WO2005108928A1 - 経路探索装置、経路探索方法、及び経路探索処理プログラム等 - Google Patents
経路探索装置、経路探索方法、及び経路探索処理プログラム等 Download PDFInfo
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- WO2005108928A1 WO2005108928A1 PCT/JP2005/007825 JP2005007825W WO2005108928A1 WO 2005108928 A1 WO2005108928 A1 WO 2005108928A1 JP 2005007825 W JP2005007825 W JP 2005007825W WO 2005108928 A1 WO2005108928 A1 WO 2005108928A1
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- Prior art keywords
- link
- node
- cost
- road
- route
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
Definitions
- the present invention relates to a route search device, a route search method, and a route search processing program.
- the present invention provides a route search device that searches for an optimal route from among the route candidates based on, for example, a link cost set for each of a plurality of links forming a route candidate from a first point to a second point.
- a route search device that searches for an optimal route from among the route candidates based on, for example, a link cost set for each of a plurality of links forming a route candidate from a first point to a second point.
- technical fields such as methods.
- a link cost set for each link for example, a road corresponding to the link, etc.
- the total link cost is obtained by multiplying the weights in consideration of road attributes such as the distance and the road width in the section of the section, and a route candidate having the minimum total link cost is searched as an optimum route.
- the total cost (total link cost and total node cost) is considered in consideration of the node cost of a node connecting a plurality of links that are not limited to the link cost.
- the node cost can be determined by using a right / left turn. In the case of a right turn, it is difficult to turn, and the node cost is increased.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2000-329574
- Patent Document 2 Japanese Patent Application Laid-Open No. 2003-57054
- route A two routes having the same departure point and destination and different from each other, and one of the routes (hereinafter referred to as "route A") has a total cost of "1400” (total link cost of "1000").
- the total cost of the other route (hereinafter referred to as” route B ") is" 1600 "(total link cost is” 1500 ", total node cost is” 100 "). (That is, route A has more right or left turns than route B, but the distance is shorter, so the route is the optimal route).
- the link cost decreases according to the traveling frequency, and the difference due to the distance difference between the route A and the route B is relatively smaller than before learning.
- the total cost of route A for example, “900” (total link cost power 500, the total node cost is “400”)
- the total cost of route B for example, , "850” (total link cost is "750", total node cost is "100")
- the route B is reversed as compared to before learning, and the route B, which is the optimal route, is selected as the optimal route There is an inconvenience that it will be lost.
- an object of the present invention is to provide a route search device, a route search method, a route search processing program, and the like which can solve such inconveniences as one problem and can search a more optimal route with high accuracy. I do.
- a first point force is set based on a link cost set for each of a plurality of links constituting a path candidate to a second point.
- a route search device that searches for an optimum route from among candidates, a route corresponding to one link to a route corresponding to another link via a connection portion corresponding to a node to which at least two links are connected.
- Determining means for determining at least one of the following: determining the attribute of the road corresponding to at least one of the links connected to the node; and determining the status of the road.
- a node cost indicating the difficulty of the movement from the road corresponding to the one link to the road corresponding to the other link, based on a result of the discrimination by the discriminating means.
- the node cost according to a combination of two or more of the presence or absence of the element, the number of connections of the link, the connection shape of the road corresponding to the link, the attribute of the road, and the state of the road.
- An acquisition means for acquiring, and a route search means for searching for the optimum route based on the link cost and the acquired node cost are provided.
- the determination means further determines the direction of the movement from the road corresponding to the one link to the road corresponding to the other link, and Is characterized by acquiring the node cost corresponding to two or more combinations including the direction of movement based on the determination result by the determination unit.
- the acquisition unit may acquire the node cost according to the one or a combination of any two or more from a plurality of preset node costs.
- the attribute of the road includes a width of a road corresponding to the one link and a width of a road corresponding to the other link.
- the attribute of the road includes a width of a road corresponding to a link other than the first link and the other link.
- the road condition includes a traffic condition of a road corresponding to the other link.
- the road condition includes a traffic condition of a road corresponding to a link other than the first link and the other link.
- a link learning degree setting means for setting a learning degree of the link according to a frequency of a moving object passing through a road corresponding to the link, and a connection portion corresponding to the node.
- Node learning degree setting means for setting the learning degree of the node in accordance with the frequency of movement of the moving body from the road corresponding to one link to the road corresponding to the other link, and a link cost set for the link and Link cost calculation means for calculating a new link cost for the link using the learning level of the link; and a new node cost for the node using the acquired node cost and the learning level of the node.
- a node cost calculating means for calculating the route cost, based on the new link cost and the new node cost.
- the link cost set for each of a plurality of links constituting a route candidate to the first point force and the second point and at least two links are different.
- a route search device that searches for an optimal route from among the route candidates based on a node cost set for each of a plurality of connected nodes, a link search is performed according to the frequency of a moving object passing through a route corresponding to the link.
- Link learning level setting means for setting the learning level of the mobile terminal, and the link learning level setting means for setting the learning level according to the frequency with which the moving object moves from the road corresponding to one link to the road corresponding to the other link via the connection portion corresponding to the node.
- a node learning degree setting means for setting a learning degree of a node; and a link for calculating a new link cost for the link using the link cost set for the link and the learning degree of the link.
