TW201331553A - Migration pathway specifying device, migration pathway specifying method, and its program - Google Patents

Abstract

A migration pathway specifying device may include a migration pathway output unit that outputs identification information of a road, which is included in any estimated migration pathway information other than estimated migration pathway information that is determined to be out of migration pathway, among estimated migration pathway information including identification information of a road representing past estimated migration pathway, as identification information of a road representing fixed past migration pathway.

Description

Moving path specific device, moving path specific method and program thereof

The present invention relates to a moving path specifying device, a moving path specifying method, and a program thereof that are provided in a vehicle or the like and that specify a moving path of the vehicle.

The vehicle navigation device installed in a vehicle or the like receives a transmission signal transmitted from a GPS (Global Positioning Satellite) satellite and measures the current position of the vehicle to specify a current traveling road. Further, the vehicle navigation device specifies a hypothetical position corresponding to the actual current position of the vehicle on the specific road of the map displayed on the screen of the vehicle navigation device, and displays the current position of the vehicle at the assumed position. Handling of flags, etc.

Further, Patent Document 1 discloses a technique for displaying a current position on a map output to a display screen.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2008-134187

However, in Europe or Singapore, the toll collection method is used to collect tolls by using a toll collection method that collects tolls based on the actual roads or distances of the vehicles. The toll fee is based on a positioning result of a vehicle using a signal received from a GPS satellite to specify a movement path, and is charged according to the travel distance of the movement path.

Here, the technique of the vehicular navigation device of Patent Document 1 described above is capable of accurately mapping the current vehicle position to the map and displaying it even if the road branch is branched at a slight angle. However, in the case where the vehicle navigation device calculates the moving path of the vehicle and uses the moving path for the calculation of the toll fee, it may still be misjudged as being located on other roads that are not traveling. In such a case, it is possible to cause the wrong path to be used as a moving path for the calculation of the toll fee for charging, so that the toll fee cannot be calculated with high precision.

In view of the above, an object of the present invention is to provide a moving path specific device, a moving path specific method, and a program thereof that can solve the above problems.

In order to achieve the above object, the present invention is a moving path specifying device, comprising: a moving path output unit that includes, in addition to the estimated moving path information including road identification information indicating a past estimated moving path; The road identification information included in any of the estimated movement path information other than the estimated movement path information of the estimated movement path information outside the movement path is output as the road identification information indicating the determined past movement path.

According to the present invention, in the moving path specifying device, the moving path output unit continuously includes the estimated moving path information other than the estimated path information of the estimated moving path information determined to be the moving path. The common road identification information is specifically determined as a past moving path, and outputs road identification information indicating the past moving path.

Further, the present invention is characterized in that in the above-described moving path specifying device The road information specifying unit is configured to specify the road information at a position within the error range from the current position of the own device as the current movement path candidate; and the estimated movement position calculation unit based on the vehicle and the passage having the own device The corresponding moving distance according to the elapsed time, the estimated moving position from the end closest to the current position on each road of the current moving path candidate specified by the road information specific part is sequentially calculated according to the elapsed time; the next path road information specific part And the road information that is calculated to be the road information specified by the road information specific part and is estimated to be closest to the other end of the road information, and the road information connected to the road indicated by the road information is specified as The next route candidate; the estimated travel route information generating unit that specifies the road information specified as the next route candidate from the road information specifying unit that is the current travel route candidate in the road information specifying unit; Link road information and target the next route The specific part is specified as all the road information of the next path candidate, and the road identification information included in the road information included in the road information and the road information specified as the next path candidate in the next route road information specific part is generated. The estimated movement path information to be associated with the movement path; and the movement path outside determination unit that sets the road information specified as the next path candidate by the next route road information specifying unit as the current movement path candidate, and sequentially performs the estimated movement The process of the position calculation unit, the next route road information specifying unit, and the estimated movement path information generating unit determines the estimated movement path information having a low possibility of the movement path candidate in the estimated estimated movement path information as the movement path. Presumed mobile path information.

Further, according to the present invention, in the moving path specifying device, the estimated moving path information generating unit uses at least a position and an extending direction of the road included in the road information specified by the current moving path candidate in the real space. Calculating the estimated likelihood of the road information specific to the current moving path candidate by detecting the position and the traveling direction in the real space detected by the own device, and calculating the calculated estimated likelihood and the specific current movement The road identification information included in the road information of the route candidate is associated with and recorded in the estimated movement path information; and the movement path output unit estimates each of the estimated movement path information other than the estimated movement path information other than the movement path. In the movement path information, the estimated movement path information is specified based on the estimated likelihood, and the identification information of each road included in the estimated movement path information is specified as the determined past movement path and output.

Further, in the above-described movement path specifying device, the movement path output unit specifies each of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined to be the movement path. In the estimated likelihood of the record associated with the most recent road identification information, the estimated estimated path value is the highest, and the road identification information included in the estimated moving route information is specified as the determination. In the past, the path was moved and output.

Further, in the above-described movement path specifying device, the movement path output unit specifies each of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path. The road identification information input from other devices is the most The estimated movement path information recorded by the specific road identification information is specified, and the identification information of each road included in the estimated movement path information is specified as a determined past movement path and output.

Further, in the above-described movement path specifying device, the movement path output unit specifies each of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path. In the estimated likelihood recorded in association with the road identification information included in the road information specified for the current moving path candidate before the specific number of times, the estimated moving path information having the highest value of the estimated likelihood is recorded, and the estimated moving is performed. The identification information of each road included in the path information is specifically determined as a past moving path and output.

Further, in the above-described movement path specifying device, the movement path output unit outputs the road identification information specified as the past past movement path, and outputs the last record in the output road identification information. When it is determined that the road identification information of the mobile route information and the identification information of the connected road that is associated with the location information in the identification information of the connected road included in the new specific road information are inconsistent, it is determined that it is necessary The output of the road identification path representing the determined past moving path is recalculated.

Furthermore, the present invention is a processing method of a moving path specific device, wherein the moving path output portion of the moving path specifying device includes an estimated moving path including road identification information indicating a past estimated moving path. In the information, any estimated moving path other than the estimated moving path information of the estimated moving path information determined to be the moving path The road identification information included in the information is output as road identification information indicating the determined past movement path.

Further, in the above-described processing method, the movement path output unit continuously includes the estimated movement path information other than the estimated movement path information of the estimated movement path information determined to be the movement path. The road identification information is specifically determined as a past moving path, and the road identification information indicating the past moving path is output.

Further, in the above-described processing method, the road information specifying unit of the moving path specifying device specifies the road information at a position within the error range from the current position of the own device as the current moving path. The estimated movement position calculation unit of the movement path specifying unit calculates the current movement path candidates specified by the road information specifying unit in accordance with the elapsed time based on the moving distance corresponding to the elapsed time of the vehicle having the own device. The estimated moving position on the road from the end point closest to the current position; the estimated path position calculated by the path information specifying unit of the moving path specific device specifying the road information specified by the road information specifying unit First approaching the road information at the other end of the road information, the road information connected to the road indicated by the road information is specified as the next route candidate; the estimated movement route information generating unit of the transfer path specific device, from the road information The specific part is specified as the current moving path candidate In the road information, the road information that is connected to the road information of the next route candidate is specified, and the road information specified by the next route road information specifying unit is the next route candidate. Generate the information contained in the road information The road identification information and the estimated movement route information associated with the road identification information included in the road information specified for the next route candidate by the next route road information specifying unit; and the movement path determination by the movement path specifying device The road information specifying the next route road information specifying unit as the next route candidate is set as the current movement route candidate, and the estimated movement position calculation unit, the next route road information specifying unit, and the estimated movement are sequentially performed. The process of the route information generating unit determines the estimated moving route information that is less likely to be moved in the estimated moving route information as the estimated moving route information outside the moving route.

