigation device 401~408 Step 501'~505 Steps 510~516 Step 51 ·. Existing road 52·· New road 53·· Electronic map 601 ~ 605 Steps 610~614 Steps 621 to 627 Step 701 First Record Path 702 Second Record Road After 20