- List calculation means node cost calculation means for calculating a new node cost at the node using the node cost set for the node and the learning level of the node, and the new link cost and the new node cost.
- a route searching means for searching for the optimum route based on the route.
- the rate of change between the new link cost calculated by the link cost calculation means and the original link cost may be calculated based on the new link cost calculated by the node cost calculation means. It is characterized in that the ratio of change between the original node cost and the original node cost is substantially the same.
- the node learning degree setting means moves from a road corresponding to one link to a road corresponding to another link via a connection portion corresponding to the node.
- the learning of the node is distinguished between a case where the body moves and a case where the moving body moves from the road corresponding to the other link to the road corresponding to the one link via the connection corresponding to the node.
- the degree is set.
- the node cost may be determined based on a case where a moving object moves from a road corresponding to one link to a road corresponding to another link via a connection portion corresponding to the node. And a case where the moving object moves from a road corresponding to the other link to a road corresponding to the one link via a connection portion corresponding to the node. .
- a navigation device includes: the route searching device; and a presentation unit that presents information on the route using the searched optimal route; It is characterized by having.
- the first point force is based on the link cost set for each of a plurality of links constituting a path candidate that reaches the second point.
- the road corresponding to one link moves from the road corresponding to one link to the road corresponding to the other link via the connection part corresponding to the node to which at least two links are connected
- determine whether there is a restricting element that regulates the movement determine the number of links connected to the node, and determine the connection shape of the road corresponding to the link to the connection part corresponding to the node.
- the node cost which indicates the difficulty of moving from the road corresponding to the link of (1) to the road corresponding to the other link, based on the result of the determination, the presence or absence of the restriction element, Obtaining the node cost according to one or any combination of two or more of the number of connections, a connection shape of a road corresponding to the link, an attribute of the road, and a status of the road; and Searching for the optimal route based on a link cost and the acquired node cost.
- the first point force also has a link cost set for each of a plurality of links constituting a route candidate to the second point, and at least two points.
- a route search method for searching for an optimum route from among the route candidates based on a node cost set for each of a plurality of nodes to which a link is connected, according to a frequency with which a moving object passes through a route corresponding to the link. Setting the learning level of the link by using a link corresponding to the node, and setting the learning level of the link according to the frequency with which the mobile body moves from the road corresponding to one link to the road corresponding to the other link via the connection corresponding to the node.
- a route search processing program includes a link cost set for each of a plurality of links constituting a route candidate from a first point to a second point.
- a computer that searches for an optimum route from the route candidates based on the route from a route corresponding to one link to a route corresponding to another link via a connection portion corresponding to a node to which at least two links are connected.
- At least one of the shape determination, the attribute of the road corresponding to at least one of the links connected to the node, and the status of the road is determined.
- Discriminating means for performing distinction, a road force corresponding to the first link, a node cost indicating difficulty in moving to a road corresponding to the other link, and a node cost based on a discrimination result by the discriminating means.
- the node cost according to one or a combination of two or more of the presence or absence of a regulatory element, the number of links connected, the connection shape of the road corresponding to the link, the attributes of the road, and the status of the road.
- a route search unit that searches for the optimum route based on the link cost and the obtained node cost.
- a route search processing program includes a link cost set for each of a plurality of links constituting a route candidate from a first point to a second point. And a node set for each of multiple nodes to which at least two links are connected
- a link learning degree setting unit configured to set a learning degree of the link according to a frequency of a moving object passing through a path corresponding to the link, a computer that searches for an optimal route from the route candidates based on cost;
- Node learning level setting means for setting the learning level of the node in accordance with the frequency at which the moving object moves to a road corresponding to another link via a connection corresponding to the link,
- a link cost calculating means for calculating a new link cost for the link using the set link cost and the learning level of the link, and a node cost set for the node and the learning level of the node.
- a node cost calculating means for calculating a new node cost at the node, and based
- the route search processing program is a recording medium recorded in a computer-readable manner.
- FIG. 1 is a diagram showing an example of a schematic configuration of an in-vehicle navigation device according to the present embodiment.
- FIG. 2 is a diagram showing an example of a connection portion called a runabout.
- FIG. 3 is a flowchart showing an example of a route search process in a system control unit 8.
- FIG. 4 is a flowchart showing an example of a link cost calculation process in step S3 of FIG.
- FIG. 5 is a flowchart showing an example of a node cost calculation process in step S7 of FIG.
- FIG. 6 is a diagram showing an example of a node cost table in which a plurality of node costs preset in accordance with combinations of road connection shapes, road attributes, presence / absence of regulatory elements, and directions of travel are registered.
- FIG. 7 is a conceptual diagram showing an example of two patterns in which a road corresponding to the same link and an intersection corresponding to the same node travel in different directions.
- FIG. 8 is a diagram showing a schematic configuration example of a communication navigation system.
- the navigation device for a vehicle is mounted on a vehicle as an example of a moving object, and operates by being supplied with power from a battery mounted on the vehicle.
- FIG. 1 is a diagram showing an example of a schematic configuration of an in-vehicle navigation device according to the present embodiment.
- the navigation device S for in-vehicle use includes a GPS (Global Positioning).
- the System It includes a receiving unit 1, a sensor unit 2, a traffic information receiving unit 3, an information storage unit 4, a display unit 5, a voice output unit 6, an operation unit 7, a system control unit 8, and the like.