Furthermore, the present invention is a program characterized in that a computer of a moving path specific device functions as a moving path output means for including estimated moving path information indicating road identification information indicating a past estimated moving path The road identification information included in any of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path is output as the road identification information indicating the determined past movement path.

Further, in the above-described program, the movement path output means continuously includes the common estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path. The road identification information is specifically determined as a past moving path, and outputs road identification information indicating the past moving path.

Further, the present invention is characterized in that the above-described program functions as a mechanism for a road information-specific mechanism which is to be at a distance from its own device. The road information of the position where the position exists within the error range is specifically the current movement path candidate; the estimated movement position calculation mechanism is based on the moving distance corresponding to the elapsed time of the vehicle having the own device, and is calculated according to the elapsed time The estimated moving position from the end closest to the current position on each road of the current moving path candidate specified by the road information specific institution; the next path road information specific institution, which is specific to the road information specific institution The road information calculated by the road information is the first to approach the other end of the road information, and the road information connected to the road indicated by the road information is specified as the next path candidate; the estimated movement path information generating mechanism In the road information specified by the road information specific institution as the current movement path candidate, the road information specific to the road information specified by the next route road information specific institution as the next route candidate is specified, and the next route road information is Specific institution specific for the next path candidate All the road information generates the estimated movement path information associated with the road identification information included in the road information and the road identification information included in the road information specified by the next route road information specific institution as the next route candidate; And an out-of-path determination means for setting the road information specified as the next route candidate by the next route road information specifying means as the current movement route candidate, and sequentially performing the estimated movement position calculation means and the next path road The information specifying means and the estimated moving path information generating means determine the estimated moving path information having the lower possibility of the moving path candidate in the estimated estimated moving path information as the estimated moving path information outside the moving path.

According to the present invention, the moving path of the past travel of the vehicle can be calculated with high precision.

Hereinafter, a movement path specifying device according to an embodiment of the present invention will be described with reference to the drawings.

Fig. 1 is a block diagram showing the configuration of a moving path specific device of the embodiment.

In the figure, symbol 1 is a moving path specific device. The movement path specifying device 1 is installed, for example, in a vehicle navigation device provided in a vehicle, or connected to a vehicle navigation device via a communication cable in a vehicle. The movement path specifying device 1 is a high-precision person who determines that the vehicle having the own device has traveled in the past.

The movement path specifying device 1 is connected to the latitude and longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5 provided in the vehicle via a communication cable. The movement path specifying device 1 inputs the information output from the latitude and longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5 to the input unit 10 of the movement path specifying device 1. Further, the movement path specifying device 1 includes the communication unit 11, the map data storage unit 12, the road information specifying unit 13, the estimated movement position calculating unit 14, the next route road information specifying unit 15, the estimated moving route information generating unit 16, and the estimation. Each of the processing unit or the storage unit such as the movement path information storage unit 17, the movement path determination unit 18, the movement path output unit 19, the determination movement path storage unit 20, the charge request response unit 21, and the control unit 100.

The communication unit 11 is a processing unit that receives information from another device via a communication network such as wireless. In the present embodiment, it receives, for example, a signal transmitted by a transmitting device provided along the road or a message transmitted by an information transmission server connected to the network via the wireless base station device.

The map data storage unit 12 stores a memory unit including map data on road information of each road included in the map. The movement path specifying device 1 of the present embodiment is described as an example in which the map data storage unit 12 is provided in the own device, but the map data storage unit 12 may be provided in the external device. In this case, the movement path specifying device 1 reads the information stored in the map data storage unit 12 via the communication cable or the communication network for processing.

Further, the road information specifying unit 13 specifies the movement start of the movement path candidate of the vehicle having the own device from the plurality of road information stored in the map data stored in the map data storage unit 12 based on the information input from the input unit 10. The initial road information processing department.

Further, the estimated movement position calculating unit 14 calculates a processing unit for the position in the specific road information based on the running of the vehicle.

Further, the next route road information specifying unit 15 specifies a processing unit that is road information of the next route candidate.

Further, the estimated movement path information generating unit 16 uses the road information specified as the current movement path candidate or the road information specified as the next path candidate, and generates the association in the order of the movement path and keeps the road information repelled. A processing unit that estimates the movement path information of the road identification information (road ID). Regarding the estimated moving path information, which stores the road ID of the road having the past or current traveling of the vehicle having the moving path specific device 1, The section will be described later. For example, when the estimated movement path information generating unit 16 estimates that it is possible to travel on the roads A, B, C, and D sequentially, the estimated movement path information generating unit 16 generates the estimated movement path information that is sequentially stored in association with the roads A, B, C, and D. Further, the estimated movement path information generating unit 16 may estimate that it is possible to travel on the roads A, B, C, and D, and to estimate that it is possible to travel on the roads A, B, C, and E in sequence. In this case, the estimated movement path information that is stored in association with the IDs of the roads A, B, C, and E is sequentially generated.

The estimated movement path information storage unit 17 stores a memory unit that estimates the movement path information generated by the movement path information generation unit 16. More specifically, the estimated transfer path information generating unit 16 writes the generated estimated moving path information into the estimated moving path information storage unit 17. Thereby, the estimated movement path information storage unit 17 memorizes the estimated movement path information.

Further, the out-of-path determination unit 18 determines a processing unit that includes the estimated movement path information of the information of the road outside the movement path, which is recorded in the estimated movement path information of the estimated movement path information storage unit 17.

Further, the movement path output unit 19 outputs the estimated movement path information other than the estimated movement path information including the information of the road determined as the movement path, and outputs the road information indicating the road information indicating the road of the past movement path.

Further, the movement path storage unit 20 is determined to memorize the memory unit of the road information determined to be the road indicating the past movement path output by the movement path output unit 19.

Further, the charge request response unit 21 is a processing unit that responds to the charge request in response to a charge request from an external device such as a charging device. At this charge In response, the information recorded in the determined movement path storage unit 20 is stored. In other words, when the charge request response unit 21 inputs the charge request, the charge request response unit 21 reads the information recorded in the determined movement path storage unit 20, generates a charge request response including the information, and transmits the charge request response via the communication unit 11 to the transmission source of the charge request. A processing unit for controlling the device.

Further, the control unit 100 controls the input unit 10, the communication unit 11, the road information specifying unit 13, the estimated movement position calculating unit 14, the next route road information specifying unit 15, the estimated moving route information generating unit 16, and the moving path outside determining unit. 18. The processing unit of each processing unit of the movement path output unit 19 and the charge request response unit 21. Further, each of the processing units is provided in the movement path specifying device by executing the program of the CPU of the computer included in the movement path specifying device 1.

Further, the movement path specifying device 1 including the respective processing units or the storage unit estimates the road on the route on which the vehicle of the own device travels in the past, and outputs the road ID of the road indicating the past movement path.

More specifically, the moving path specific device 1 is based on at least the position of the own device in the real space, and includes at least the road information of the plurality of roads divided by the end point, the branch point or the connection point of the road, that is, the road ID In the road information including the position information and the extension direction of the end point and the ID of the connecting road connected to the road (connected road ID), the road information of the location within the error range is specified in the real space of the road. For the current move path candidate.

Further, the movement path specific device 1 is the closest to the specific road information for the specific road information included in the specific road information. The position information of the end point of one of the current positions of the own device in the real space, based on the moving distance of the own device corresponding to the time passage, and the estimated time on the road indicated by the specific road information is sequentially calculated according to the elapsed time position.

Further, the movement path specifying device 1 specifies road information of the other end point of the estimated moving position calculated by the specific road information that is closest to the road information, and represents the road connecting the road to the other end point of the road information. The information is specific to the next path candidate.

Further, the movement path specifying device 1 specifies, from the road information specified as the current movement path candidate, the position information including the end point included in the road information specified as the next path candidate and the end point within a certain distance. The road information of the location information, and the presumption of associating the road ID included in the road information with the road ID included in the road information specific to the next route candidate for all the road information specified as the next route candidate Move path information.

Further, the movement path specifying device 1 sets the road information specified as the next path candidate as the current movement path candidate, and sequentially performs the estimated movement position calculation, the next route road information specification, and the estimated movement route information generation, and generates In the estimated movement path information, the estimated movement path information having a low probability of moving the path candidate is determined as the estimated movement path information outside the movement path.

Further, the movement path specifying device 1 sets the road ID included in any of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path as the path indicating the past movement path. Road ID output.

Further, when the road ID indicating the past moving path is determined, the moving path specifying device 1 continuously includes, for example, the respective estimated moving path information other than the estimated moving path information of the estimated moving path information determined as the moving path. The road ID is specified as a determined past moving path, and outputs a road ID indicating the past moving path.

Further, when outputting the road ID indicating the past moving path, the moving path specifying device 1 is based on the estimation of the estimated moving path information other than the estimated moving path information of the estimated moving path information determined as the moving path. After specifying the estimated movement path information, the road ID included in the estimated movement path information is specified as the determined past movement path and output.

Further, when the road ID indicating the past moving path is determined, the moving path specifying means 1 specifies, for example, the information of each estimated moving path information other than the estimated moving path information of the estimated moving path information other than the determined moving path. The estimated moving route information having the highest value of the estimated estimated likelihood among the estimated likelihoods recorded in the recently specified road ID, and specifying the road ID included in the estimated moving route information as the determined past Move the path and output.

Further, when outputting the road ID indicating the past moving path, the moving path specifying device 1 specifies, for example, each of the estimated moving path information other than the estimated moving path information of the estimated moving path information determined as the moving path, The road ID input by the device is recorded as the estimated moving path information of the most recent specific road ID, and each of the estimated moving path information is included The road ID is specified as a determined past moving path and output.

When the road ID indicating the past moving path is determined, the moving path specifying device 1 specifies, for example, each of the estimated moving path information other than the estimated moving path information of the estimated moving path information other than the moving path. In the estimated likelihood recorded by the road ID included in the road information specified for the current movement path candidate before the specific number of times, the estimated movement path information having the highest value of the estimated likelihood is recorded, and the estimated movement path information is recorded. Each road ID included is specified as a determined past movement path and output.

Further, when outputting the road ID indicating the past moving path, the moving path specifying means 1 outputs, for example, the road ID specified as the past moving path, and if the last recorded road ID is recorded in the estimated moving path information When the road ID is associated with the location information of the connected road ID included in the new specific road information and the recorded connection road ID is inconsistent, it is determined that the road indicating the determined past movement path needs to be recalculated. The output of the ID.

Fig. 2 is a diagram for explaining road information memorized by the map data storage unit.

The road information memorized by the map data storage unit 12 is the information of each road marked on the map indicated by the map data, and the road ID of the road is stored, and the position (latitude, longitude) indicating the connection of the road in the real space is indicated. , extension direction, information on the road ID of other roads, etc. The roads indicated on the map indicated by the map data are divided, for example, at the branch point, the starting point or the end point of the road, and the road ID is assigned to each of the divided roads. By. For example, the road on the map shown in FIG. 2 is divided into nine roads of the road ID1 to ID9 based on the starting point of the road, the branch point, or the connection point with other roads.

Further, among the roads shown in FIG. 2, nine road information of the road ID1 to the road ID9 are recorded in the map data storage unit 12. In addition, in one road information, location information of an end point such as a road start point or an end point of a divided road indicated by a road ID, or a plurality of position information such as an intermediate point may be stored as a real space in the road. The location inside. For example, if it is the ID1 road of FIG. 2, the location information of the connection point connected to the road ID2, the location information of the connection point connected to the road ID3, and the middle point of the road ID1 may be stored in the road information of the road ID1. Location information, etc. Or, in the road information, location information of each point of a specific interval between the endpoints such as the start point or the end point may be stored.

Further, the direction of extension stored in the road information is, for example, an angle with a certain reference direction. For example, if the reference direction is the true north direction, the direction of extension corresponding to the position of the point on a certain road included in the road information is a line connecting the position of another point on the same road adjacent to the point and the reference direction. angle. Further, for example, in the present embodiment, the position information of the plurality of points on the road and the extending direction indicated by the angle from the reference direction of the position information of the plurality of points may be stored in the road information.

In addition, since the road indicating the road ID1 is connected to the road indicated by the road ID2 and the road indicated by the road ID3, the road information including the road ID1 stores the connected road ID2 and the connected road ID3 as the connected road ID. Here, the connected road IDs are, for example, the endpoints included in the road information. In the location information, the location information of the endpoint connected to the side to which the road indicated by the road ID is connected is assigned. That is, for example, if the road information is the road ID1, the road ID2 is connected to the end point A of the road, and the road ID3 is connected to the end point B of the road. Therefore, as the road information of the road ID1, the road ID1, the position information of the end point A, and the position information of the end point B are stored, and the road ID2 is stored in association with the position information of the end point A, and the end point B is stored. The location information is assigned to the association and the road ID3 is stored. In addition, various information in road information can be stored in other forms.

Fig. 3 is a first diagram showing an estimated movement path information data table memorized by the estimated movement path information storage unit.

The estimated movement path information storage unit 17 stores one or a plurality of estimated movement path information generated by the estimated movement path information generation unit 16 in the estimated movement path information data table. In the example of FIG. 3, after the movement path specific device 1 starts processing, it is automatically recorded in the road information recorded in the map data storage unit 12, and is specifically estimated as four road information of the road on which the vehicle having the own device travels, and is recorded in the estimation. Move the situation in the route information sheet.

The example of FIG. 3 is the case where the movement path specific device 1 starts processing, and then the road information including each of the IDs=1, 2, 4, and 5 is specified, and in the corresponding four estimated movement path information. Each of the storage indicates whether it is determined to be a moving path outside the flag and road information outside the moving path. In the present embodiment, the movement path outer flag is set to "0" in the case where it is not determined to be the movement path, and is set to "1" in the case where it is determined that the movement path is outside. Further, the road information stored in the estimated movement path information is, for example, the road ID and the estimated likelihood. Presumed likelihood means that the road is presumed to have a presumption The value of the possibility (reasonability) of the road on which the vehicle of the path specific device travels is calculated by the estimated movement path information generating unit 16.

Fig. 4 is a view showing a processing flow of a moving path specific device.

Next, the processing details of the moving path specific device will be explained step by step using FIG.

First, when the vehicle is started, power is supplied from the battery of the vehicle to the movement path specific device 1 provided in the vehicle. Then, the control unit 100 of the movement path specifying device 1 outputs the start request signal of the road information specifying processing to the road information specifying unit 13. Then, the road information specifying unit 13 starts road information specifying processing (step S101). Further, when the vehicle is started, power is also supplied to the latitude and longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5. Then, the latitude and longitude measuring device 2, the acceleration sensor 3, the gyro sensor 4, and the vehicle speed signal output device 5 respectively output signal detection to the movement path specifying device 1.

Specifically, the latitude and longitude measuring device 2 outputs the current position (latitude, longitude) of the vehicle including the moving path specifying device 1 to the moving path specifying device 1 at a specific interval. Further, the acceleration sensor 3 outputs the current acceleration of the vehicle to the movement path specifying device 1 at a specific interval. Further, the gyro sensor 4 outputs the angle of the vehicle or the angular velocity of the vehicle to the movement path specifying device 1 at a specific interval based on a specific direction. Further, the vehicle speed signal output device 5 outputs a pulse signal (vehicle speed signal) proportional to the number of revolutions of the axle to the movement path specifying device 1. Moreover, the road information specifying section 13 of the moving path specific device 1 first uses the current position in the input information, and the movement that is specific to the error range of the current position is opened. Road information at the beginning of the beginning (step S102).