- the GPS receiver 1 receives a navigation radio wave output from a GPS satellite orbiting the earth placed in a satellite orbit via an antenna (not shown), and based on the received signal, present position information (longitude). And latitude) and output them to the system control unit 8 as GPS data.
- the sensor unit 2 detects, for example, a speed sensor that detects the speed of the vehicle based on a vehicle speed pulse, a direction sensor (gyro sensor) that detects the traveling direction of the vehicle using geomagnetism, and detects the acceleration of the vehicle. It is equipped with an acceleration sensor, a distance sensor that detects the distance traveled by the vehicle, etc., and outputs data (speed data, direction data, acceleration data, travel distance data, etc.) detected by these sensors to the system control unit 8. It is supposed to.
- the traffic information receiving unit 3 is, for example, a VICS (Vehicle Information and Communication).
- the information storage unit 4 includes, for example, a CD (Compact Disc) ROM drive, a DVD (Digital
- data for performing route search, route guidance, and the like include, for example, map data, link data, node data, and route guidance data, and further prompt the user to input or select. (For example, menu data).
- the map data includes, for example, a plurality of areas (mesh ) Have data.
- Each region data has an image of the region, and data such as the length of one side of the region (that is, the length obtained by reducing the actual terrain length according to the scale of the map).
- a plurality of these area data are continuously arranged vertically and horizontally.
- each area data includes roads, intersections, bends, junctions, junctions, traffic lights, signs (for example, one-way), tolls on toll roads, toll road interchanges, famous places, and buildings. This includes information such as names (marks) indicating location, position information (longitude and latitude, and coordinates (X, Y) in map data).
- the roads in the map data are composed of link forces as a plurality of line segments, and at least two links are connected by one node.
- This node corresponds to, for example, a connection portion including a junction (junction point) such as an intersection, a bend point, a branch point, a junction, or an interchange of a toll road.
- the connection part may include a road connection part (within a broken line) called a runabout, which is often found in Europe and other places where power is applied at the intersection and the like.
- link ID a unique identification number
- node ID a unique identification number
- the link data includes, for each link, a link ID of the link, a node ID of two nodes to which the link is connected, a distance of a road corresponding to the link (distance of a road section), an attribute, and a direction. (These information is associated with each link).
- the attributes of the road include, for example, information such as the width of the road, the number of lanes on the road, whether the road is one-way or two-way, and whether or not there is a right / left turn lane.
- a link cost is set as a weight in consideration of a road distance, a road attribute, and the like corresponding to the link. For example, when the distance of the road is short or when the width of the road is wide, the time required for traveling in the section becomes short, so that the link cost is set to be small.
- the node data includes, for each of the above nodes, a node ID of the node, position information of the node (longitude and latitude, coordinates (X, Y) in map data), and a link of a link connected to the node. It has information such as ID.
- each node Pico is a connection part corresponding to the node from the road corresponding to one link.
- a node cost is set as a weight indicating the difficulty of moving a vehicle to a road corresponding to another link (straight ahead, right / left turn, etc.) via.
- Difficulty of movement of the vehicle through the connection part is as follows: (i) the direction of the movement (for example, a straight traveling direction, a right turn direction, a left turn direction, etc.); (Iii) the presence or absence of regulatory elements (eg, traffic lights, signs (eg, temporary stops), tolls on toll roads, traffic regulators, obstacles such as buildings, etc.), and (iii) the number of road connections to that connection ( (For example, three-forked, four-forked, five-forked, etc.), (iv) the connection shape of the road at the connection part (for example, a crossroad, a crossroad, etc.), and (V) the road connected to the connection part.
- regulatory elements eg, traffic lights, signs (eg, temporary stops), tolls on toll roads, traffic regulators, obstacles such as buildings, etc.
- the number of road connections to that connection (For example, three-forked, four-forked, five-forked, etc.), (iv) the connection
- Attributes of two roads e.g., width or number of lanes of a road before turning right or left at an intersection, width or number of lanes of running road after turning right or left at an intersection, facing before turning left or right at an intersection (front )
- the width of the road (not a driving road !, the road) or the number of lanes, the width of the driving road before going straight through the intersection or
- at least one of the roads connected to the connection E.g., traffic conditions on the driving road before turning right or left at the intersection (e.g., traffic congestion), traffic conditions on the driving road after turning right or left at the intersection, roads facing before turning right or left
- a node cost corresponding to the node is set for each node. For example, when a vehicle makes a right turn from a wide road to a narrow road via an intersection, it is difficult to make a turn, so the node cost is set large. Also, in this case, if there is no signal at the intersection, it is harder to turn, so the node cost is set higher. Further, in this case, if the road after the right turn is congested, the node cost is set higher because the turn is more difficult.
- the route guidance data includes image data, character data, voice data, and the like used for route guidance described later.
- the data and the program for performing the route search and the route guidance are not recorded in the information storage unit 4 but may be, for example, the Internet and a mobile communication network (including a wireless base station). Alternatively, the information may be stored and stored in a predetermined server connected to a communication network including the above, and transmitted from the server and output to the system control unit 8 as appropriate.