Fig. 5 is a first diagram showing an outline of the processing of the road information specifying unit.

The process of step S102 will be described in more detail as follows: The road information specifying unit 13 reads the distance within the error range from the memory or the like. Further, the road information specifying unit 13 reads the road information storing the certain road IDx from the map data storage unit 12, and reads the position information closest to the current position among the position information stored together with the road IDx from the road information. And determining whether the distance indicated by the position information and the current position is less than the distance within the error range. When the determination is Yes, the road information specifying unit 13 estimates the road information including the road IDx as a road candidate that may be the initial movement on the movement path and specifies it. Further, the road information specifying unit 13 uses the road information of each road stored in the map data storage unit 12 to determine whether or not there is a road within the error range, and estimates the road information indicating the road within the error range to indicate that there is It may be the road information of the road candidate on the moving path and is specified.

FIG. 5 shows an example of the case where the current position of the vehicle is located near the connection point of the road of the road ID1 and the road of the road ID2. In this case, it is assumed that the distance between the position of the point (end point or the like) on the road included in each of the four road information including the road ID of the road ID 1, the road ID 2, the road ID 4, and the road ID 5 is within the error range. Therefore, the four road information including the road IDs of the road ID 1, the road ID 2, the road ID 4, and the road ID 5 are estimated as road information indicating that it is possible to be a road candidate on the moving route, and is specified.

Then, the road information specifying unit 13 reads from the map material storage unit 12 to include The four road specific road information of the road ID 1, the road ID 2, the road ID 4, and the road ID 5 are output to the estimated movement path calculation unit 14. Further, the road information specifying unit 13 outputs the four pieces of the specified road information as the road information at the initial stage of the movement to the estimated movement path information generating unit 16.

When the road information of the initial stage of the movement start is input, the estimated movement path information generating unit 16 determines whether or not the estimated movement path information has been recorded in the estimated movement path information sheet of the estimated movement path information storage unit 17. Here, in the initial state in which the movement path specifying device 1 inputs electric power, the estimated movement path information is not recorded in the estimated movement path information sheet of the estimated movement path information storage unit 17. The estimated movement path information generating unit 16 reads the road IDs from the road information in the initial stage of the movement specified by the road information specifying unit 13, and generates estimated movements of the number of road information including the road IDs at the beginning of the movement. Path information (step S103). In other words, the estimated moving route information generating unit 16 generates the estimated moving route information 1 including the road ID 1 , the estimated moving route information 2 including the road ID 2 , the estimated moving route information 3 including the road ID 4 , and the estimated moving route information 4 including the road ID 5 . . Then, the estimated moving route information generating unit 16 registers the estimated moving route information 1 to 4 in the estimated moving route information data table.

In this case, the estimated movement path information generation unit 16 associates the movement path outer flag indicating “0” which is not determined to be the movement path, and the road ID1 as the road information, and records it in the estimated movement route information 1 . The estimated movement path information data table in the movement path information storage unit 17 is estimated.

Further, the estimated movement path information generating unit 16 estimates the movement path information. 2. The estimated travel path information table indicating the movement path outer flag of "0" which is not determined to be the state outside the movement path, and the road ID 2 as the road information is recorded in the estimated movement path information storage unit 17. .

In addition, the estimated movement path information generation unit 16 associates the movement path outer flag indicating "0" which is not determined as the movement path, with the road ID 4 as the road information, and records it in the estimation. The estimated movement path information data table in the movement path information storage unit 17.

In addition, the estimated movement path information generating unit 16 associates the movement path information flag indicating the "0" which is not determined as the movement path, with the road ID 5 as the road information, and records it in the estimation. The estimated movement path information data table in the movement path information storage unit 17.

Thereby, the estimated moving route information generating unit 16 generates the estimated moving route information data table shown in FIG.

6A and 6B are a second diagram showing an outline of the processing of the road information specifying unit.

On the other hand, when the estimated movement position calculating unit 14 inputs the road information at the beginning of the movement specified by the road information specifying unit 13, the specific own device is in reality from the end points in the position information included in the road information. Location information within the space that is close to one of the endpoints of the current location. For example, from the four road information including the road ID1, the road ID2, the road ID4, and the road ID5, position information close to one of the current positions is read. Further, the moving distance is sequentially calculated using the vehicle speed signal, the acceleration, the speed, the latitude and longitude, and the like which are input in accordance with the time passage from the input unit 10. The estimated mobile position calculating unit 14 sequentially calculates the respective ones of the specific road information and the specific ones. The estimated moving position corresponding to the moving distance (refer to FIG. 6A) (step S104), the road information specified by the road information specifying unit 13 and the estimated movement of the time-lapse of the specific road information for each of the specified roads The position is output to the next route road information specifying section 15.

The next route road information specifying unit 15 sequentially inputs the road information specified by the road information specifying unit 13 from the estimated moving position calculating unit 14 and the estimated moving position for each of the specified road information. Further, the next route road information specifying unit 15 repeatedly calculates the position information of the other end point different from the one end point included in the road information for each specific road information, and the distance from the estimated moving position, and separately for each road The information is judged to be within a certain distance (step S105). Further, road information that is within a certain distance first is specified (step S106). By the way, it is estimated that the first arrival and the other road are in the case where the movement corresponding to the movement distance indicated by the estimated movement position is estimated on each of the roads indicated by the road information specified by the road information specifying unit 13 The branch point or the road connecting the points.

And, the next route road information specifying unit 15 connects the road information of the road connected to the other end point to the road information of the position of the other end point of the road information specified to be the current position of the vehicle, Specifically, it is road information indicating the road of the next route candidate (refer to FIG. 6B) (step S107). For example, the other end point of the road information that is the location of the other end point of the road information that is specifically closest to the current location of the vehicle is associated, and the connected road ID included in the specific road information is detected. And the road information including the road ID having the same ID as the connected road ID is read from the map data storage unit 12, and the road information is specified to indicate the next path. Road information for alternate roads. In the example of FIG. 6B, the road information of the road ID4 and the road information of the road ID5 are respectively designated as the road information of the next route candidate. Further, the next route road information specifying unit 15 sets the road information of the current travel route candidate specified by the road information specifying unit 13 and the road to be the next route candidate specified by the next route road information specifying unit 15. The information is output to the estimated movement path information generating unit 16.

The estimated movement path information generating unit 16 inputs the road information that is the current movement path candidate specified by the road information specifying unit 13 and is specified by the next route road information specifying unit 15 from the next route road information specifying unit 15. When the road information of the next route candidate is used, the estimated likelihood of each road indicated by the road information of the current travel route candidate is calculated. The estimated likelihood is an index value indicating the degree (rationality) of the possibility that the vehicle is traveling on the road indicated by the road information of the current moving route candidate.

The specific calculation method is, for example, first calculating each position information P1 corresponding to the elapsed time of the vehicle from the time when the road information specified for the current movement path candidate is determined to the time when the road information of the next path candidate is specified. Distance L1, direction of travel D1. Further, the estimated moving route information generating unit 16 reads the respective position information P2 included in the road information of the current moving path candidate, the extending distance L2 between the respective end points of the road, and the extending direction D2. The difference between the position information P1 and the position information P2, the difference between the moving distance L1 and the extending distance L2, the angle indicated by the traveling direction D1 (the angle from the reference direction such as the true north), and the extending direction D2 are calculated based on the elapsed time. The difference between the angles (the angles from the reference directions of the true north and the like) is calculated as the estimated likelihood of the sum of the weighted values. Presumed mobile path The path information generating unit 16 associates the estimated likelihood calculated for the road information that is the current moving path candidate with the road ID of the road information, and records it in the estimated moving path information data table shown in FIG. 3 (step S108). Then, the calculation of the estimated likelihood of all the road information that becomes the current moving path candidate is recorded and recorded in the estimated moving path information table.

Furthermore, after the process of step S106 described above, the next route road information specifying unit 15 sets the road information specified as the next route candidate as the current movement route candidate, and outputs the road information indicating the current movement route candidate. The estimated movement position calculating unit 14 is used. Then, the estimated movement position calculation unit 14 calculates the estimated movement position in the same manner as described above, using the road information of the current movement path candidate input from the next route road information specifying unit 15. Further, based on the estimated movement position, the next route road information specifying unit 15 specifies the specific information to be the next route candidate. Further, the same process is repeated at a specific timing (T1, T2, ...) interval between the estimated movement position calculating unit 14 and the next path road information specifying unit 15, and the next route road information specifying unit 15 is specified. At the interval, the road information of the current movement path candidate is output, and the road information to be the next path candidate is output to the estimated movement path information generating unit 16.

The estimated moving route information generating unit 16 inputs the road information that is the current moving route candidate and the road information that becomes the next route candidate from the next route road information specifying unit 15 at a specific interval. Further, each time the input is made, the estimated movement path information is updated or generated (step S109). More specifically, the estimated movement path information generation unit 16 determines the estimated movement path resource Whether or not the message has been recorded in the estimated movement path information data table of the estimated movement path information storage unit 17. Here, by the above-described processing, each estimated movement path information including the road ID of the road information at the beginning of the movement is already recorded in the estimated movement path information sheet. Then, the estimated movement path information generating unit 16 specifically holds the road having the same connection road ID associated with the position information of the end point included in the road information specified for the next path candidate from the road information specified as the current movement path candidate. ID road information. Further, for all the road information specific to the next route candidate, the estimated movement route information associated with the road ID included in the road information and the road ID included in the road information specified as the next route candidate is generated.

In other words, as described with reference to the example of FIG. 5, FIG. 6A, and FIG. 6B, the road information specified as the current movement path candidate is road information including road ID1, road ID2, road ID4, and road ID5, respectively. Further, the road information specified as the next route candidate is the road ID 4 and the road ID 5 . Further, the estimated moving route information generating unit 16 reads the connected road ID associated with the position information of the end point from each of the road information of the road ID 4 and the road ID 5 specified as the next route candidate. The connection road ID includes the connection road ID2. Further, the estimated moving route information generating unit 16 specifies road information holding the same road ID as the connected connecting road ID from the road information including the road ID 1, the road ID 2 , the road ID 4 , and the road ID 5 . That is, the road information including the road ID2 is specified.

The estimated movement path information generating unit 16 copies the estimated movement path information (the estimated movement path information 2 of FIG. 3) including the road ID of the road information ID2 as the last specific road information, and generates the estimated movement path. In the information, a new estimated movement path 2-2 associated with the road ID2 of the road information of the next route candidate is associated with the road ID2. In addition, the estimated moving route information generating unit 16 similarly copies the estimated moving route information (the estimated moving route information 2 of FIG. 3) including the road ID of the road information ID2 as the last specific road information, and generates it in the estimated moving route information. A new estimated movement path 2-3 in which the road ID 5 of the road information of the next route candidate is specified is associated with the road ID 2 .

Further, the estimated movement path information generating unit 16 reads the road IDs for the estimated movement path information 1 to 4 already recorded in the estimated movement path information storage unit 17, and assigns the same road ID in the road ID and the estimated movement path information. Link and update. In other words, the road ID1 is associated with the road ID1 and updated for the estimated movement route information 1. In the same manner, the road ID 2 is associated with the road ID 2 and updated for the estimated movement route information 2 . In the same manner, the road ID 4 is associated with the road ID 4 and updated for the estimated movement route information 3 . In the same manner, the road ID 5 is associated with the road ID 5 for the estimated movement route information 4 and updated.

The second diagram of the estimated movement path information table stored in the estimated movement path information storage unit is displayed in the 7th line.

By the processing of the estimated movement path information generating unit 16 described above, the estimated movement path information data table stores the estimated movement path information 1, the estimated movement path information 2, the estimated movement path information 2-2, and the estimated movement as shown in FIG. 7, respectively. Path information 2-3, estimated movement path information 3, and estimated movement path information 4. Further, at the end of the above-described processing, in each of the estimated movement path information, the road capital specified in the initial stage of the movement (sequence T1) is recorded. The road ID of the road information (road information 1) and its estimated likelihood are associated with the road ID, and the road information (road information 2) specified by the next route road information specific unit as the next route candidate at the time series T2 is recorded. Road ID. The estimated likelihood associated with each road ID indicated by the road information 2 is not registered at the time of the processing.

Then, the estimated movement path information generating unit 16 inputs the road information which is the current movement path candidate specified by the road information specifying unit 13 and is specified by the next route road information from the next route road information specifying unit 15 next time. When the road information specified by the unit 15 is the next path candidate, the same processing as the above-described calculation method of the estimated likelihood is performed. The estimated movement path information generating unit 16 calculates the estimated likelihood of the roads of the road IDs indicated by the road information 2, and calculates the estimated likelihood for each of the road information that is the current movement path candidate. The road ID associated with the corresponding road information is recorded in the estimated movement path information sheet. Thereby, the road IDs recorded as the road information 2 of each estimated movement route information of FIG. 7 are associated with each other, and the estimated likelihood is recorded.

Then, the movement path outside determining unit 18 performs the estimated movement path information recorded in the estimated movement path information storage unit 17, and records the road ID of the road which is considered to be a low possibility of the movement path as the most recent specific road information. The process of estimating the movement path information of the road ID from the candidate (step S110).

In the process, for example, when the road information notification signal (beacon) storing the road ID is received from the external device via the communication unit 11 during the above-described processing, the road ID read from the road information notification signal is used. Other than The estimated movement path information recorded as the road ID of the last specific road information is excluded from the candidate.

Alternatively, for example, the estimated likelihood of the estimated likelihood in the estimated movement path information is associated with the road ID associated with the last specific road information, and the estimated movement path information recorded with the estimated likelihood below the threshold is excluded from the candidate.

Fig. 8 is a view showing an outline of processing of a determination unit outside the movement path.

Fig. 8 is a diagram showing the estimated movement path information shown in Fig. 7 in a tree diagram. The road information specified by each of the timing T1 and the timing T2 is stored in each estimated movement path information. In this state, the display movement outside-out determination unit 18 estimates the estimated movement path information 1 and the estimated likelihood ratios below the threshold value in association with the latest (time T2) road information based on the estimated likelihood. An example of the case where the movement path information 3 and the estimated movement path information 4 are excluded from the candidates.

Fig. 9 is a third diagram showing the estimated movement path information data table memorized by the estimated movement path information storage unit.

The out of travel path determination unit 18 excludes the road ID record of the road on which the possibility of the moving path is considered to be the last (timing T2) specific road information from the estimated movement path information recorded in the estimated movement path information storage unit 17. As shown in FIG. 9, the path ID is estimated to be the mobile path information, and the moving path outer flag stored in the estimated moving path information determined to be excluded is reset from "0" to "1". Further, the movement path outside determining unit 18 outputs a movement path determination request to the movement path output unit 19.