- the display unit 5 includes, for example, a drawing processing unit, a buffer memory, a display (for example, a liquid crystal display, an organic EL display, or the like), and the like, and the drawing processing unit is controlled by the system control unit 8. After rendering and drawing map image data and image data related to route guidance in the buffer memory, display them on the display screen of the display (for example, map display, route display, list display of route distance and fare, etc.) It is like that.
- the display also displays, for example, a menu under the control of the system control unit 8, for prompting the user for an input instruction or a selection instruction.
- the audio output unit 6 includes, for example, a DAC (digital Z analog signal converter), an amplifier, and speed.
- the audio data relating to the route guidance output from the system control unit 8 is converted into a DZA by the DAC. After conversion, it is amplified by an amplifier and output as sound waves from the speaker.
- the operation unit 7 has a plurality of operation buttons for receiving an input instruction or a selection instruction (for example, a destination instruction) from the user, and corresponds to the operation button pressed by the user.
- An instruction signal is output to the system control unit 8.
- the system control unit 8 includes a CPU having an arithmetic function, a working RAM, a ROM for storing various data programs, and the like, and controls the entire components of the navigation device S. ing.
- the CPU of the system control unit 8 reads and executes a program (including the route search processing program of the present application) for performing route search, route guidance, and the like stored in the information storage unit 4, for example.
- 8a a link cost calculation unit 8b as link cost calculation means, a link learning degree setting unit 8c as link learning degree setting means, and a discrimination unit, an acquisition unit, and a node cost calculation unit.
- Each node functions as a node cost calculation unit 8d, a node learning degree setting unit 8e as a node learning degree setting unit, a route search unit 8f as a route searching unit, and a route guidance unit 8g as a presentation unit. It has become.
- the current position calculation unit 8a receives the speed data, the direction data, the acceleration data, the mileage data, and the like output from the sensor unit 2, and based on these data, the current position information (longitude and latitude) of the vehicle. And the coordinates (X, Y) in the map data are calculated. Further, the current position detecting unit 8a corrects the calculated current position information of the vehicle as appropriate based on the GPS data from the GPS receiving unit 1. Note that the method of calculating the current position information of the vehicle is a known technique, and further detailed description will be omitted.
- the link cost calculation unit 8b acquires and sets the link cost of each of a plurality of links constituting the route candidate to the destination as the second point, for example, as well as the current geographical strength as the first point, and sets these links.
- the total link cost of each route candidate is calculated based on the cost.
- the link cost set for each link is, for example, a link cost according to the distance, attribute, traffic condition, etc. of the road corresponding to the link from among a plurality of link costs set in advance. It is calculated and obtained using parameters such as the distance or attribute of the road corresponding to the link or the traffic condition.
- the link learning degree setting unit 8c sets the learning degree of the link according to the frequency of the vehicle passing (running) on the road corresponding to the link.
- the degree of learning of the link is, for example, a value that is set in proportion to the number of times of traveling (traveling) on the road corresponding to the vehicle counter (that is, the greater the number of times, the greater the degree of learning of the link). It is.
- the link cost calculation unit 8b calculates a new link cost for the link using the link cost set for the link and the degree of learning of the link set for the link.
- the link cost calculation unit 8b calculates the total link cost of each route candidate based on these new link costs.
- the new link cost decreases, for example, as the learning level of the link increases. In other words, as the frequency of passing through the road corresponding to the link increases, the link cost decreases.
- the node cost calculation unit 8d provides the plurality of nodes for connecting at least two or more links. Each node cost is obtained and set, and the total node cost of each route candidate is calculated based on these node costs.
- the node cost set for each node may be, for example, among a plurality of node costs set in advance, (i) the direction of movement of the vehicle via the connection, and (ii) the movement via the connection. (Iii) the number of road connections to the connection, (iv) the shape of the road connection at the connection, and (V) the road connected to the connection. (Vi) Node costs corresponding to one or a combination of any two or more of the conditions of at least one of the roads connected to the connection part are acquired. Alternatively, it is calculated and obtained using parameters in consideration of the above-mentioned elements (i) to (vi).
- the node cost calculation unit 8d determines, when a vehicle moves from a road corresponding to one link to a road corresponding to another link via a connection part corresponding to the node, Determination of the direction of movement of the vehicle via the connection, determination of the presence or absence of a regulatory element that regulates the movement, determination of the number of links connected to the node, and determination of the connection to the connection corresponding to the node. At least one of determination of a connection shape of a road corresponding to a link, determination of an attribute of a road corresponding to at least one of the links connected to the node, and determination of a state of the road. Perform two distinctions.
- the node learning degree setting unit 8e calculates the learning level of the node in accordance with the frequency of the vehicle moving to the road corresponding to one link via the connection part corresponding to the node.
- the learning level of the node is, for example, a value set in proportion to the number of times the vehicle passes through the connection part corresponding to the node (that is, the higher the number of times, the higher the learning level of the node). .
- the node cost calculation unit 8d calculates a new node cost for the node using the node cost set for the node and the learning level of the node set for the node.
- the node cost calculation unit 8d calculates the total node cost of each route candidate based on these new node costs.
- the new node cost decreases, for example, as the learning level of the node increases. In other words, as the frequency of passing through the connection portion corresponding to the node increases, the node The strike will be smaller.