Next, when the movement path determination unit 18 inputs the movement path determination request, the movement path output unit 19 uses the information recorded in the estimated movement path. The road ID included in the estimated movement route information including the movement path outer flag "0" is specified as the road ID of the movement route from the road ID indicating the road estimated as the past movement route (step S111). Specifically, for example, the movement path output unit 19 sequentially compares the road IDs from the first recorded road ID recorded in all the estimated movement path information including the movement path outer flag "0" of the estimated movement path information storage unit 17. , draw continuous and common road IDs. Then, the movement path output unit 19 specifies the roads indicated by the road IDs that are consecutive and common from the original road ID, as the determined past movement path, and will represent the determined movement path from the initial The road IDs in which the road IDs are continuous and common are recorded in the determined movement path storage unit 20.

Fig. 10 is a first view showing an outline of processing of the movement path output unit.

In the figure, each of the estimated movement path information including the road information specified by each of the timings T1, T2, T3, and T4 is displayed in a tree diagram. Further, based on the estimated movement path information, the road in which the road ID indicated by the first road ID specified by the time series T1 is continuous and common is specified as the case of the determined past movement path. The example of FIG. 10 is the case where the estimated movement path information of the estimated movement path information storage unit 17 including the movement path outer flag "0" is three. Further, the moving path output unit 19 uses the three estimated movement path information to record the road ID ID specified in the time series T1 and the road ID 4 specified in the time series T2 as the road ID that is continuous and common from the first road ID. The movement path storage unit 20 is determined.

Here, the moving path specific device 1 may perform the current position and the current position on the monitor, etc., in addition to the above-described processing. A map matching process for displaying on the map displayed on the display unit (step S112). Further, the control unit 100 of the movement path specifying device 1 determines whether or not the processing is terminated based on the input of the processing suspension request signal, the external charging request signal, and the like included in the wireless signal received from the external device when the power is turned off or enters the parking lot. S113). If it is not completed, the processing from the above step S104 is repeated. In this way, in the estimated movement path information data table of the estimated movement path information storage unit 17, the new estimated movement path information is recorded, the estimated movement path information is updated, or the estimated movement path information is excluded from the candidate. After the step S111, the movement path output unit 19 records the road ID indicating the past movement path sequentially determined by repeating the processing in the determination movement path storage unit 20. Further, for example, when the charging request is input (step S114), the charging request response unit 21 outputs a charging request response stored in the road ID of the determined movement path storage unit 20 to the request source (step S115).

Here, the source of the request for the charge request is, for example, a charge processing device connected via a wireless communication network, or a car navigation device connected via a communication cable. Moreover, the source device is required to perform charging processing based on the road ID stored in the charging request response when the charging request response is input.

Further, the estimated movement path information including the movement path outer flag "0" recorded in the estimated movement path information storage unit 17 may be used, and the road IDs that are continuous and common from the original road ID may not be captured. For example, since road branches and the like are complicated, there are areas where calculation is difficult. In this case, a transmitting device that transmits a road information notification signal storing the road ID may be provided on the road, and the moving path specifying device 1 via the communication unit 11 The road information communication signal is received, and the movement path output unit 19 specifies the road ID determined as the movement path based on the road ID included in the road information communication signal. In this case, the movement path output unit 19 specifies the estimated movement of the road ID read from the road information communication signal as the last recorded road ID from all the estimated movement path information including the movement path outer flag "0". The route information specifies the road indicated by each road ID included in the estimated movement route information as the determined past movement route, and records the road ID indicating the determined movement route in the determined movement path storage unit 20.

Or, in the case of a specific area, the road ID having high reliability is pre-recorded for the last moving path, and the reliability database from the own device is determined when it is determined to be traveling on the road in the area. Read the road ID with high reliability. Further, the road ID may be specified as the estimated movement route information of the road ID of the most recent specific road information, and the road indicated by each road ID included in the estimated movement route information may be specified as the determined past movement route. The road ID indicating the determined movement path is recorded in the determined movement path storage unit 20.

Alternatively, the movement path output unit 19 may use other methods in the above-described processing that is specifically determined to be the past movement path. For example, when the movement path determination unit 18 inputs the movement path determination request, the movement path output unit 19 automatically records the foreign flag including the movement path flag “0” from the estimated movement path information storage unit 17 based on the estimated likelihood. In the estimated movement path information, a specific estimated movement path information is specified, and each road ID included in the estimated movement path information is specified as a road ID indicating the determined past movement path and output. In this case, the movement path output unit 19 is self-recorded in the estimated movement path. In the estimated movement path information of the information storage unit 17 including the movement path outer flag "0", the estimated likelihood of the last recorded information on the estimated movement path is read, and the value indicating the estimated likelihood is recorded as the highest. The road indicated by each road ID included in the estimated movement path information is specified as the determined past movement path.

Fig. 11 is a second diagram showing an outline of processing of the movement path output unit.

In the figure, the moving path output unit 19 specifies the estimated moving path with the highest estimated likelihood value for the road information specific to the last time sequence from the estimated moving path information including the moving path outer flag "0". The information specifies an example in which each road ID included in the estimated movement route information is a road ID indicating the past past movement route and is output. In the example of Fig. 11, in the road information specified at the last timing T4, the estimated likelihood of the road ID4 is the highest. Therefore, the estimated movement path information including the road ID 4 is specified at the timing T4. Further, the movement path output unit 19 specifies the road ID 2, the road ID 4, the road ID 5, and the road ID 4 included in the estimated movement route information as the road ID indicating the determined past movement route, and records it in the determination movement path storage unit 20.

Alternatively, the movement path output unit 19 may be recorded in the estimated movement path information including the movement path outer flag "0" in the estimated movement path information storage unit 17, and the timing specified before the specific number of times is specified as the current one. In the estimated likelihood of recording the road ID of the road information of the moving route candidate, the estimated estimated path value is the highest, and the road ID included in the estimated moving route information is specified as Determine the past movement path and output.

Fig. 12 is a third diagram showing an outline of processing of the movement path output unit.

In the example of the figure, the movement path output unit 19 specifies the estimated movement path information associated with the road information of the specific road information at a time before the specific number of times from the estimated movement path information including the movement path outer flag "0". In the likelihood, the estimated moving path information having the highest value of the estimated likelihood is recorded, and each road ID included in the estimated moving path information is specified as the determined past moving path and output. In the example of FIG. 12, for the estimated movement path information generated so far, the timing is read from the estimated movement path information including the movement path outer flag "0", and the road ID recorded at the last timing T4. The road ID recorded in T3 is associated with the estimated likelihood of the record, and the road ID1, the road ID4, and the road ID4 included in the estimated travel route information having the highest estimated value of the estimated likelihood are designated as the determination. The road ID of the past moving path is recorded in the determined moving path storage unit 20.

Fig. 13 is a fourth diagram showing an outline of processing of the movement path output unit.

The moving path output unit 19 may output the road ID indicating the past moving path to the determined moving path storage unit 20, and then record the road ID of the estimated moving path information in the road ID of the output, and the road ID When the output of the ID is associated with the road ID indicating the newly determined movement path and is associated with the position information closest to the current position among the connected road IDs included in the road information, the recorded connection road ID is inconsistent, and The output representing the road ID of the determined past moving path is calculated.

That is, as shown in FIG. 13(a), the movement path output unit 19 sequentially outputs the road ID 2, the road ID 4, and the road ID 4 as the timings T1, T2, and T3. Past moving paths. In this case, the movement path output unit 19 records the last (time series T3) of the output road IDs in the road ID4 of the estimated movement path information, and the estimated likelihood of the movement path newly determined after the timing (timing T4). The road IDs included in the information of the road ID6 with the highest value are compared. Here, the road ID included in the road information of the road ID 6 includes only the connection road ID 5 and the connection road ID 7 and does not include the connection road ID 4 . Therefore, it can be determined that the road indicated by the road ID 4 is not connected to the road indicated by the road ID 6. Thereby, the moving path output unit 19 records the value of the estimated likelihood of the newly determined moving path in the road ID4 of the estimated moving path information (time T3) and the newly determined road ID (time series T3). When the connection road ID included in the information of the highest road ID6 does not match, it is determined that the determination of the past movement path is to be recalculated. In this case, as shown in FIG. 13(b), the movement path output unit 19 performs recalculation of the road ID of the past past movement path.

Here, in the general map comparison technique, it is sometimes determined that the vehicle is traveling and displayed on a road different from the actual traveling road due to the accuracy of the map comparison. However, according to the processing of the above-described movement path specifying means, based on the estimated likelihood, or the road ID obtained by communication from another apparatus, etc., the road which is estimated to be accurate in traveling is determined, and the determination is made. The road ID output of the road is used as the past moving path. Therefore, the road representing the past moving path can be specified with higher precision than the previous specificity of the road using the map.

14A, 14B, and 14C are views showing an outline of effects of the movement path specifying device.

Figure 14A shows a general map comparison technique. The map comparison technique is based on the received signals from the GPS satellites and specifies the location of the current road. However, the map comparison technique is not accurate, and it is sometimes changed from a situation in which it is determined that the vehicle is traveling on a certain road to a situation in which it is determined to be traveling on another road that is not connected to the road. In this case, it is impossible to determine which road actually travels and whether it arrives on a road that is specifically traveling. However, as shown in FIG. 14B, in the case where the road of the road ID2 identified in the past is connected to the road of the road ID4 and the road of the road ID5, etc., the road or road according to the road ID4 is shown in FIG. 14B. The estimated likelihood of the end of the road of ID5 (at the end of the end of the journey), or the road ID read by the signal from the other device, and which of the roads of the road ID4 and the road ID5 Drive on one. Therefore, as shown in FIG. 14C, each of the connected roads included in the movement path can be specified with high precision.

15A and 15B are a fifth diagram showing an outline of processing of the movement path output unit.

The situation shown in Fig. 15A is an example in which the movement path output unit 19 can determine that there are a plurality of roads as the past movement path. For example, as shown in FIG. 15A, a moving path composed of each road of road ID2 → road ID 5 → road ID 6 → road ID 8 and a moving path composed of road ID 2 → road ID 4 → road ID 7 → road ID 8 are considered. In the case, each moving path is compared to a specific different road, and the sum of the distances of the roads is calculated for each moving path. Further, the movement path having the smallest distance sum may be determined as the past movement path (Fig. 15B). In this way, the fee is charged according to the movement path. In the case of the case, the lowest price charge processing can be considered in consideration of the user's interest. Furthermore, each moving path is compared to a specific different road, and the sum of the toll amounts of the roads is calculated for each moving path. Alternatively, the movement path having the smallest sum of the charge amounts may be determined as the past movement path.

Fig. 16 is a view showing an outline of processing in tunnel running.

The moving path specific device 1 can also stop the determination process of the past moving path from the entrance of the tunnel to the exit of the tunnel. In this case, the next route road information specifying unit 15 detects the road ID indicating the tunnel input by the communication or the like at the tunnel entrance, and the road ID indicating the tunnel input by the communication or the like at the tunnel exit, by detecting both The road ID includes the road information including the road ID (tunnel) as the road information of the next route candidate, and outputs it to the estimated movement route information generating unit 16. Further, the movement path outside determining unit 18 excludes the estimated movement path information of the road ID other than the road ID of the tunnel, and the movement path output unit 19 determines the display of the past from the estimated movement path information of the road ID of the last recorded tunnel. The road ID of the moving path.

Furthermore, there is a computer system inside the above-described movement path specifying device. Moreover, the processes of the above-described processes are performed by reading and executing the program on a computer-readable recording medium in advance in the form of a program. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program can be transmitted to the computer via the communication line, and the program can be executed by the computer receiving the transmission.

Moreover, the above program may also be used to implement one of the above functions. Furthermore, it can be implemented in combination with a program already recorded in a computer system. The above functions are called differential files (differential programs).

[Industrial availability]

The present invention can be widely applied to a moving path specifying device and a moving path specifying method that are provided in a vehicle or the like and that specifies a moving path of the vehicle, and can accurately calculate a moving path in which the vehicle travels in the past.

1‧‧‧Moving path specific device

2‧‧‧Mobile longitude measuring device

3‧‧‧Acceleration sensor

4‧‧‧Gyro sensor

5‧‧‧Car speed signal output device

10‧‧‧ Input Department

11‧‧‧Communication Department

12‧‧‧Map Data Memory Department

13‧‧‧Road Information Specific Department

14‧‧‧Preferred mobile position calculation unit

15‧‧‧Next Path Road Information Specific Department

16‧‧‧Preferred mobile path information generation unit

17‧‧‧ Presumed mobile path information memory

18‧‧‧Out of the path determination unit

19‧‧‧Mobile Path Output

20‧‧‧Determining the mobile path memory

21‧‧‧Requirement Response Department

100‧‧‧Control Department

Fig. 1 is a block diagram showing the configuration of a moving path specifying device according to an embodiment of the present invention.

Fig. 2 is a diagram for explaining road information memorized by the map data storage unit.

Fig. 3 is a first diagram showing the estimated movement path information sheet.

Fig. 4 is a view showing a processing flow of a moving path specific device.

Fig. 5 is a first diagram showing an outline of the processing of the road information specifying unit.

Fig. 6A is a second diagram showing an outline of the processing of the road information specifying unit.

Fig. 6B is a second diagram showing an outline of the processing of the road information specifying unit.

Fig. 7 is a second diagram showing the estimated movement path information sheet.

Fig. 8 is a view showing an outline of processing of a determination unit outside the movement path.

Fig. 9 is a third diagram showing the estimated movement path information sheet.

Fig. 10 is a first view showing an outline of processing of the movement path output unit.

Fig. 11 is a second diagram showing an outline of processing of the movement path output unit.

Fig. 12 is a third diagram showing an outline of processing of the movement path output unit.

13(a) and 13(b) are a fourth diagram showing an outline of the processing of the movement path output unit.

Fig. 14A is a schematic view showing the effect of a moving path specific device.

Fig. 14B is a schematic view showing the effect of the moving path specific device.

Fig. 14C is a schematic view showing the effect of the moving path specific device.

Fig. 15A is a fifth diagram showing an outline of processing of the movement path output unit.

Fig. 15B is a fifth diagram showing an outline of processing of the movement path output unit.

Fig. 16 is a view showing an outline of processing in tunnel running.