- the route search unit 8f searches for an optimal route from the route candidates based on the link cost and the node cost. For example, the total cost, which is the sum of the total link cost calculated by the link cost calculation unit 8b and the total node cost calculated by the node cost calculation unit 8d, is calculated for each route candidate. A route candidate with a low cost (for example, the smallest) is searched for as an optimal route. The optimum route may be searched for more than one.
- the route guidance unit 8g While recognizing the current position of the vehicle calculated by the current position calculation unit 8a, the route guidance unit 8g performs consistency of whether or not the current position is located on the road, that is, so-called map matching processing. Using the optimal route searched by the route searching unit 8f and presenting information on the route (route (route) guidance (guidance) of the optimal route, distance and fee of the optimal route, etc.) to the user, that is, The information is displayed on the display unit 5 and the sound is output from the sound output unit 6.
- FIG. 3 is a flowchart illustrating an example of a route search process in the system control unit 8
- FIG. 4 is a flowchart illustrating an example of a link cost calculation process in step S3 in FIG. 3
- FIG. 4 is a flowchart showing an example of a node cost calculation process in step S7 in FIG.
- a menu screen is displayed on the display of the display unit 5.
- the route search process shown in FIG. 3 is started.
- the system control unit 8 (route search unit 8f) reads map data, link data, node data, and the like for performing a route search from the information storage unit 4.
- the position of the current position of the vehicle calculated by the current position calculation unit 8a and the position entered by the user. Recognize the position of the input destination (Step Sl).
- the system control unit 8 extracts all links connected to the current location (step S2) and registers them in the link table (for example, registers a link ID). .
- the system control unit 8 executes a link cost calculation process of the link registered in the link table (step S3).
- the details of the link cost calculation process are shown in FIG. 4 and will be described later.
- step S4 determines whether or not the calculation of the link cost of all the links registered in the link table has been completed (step S4), and the process ends. If not (step S4: N), the process returns to step S3. On the other hand, when the calculation of the link costs of all the registered links is completed (step S4: Y), the process proceeds to step S5.
- step S5 the system control unit 8 (route search unit 8f) determines whether or not the force has reached the destination, and if the force has not reached the destination, (step S5: N), proceed to step S6, and when it reaches the destination (step S5: Y), proceed to step S10.
- step S6 the system control unit 8 (route search unit 8f) extracts all nodes connected to the links registered in the link table and registers them in the node table (for example, Register the node ID).
- the system control unit 8 executes a node cost calculation process for the nodes registered in the node table (step S7).
- the details of the node cost calculation process are shown in FIG. 5, but will be described later.
- step S8 determines whether or not the calculation of the node costs of all the nodes registered in the node table has been completed. If not (step S8: N), the process returns to step S7. On the other hand, when the calculation of the node costs of all the registered nodes is completed (step S8: Y), the process proceeds to step S9.
- step S9 the system control unit 8 (route search unit 8f) extracts all links connected to all nodes registered in the node table (step S9), and links the link tape. New registration and return to step S3. Then, the system control unit 8 (link cost calculation unit 8b) calculates link costs of all newly registered links in step S3, as described above (step S4). If it is determined that the destination has not been reached in step S5 (step S5: N), all nodes connected to those newly added links are extracted (step S6). Is newly registered in the node table
- the calculation of the link cost and the node cost is performed until the destination point is reached.
- the link cost calculated in step S3 is integrated for each route candidate, and is acquired as the total link cost by the system control unit 8 (route search unit 8f).
- the node cost calculated in step S7 is also integrated for each route candidate, and is acquired by the system control unit 8 (route search unit 8f) as the total node cost. That is, if there are a plurality of route candidates from the current point to the destination point, the total link cost and the total node cost are calculated for each of the route candidates.
- step S10 the system control unit 8 (route search unit 8f) calculates a total cost that is the sum of the calculated total link cost and total node cost for each of the route candidates.
- Step S10 a route candidate with a small total cost (for example, the smallest) is searched as an optimal route (Step S11) and determined.
- the system control unit 8 executes the route planning process, that is, recognizes the current position of the vehicle calculated by the current position calculation unit 8a. While using the searched optimal route, information about the route (route (route) guidance (guidance) of the optimal route, distance and fee of the optimal route, etc.) is presented to the user, that is, the information is displayed on the display unit 5. Or output audio from the audio output unit 6.
- step S10 an example is shown in which the total link cost and the total node cost are separately integrated and calculated. For example, the link cost and the node cost are calculated for each route candidate. Each time, the total cost may be added to the total cost (in this case, the processing in step S10 becomes unnecessary).
- the system control unit 8 selects one of the links registered in the link table, and responds to the selected link.
- the distance, attribute, traffic condition, and the like of the road to be determined are determined based on the link data and the road traffic information from the traffic information receiving unit 3 (step S31).
- the link cost corresponding to the determined combination of the distance, attribute, traffic condition, etc. of the road is acquired (for example, stored at a specific address in the RAM) (step S32), and the link cost is determined.
- the link cost may be configured such that parameters such as the distance, attribute, traffic condition, and the like of the determined road are substituted into a predetermined calculation formula and calculated and acquired each time. .
- other parameters such as the average travel time (average time required to pass through the road corresponding to the link), the average vehicle speed, and the road speed limit may be used in addition to the above parameters. ,.