1‧‧‧Moving path specific device

2‧‧‧Mobile longitude measuring device

3‧‧‧Acceleration sensor

4‧‧‧Gyro sensor

5‧‧‧Car speed signal output device

10‧‧‧ Input Department

11‧‧‧Communication Department

12‧‧‧Map Data Memory Department

13‧‧‧Road Information Specific Department

14‧‧‧Preferred mobile position calculation unit

15‧‧‧Next Path Road Information Specific Department

16‧‧‧Preferred mobile path information generation unit

17‧‧‧ Presumed mobile path information memory

18‧‧‧Out of the path determination unit

19‧‧‧Mobile Path Output

20‧‧‧Determining the mobile path memory

21‧‧‧Requirement Response Department

100‧‧‧Control Department

Claims (14)

A movement path specifying device comprising: a movement path output unit that includes an estimated movement path including the road identification information indicating the movement path estimated in the past, and the estimated movement path other than the movement path The road identification information included in any of the estimated movement path information other than the estimated movement path information is output as road identification information indicating the determined past movement path. The moving path specifying unit of claim 1, wherein the moving path output unit specifies a common road identification information that is continuously included in each of the estimated moving path information other than the estimated path information of the estimated moving path information determined as the moving path. To determine the past moving path, and output road identification information indicating the past moving path. A moving path specific device according to claim 1 or 2, comprising: a road information specifying unit that specifies road information that is located within a margin within a range of a current position of the own device as a current moving path candidate; and estimates a moving position a calculation unit that calculates, based on the elapsed time, a moving distance corresponding to an elapsed time of the vehicle having the own device, and sequentially calculates one of the most recent current positions on each of the roads of the current moving path candidate specified by the road information specifying unit according to the elapsed time a predicted movement position; the next route road information specifying unit that specifies the road information that is estimated to be closest to the other end of the road information by the road information specified by the road information specific portion, and The road information connected to the road indicated by the road information is specifically the next route candidate; The estimated movement path information generation unit that specifies the road information that is connected to the road information of the next route candidate specified by the next route road information specifying unit from the road information specified as the current movement route candidate by the road information specifying unit, And the road identification information included in the road information and the next route road information specifying unit are specified as the next path candidate for each of the road information specified by the next route road information specifying unit as the next route candidate. The road identification information included in the road information is associated with the estimated movement path information; and the movement outside path determination unit sets the road information specified as the next path candidate by the next route road information specifying unit as the current movement path. The candidate performs the processes of the estimated movement position calculation unit, the next route road information specifying unit, and the estimated movement path information generation unit in sequence, and estimates the possibility that the movement path candidate in the estimated movement path information is low. Move path information, judged to be outside the moving path Given mobile path information. The mobile path specific device of claim 3, wherein the estimated moving path information generating unit detects at least the location and the extending direction of the road included in the real-life space included in the road information of the current moving path candidate, and detects by the own device Calculating the estimated likelihood of the road information specified as the current moving path candidate in the position and the traveling direction in the real space, and calculating the calculated estimated likelihood and the road information specified as the current moving path candidate The road identification information included is associated with and recorded in the estimated movement path information; and the movement path output unit is determined to be pushed outside the movement path In each of the estimated movement path information other than the estimated movement path information of the fixed movement path information, the estimated movement path information is specified based on the estimated likelihood, and the identification information of each road included in the estimated movement path information is specified as the determination. In the past, the path was moved and output. The moving path specifying device of claim 4, wherein the moving path output unit specifies a nearest specific road included in each estimated moving path information other than the estimated moving path information of the estimated moving path information determined to be the moving path In the estimated likelihood of the record in which the identification information is associated, the estimated mobile path information having the highest value of the estimated likelihood is recorded, and each road identification information included in the estimated moving path information is specified as the determined past moving path and output. . The moving path specifying device according to any one of claims 1 to 3, wherein the moving path output unit specifies each of the estimated moving path information other than the estimated moving path information of the estimated moving path information determined to be the moving path, The road identification information input from the other device is used as the estimated movement path information recorded in the most recent road identification information, and the identification information of each road included in the estimated movement path information is specified as the determined past movement path and output. The moving path specifying device of claim 4, wherein the moving path output unit specifies each of the estimated moving path information other than the estimated moving path information of the estimated moving path information determined to be the moving path, and before the specific number of times In the estimated likelihood of the road identification information included in the road information included in the current movement path candidate, the estimated estimated likelihood value is the highest, and the estimated mobile route information is the highest. The identification information of each road included in the estimated movement path information is specifically determined as a past movement path and output. The moving path specific device according to any one of claims 1 to 7, wherein the moving path output unit outputs the road identification information specific to the determined past moving path, and the last record in the output road identification information When it is determined that the road identification information of the mobile route information and the identification information of the connected road that is associated with the location information in the identification information of the connected road included in the new specific road information are inconsistent, it is determined that it is necessary The output of the road identification path representing the determined past moving path is recalculated. A processing method is characterized in that it is a processing method of a moving path specific device, and the moving path output unit of the moving path specifying device includes, in addition to the estimated moving path information indicating road identification information indicating the past estimated moving path, The road identification information included in any of the estimated movement path information other than the estimated movement path information of the estimated movement path information outside the movement path is output as road identification information indicating the determined past movement path. The processing method of claim 9, wherein the moving path output unit specifies the common road identification information continuously included in each of the estimated moving path information other than the estimated moving path information of the estimated moving path information determined as the moving path as The past moving path is determined, and the road identification information indicating the past moving path is output. The processing method of claim 9 or 10, which is a mobile path specific device The processing method, wherein the road information specifying unit of the moving path specific device specifies the road information at a position within the error range from the current position of the own device as the current moving path candidate; and the estimated movement by the moving path specifying device The position calculating unit calculates the moving distance corresponding to the elapsed time of the vehicle having the own device, and sequentially calculates, on the respective roads of the current moving path candidate specified by the road information specifying unit, from the end point closest to the current position, based on the elapsed time. The estimated movement position; the road information specified by the path information specifying unit of the moving path specific device and the road information specified by the road information specifying unit is calculated to be the road information of the other end of the road information The road information connected to the road indicated by the road information is specified as the next route candidate; and the estimated movement route information generating unit of the transfer route specifying device is specified as the road information of the current moving route candidate from the road information specifying unit. , specific with the next path above The road information specifying unit specifies the road information of the road information connection of the next route candidate, and generates road identification including the road information for each road information specified by the next route road information specific part as the next route candidate. And the information, the estimated path information associated with the road identification information included in the road information of the next route candidate specified by the next route road information specifying unit; and the moving path outside determining unit of the moving path specifying device The road information specified by the next route road information specifying unit for the next route candidate is set as the current movement route candidate, and the estimated movement position calculation unit, the next route road information specifying unit, and the estimated movement path information generation are sequentially performed. In the processing of the unit, the estimated movement path information having a low possibility of the movement path candidate in the estimated movement path information generated is determined as the estimated movement path information outside the movement path. A program for causing a computer of a movement path specific device to function as a movement path output means for including the estimated movement path information indicating road identification information of a past estimated movement path, in addition to determining that the movement is The road identification information included in any of the estimated movement path information other than the estimated movement path information of the estimated movement path information outside the path is output as the road identification information indicating the determined past movement path. The program of claim 12, wherein the moving path output means specifies the common road identification information continuously included in each of the estimated movement path information other than the estimated movement path information of the estimated movement path information determined as the movement path as the determination The past moves the path and outputs road identification information indicating the past moving path. The program of claim 12 or 13 further functions as a mechanism for a road information specific mechanism that specifies road information that is within a margin of the current position of the device, and is specified as a current moving path candidate. Presumptive mobile position calculation mechanism based on a vehicle with its own device The moving distance corresponding to the elapsed time, and the estimated moving position from the end closest to the current position on each road of the current moving path candidate specified by the road information specific mechanism according to the elapsed time; the next path A road information specific institution that is specific to the road information specified by the road information specific institution and calculates the road information that is closest to the other end of the road information, and is connected to the road indicated by the road information. The road information is specified as a next path candidate; the estimated movement path information generating means is specific to the road information specified by the road information specifying means as the current moving path candidate, and the specific path and the specific path information specifying means are the next path. The road information of the alternate road information connection, and for all the road information specified by the specific information of the next route road information specific institution for the next route, respectively, the road identification information included in the road information and the next road information are generated. Specific institution specific road for the next path candidate The road identification information included in the message is assigned to the associated estimated movement path information; and the movement outside path determination means sets the road information specified as the next path candidate by the next route road information specifying means as the current movement path candidate And performing, in order, the processing of the estimated moving position calculating means, the next path road information specifying means, and the estimated moving path information generating means, and estimating the possibility that the moving path candidate is low in the estimated estimated moving path information The path information is determined as the estimated moving path information outside the moving path.