- step S33 determines whether or not the learning level of the selected link has been set.
- Step S33: Y calculate the new link cost for the link using the link cost acquired and set above and the learning level of the link (acquired from the link learning level setting unit 8c).
- Step S34 calculate the new link cost for the link using the link cost acquired and set above and the learning level of the link (acquired from the link learning level setting unit 8c).
- step S35 the process proceeds to step S35.
- the new link cost is calculated, for example, by the following equation (1).
- LC indicates a new link cost
- LC0 indicates the original link cost (the set link cost).
- S indicates the degree of learning of the link, and is, for example, the number of times the vehicle has passed the road corresponding to the link.
- K1 is a constant or a function that defines the rate of change between the new link cost LC and the original link cost LC0.
- the system control unit 8 converts the finally acquired or calculated link cost into a corresponding route candidate (that is, a route candidate that passes through the road corresponding to the link). Is added to the total link cost, and this is stored (updated) as a new total link cost. (Step S35), the process returns to the process shown in FIG. 3 (the process proceeds to Step S4). Thus, each time a link cost is calculated, it is added to the total link cost of the corresponding route candidate.
- step S35 The calculated link cost is added to the total link cost of the corresponding route candidate, and this is stored (updated) as a new total link cost.
- the ⁇ 1 link '' when a vehicle moves to a road corresponding to another link via an intersection such as a T-shaped road, a crossroads, a five-way intersection, etc. It will be referred to as “entry link” and “other link” as “exit link”.
- entity link and “other link” as “exit link”.
- exit link when going straight from a road corresponding to an entrance link to a road corresponding to an exit link via a crossroad, a road orthogonal to the road corresponding to the entrance link and the exit link (that is, a road other than the entrance link and the exit link).
- a link corresponding to a link (a road that a vehicle crosses) is referred to as an intersecting link. Also, when making a right or left turn from a road corresponding to an incoming link to a road corresponding to an exit link via a crossroad, the road facing (before) before turning right or left at the crossroad is referred to as an oncoming link. .
- the system control unit 8 selects one of the nodes registered in the node table, and responds to the selected node.
- the direction of the movement is determined (step S71), and the result is stored.
- the angle formed by the incoming link and the outgoing link is calculated from the direction of the road corresponding to the incoming link and the outgoing link, and the angle is set within a predetermined right turn angle range.
- the system control unit 8 determines the presence or absence of a restriction element (for example, a signal) that restricts movement via the connection part corresponding to the selected node (step S72). ) And memorize the result.
- a restriction element for example, a signal
- the presence or absence of such a regulatory element can be determined from map data.
- the system control unit 8 determines the connection shape (for example, a crossroad or a crossroad) of the road to the connection part corresponding to the selected node (step S7). 3), and store the result.
- the strong connection shape can be determined based on the angle between the incoming link connected to the node and other links.
- the system control unit 8 calculates, for example, the attributes of the roads corresponding to the entrance link and the exit link among the roads connected to the connection part corresponding to the selected node. (For example, it is determined that the width is large (for example, 10 m or more), the width is normal (for example, 5 m or more and less than 10 m, and the width is small (for example, less than 5 m)) (Step S74), and the result is stored. As described above, the number of lanes on the road may be determined instead of the width of the road corresponding to the entrance link and the exit link.
- the system control unit 8 determines a plurality of node costs set in advance (for example, a node cost as shown in FIG. 6) based on the determination results in steps S71 to S74. From the node costs registered in the table, node costs corresponding to combinations of the determined road connection shape, road attributes, presence / absence of regulatory elements, and direction of travel are acquired (for example, RAM (Stored in the address) (step S75). The node cost is obtained after substituting parameters such as the determined road connection shape, road attribute, presence / absence of a restriction element, and direction of movement into a predetermined calculation formula. You may comprise so that it may be. Also, at least one of the above-described steps S71 to S74 may be at least any one of the above-described steps without performing all of the determination processes.
- Fig. 6 shows an example of a node cost table in which a plurality of node costs set in advance according to combinations of road connection shapes, road attributes, presence / absence of regulatory elements, and directions of travel are registered.
- FIG. Such a node cost table is used, for example, for performing a route search.
- the data is recorded in advance on a CD-ROM, DVD-ROM, HD, or the like.
- the node cost is calculated based on the connection shape of the road (for example, a crossroad, a crossroad), the attribute of the road (for example, the width of the road), the presence or absence of a regulatory element (for example, a traffic light), It depends on the direction of movement (for example, left turn, right turn, straight ahead).
- the node cost as shown in Fig. 6 is determined in consideration of certain basic principles (including empirical rules).
- a basic principle for example, if the connecting part corresponding to the node is a crossroad with a signal and the width of the road corresponding to the approach link is wide, the green signal time is long and the left signal waiting time is short, so the vehicle turns left. The difficulty of turning right is low, but the traffic volume is high and the waiting time for a right turn signal becomes longer, which makes the right turn more difficult. Also, in this case, for example, when the width of the road corresponding to the exit link is narrow, the right turn lane is made harder, or the signal dedicated to right turn is made ineffective, so that it becomes more difficult for the vehicle to make a right turn.
- the connecting portion corresponding to the node is a crossroad with a signal and the width of the road corresponding to the incoming link is narrow, and the width of the road corresponding to the exit link is wide, the signal waiting time for turning right and left The difficulty of making a right or left turn becomes high because of the long road, and the difficulty of making a right turn becomes even higher when there is no traffic light at the crossroads.
- the connecting portion corresponding to the node is a crossroad with a signal and the width of the road corresponding to the crossing link is wide and the width of the road corresponding to the exit link is small
- the signal waiting time for traveling straight The longer, the more difficult it is for the vehicle to go straight (crossing), and vice versa, the shorter the signal waiting time for going straight, the less difficult it is to go straight.
- the connecting part corresponding to the node is a crossroad with no signal, and the width of the road corresponding to the crossing link is wide and the width of the road corresponding to the exit link is small (the difference in width between these roads is large). ), The difficulty of straight ahead (crossing) of the vehicle becomes extremely high.
- connection corresponding to the node is a T-shaped intersection with a signal
- the difficulty of turning right and left remains the same. is the better of the T-junction becomes lower.
- node cost table shown in Fig. 6 forces taking three types of directions (left-turn direction, right-turn direction, and straight-ahead direction) as examples of the direction of the movement are not limited to these.
- the node cost may be divided into four or more directions according to the turning angle to distinguish the node costs.
- signals are taken as an example of the above-mentioned regulatory elements, but other elements such as signs (for example, temporary stops), tolls on toll roads, traffic regulators, and obstacles such as buildings are also incorporated. May be used to distinguish node costs.
- three types of width were taken as an example of the attributes of the above roads.
- the road cost can be divided into four or more types and the node cost can be distinguished.
- the node cost may be distinguished.
- two types of shapes (T-shaped road, cross-shaped road) were taken as examples of the connection shapes of the above roads, but they were divided into three or more types (for example, including Y-shaped roads, five-way roads, etc.) Costs may be differentiated.
- the contents of the determination in the determination processing in steps S71 to S74 are configured to be added or changed accordingly (for example, a sign (for example, a temporary Stop), to determine whether there are tollgates on toll roads).
- the system control unit 8 acquires the road traffic information of the road from the traffic information receiving unit 3, and corresponds to, for example, the exit link connected to the selected node. Judgment of traffic conditions on the road, for example, whether or not there is congestion (step S78), and if there is congestion (step S78: Y), consider the congestion in the node cost acquired in step S77. The calculated costs are added to obtain a new node cost (step S79).
- the node cost acquired in step S79 is set for the node (node ID).
- a force configured to determine the traffic condition (congestion) of the road corresponding to the exit link is not limited to this.
- the traffic of the road corresponding to the oncoming link It may be configured to determine the situation (congestion). In other words, if the road corresponding to the oncoming link is congested, it becomes more difficult for the vehicle to make a right turn, increasing the node cost accordingly.
- the traffic condition (traffic congestion) of the road corresponding to the exit link is determined in steps S71 to S74, and the traffic condition (traffic congestion) of the road is stored in the node cost table. May be configured to distinguish node costs.
- the system control unit 8 learns the selected node It is determined whether the degree has been set (step S80) . If the degree has been set (step S80: Y), the node cost acquired in step S79 above and the set node cost and the Using the learning level of the node (obtained from the node learning level setting unit 8e), a new node cost for the node is calculated (step S81).
- step S80 N
- the process proceeds to step S82.
- the new node cost is calculated by, for example, the following equation (2).
- NC (100-K2 (Sl + S2) / 2) X NCO / IOO-
- NC indicates a new node cost
- NC0 indicates the original node cost (the node cost acquired in step S79).
- (S1 + S2) Z2” indicates the learning level of the node.
- the learning level of the entering link S1 for example, the number of times the vehicle has passed the road corresponding to the entering link
- the learning level of the exit link S2 For example, the value obtained by dividing the sum of the number of times the vehicle has passed the road corresponding to the exit link
- the learning level of the link set for each link described above can be used.
- the node learning level setting unit 8e which does not calculate the node learning level from the ingress link learning level S1 and the exit link learning level S2, counts the number of times the vehicle passes through the connection part corresponding to the node. It may be configured to set it as the learning level of the node.
- the learning level (1 + 32) 72) of the node expressed by the above equation (2) is not distinguished between the case of pattern 1 and the case of pattern 2. That is, when a vehicle moves from a road corresponding to one link to a road corresponding to another link via a connection portion corresponding to a node, There is no distinction between the case where the vehicle moves from the road corresponding to the above-mentioned other link to the road corresponding to the above-mentioned one link via the connection portion corresponding to the node. Therefore, the learning degree of the node in the case of pattern 1 is set to “S12”, and the learning degree of the node in the case of pattern 2 is set to “S21”. It is more preferable to count the number of times the vehicle passes through S12 and S21 separately, and set the learning level of the node separately for the case of Noturn 1 and the case of Pattern 2.
- NC (100-K2 X S12) X NC0 / 1OO-
- NC (100-K2 X S21) X NCO / IOO-(4)
- K2 in the above equations (2) to (4) is a constant or a function that defines the rate of change (ratio) between the new node cost NC and the original node cost NC0. It is desirable that the change rate between the link cost LC and the original link cost LC0 be the same as K1 (formula (1) above). As a result, when the vehicle travels on a certain route, the link cost and the node cost decrease at the same ratio (ratio) according to the traveling frequency, and thus, the inconvenience described in the problem of the present application is avoided. Can be.
- the total cost of the route A is, for example, “700” (total link cost S “500”, total node The cost is "200")
- the total cost of route B is, for example, "800” (the total link cost is "750", the total node cost is "50")
- the total cost is reversed compared to before learning.
- Route A which should be the optimal route to be connected, is normally selected as the optimal route.
- Route A which should be the optimal route without total cost reversing compared to before learning, is normally selected as the optimal route.
- “K2” in the above equations (2) to (4) is not necessarily the same as “K1” in the above equation (1), and is of the same order of magnitude. And there is a certain difference,).
- the system control unit 8 (node cost calculation unit 8d) The cost is added to the total node cost of the corresponding route candidate (that is, the route candidate passing through the connection portion corresponding to the node), and this is stored (updated) as a new total node cost (step S82). Then, the process returns to the process shown in FIG. 3 (moving to step S8). Thus, every time a node cost is calculated, it is added to the total node cost of the corresponding route candidate.
- step S82 step S79 is performed. Then, the set node cost obtained and added to the total node cost of the corresponding route candidate is added, and this is stored (updated) as a new total node cost.
- the vehicle moves from the road corresponding to one link to the road corresponding to another link via the connection corresponding to the node.
- the direction of movement of the vehicle through the connection portion the presence or absence of a restricting element that regulates the movement, the number of links connected to the node, and the connection corresponding to the node.
- Determining the connection shape of the road corresponding to the link to the part determining the attribute of the road corresponding to at least one of the links connected to the node, determining the state of the road;
- At least any one of the above obtains (matched) node costs corresponding to one or any combination of two or more of these, and determines the optimal cost based on the node costs and the link costs. Since the system is configured to search for a route, the accuracy of the total cost of the route can be further improved, and a more optimal route can be searched with higher accuracy, and a route that is truly easy for the user to travel with a vehicle can be calculated. It becomes.
- the concept of learning is applied to a node cost that can be easily reduced by link cost, so that the link cost and the node cost are changed at a similar rate according to the traveling frequency of the vehicle. Therefore, it is possible to avoid the inconvenience of reversing the total cost between routes having the same running frequency as compared to before the learning, and to accurately (accurately) search for the optimal route.
- the direction of movement of the vehicle via the connection portion corresponding to the node, the presence / absence of a regulating element for regulating the movement via the connection portion, and the like are determined, and the determination is made according to the determination result.
- the regulatory element for example, Signal
- the change cycle information etc.
- the configuration may be such that the waiting time and the change cycle are further determined, and the node cost corresponding thereto is acquired.
- the node cost may be dynamically set in consideration of a change in a traffic change cycle or a signal change cycle depending on a time at which the route search process is executed or a time at which the route guidance process is started.
- route searching device and the method of the present invention are applied to the vehicle navigation device S mounted on the vehicle.
- present invention is not limited to this, so-called communication navigation.
- the route search device and method of the present application may be applied to the system.
- FIG. 8 is a diagram showing a schematic configuration example of a communication navigation system.
- a communication navigation system SX includes a communication navigation terminal 10 mounted on a vehicle, and the communication navigation terminal 10 includes an antenna 10a and a mobile communication network (including a radio base station). And a communication center device (a fixedly installed server device) 11 connected via the network.
- the communication navigation terminal 10 is a GPS positioning device (Global Positioning System) receiving unit 1, a sensor unit 2, a traffic information receiving unit 3, a display unit 5, a voice output unit 6, an operation Unit 7 and a communication unit for communicating with the communication center device 11 via the mobile communication network 12, and further controls and controls transmission and reception of information to and from the communication center device 11.
- a terminal control unit (not shown) is provided.
- the communication center device 11 is a communication unit for communicating with the communication navigation terminal 10 via the mobile communication network 12, and is stored (recorded) in the information storage unit 4 of the above-described in-vehicle navigation device S.
- a storage unit that stores data and programs for performing route search, route guidance (route guidance), and the like, and a system having substantially the same functions as the system control unit 8 in the in-vehicle navigation device S.
- the control unit for example, a current position calculation unit 8a, a link cost calculation unit 8b, a link learning degree setting unit 8c, a node cost calculation unit 8d, a node learning degree setting unit 8e, a route search unit 8f, and a route guidance unit 8g Have) etc.
- the communication center apparatus 11 appropriately transmits the minimum necessary map data and the like to the communication navigation terminal 10 in response to a request from the communication navigation terminal 10 via the mobile communication network 12. (See FIG. 3 to FIG. 5), and the route guidance process (the route guidance unit 8g uses the optimal route searched by the route search unit 8f to perform the route search process). , The information about the route is presented to the user through the communication navigation terminal 10).
- the vehicle is an example of a moving object
- the present invention is applied to an in-vehicle navigation device S or a communication navigation system SX.
- the present application can be applied to various things, and the same effects as in the above embodiment can be obtained.
- a pedestrian which may be applied to animals or a bicycle is an example of a moving object
- a pedestrian or a person driving a bicycle has a portable terminal (some ⁇ is installed on a bicycle).
- a mobile phone for example, a PDA (Personal Digital Assistant), a PHS (Personal Handyphone System), or a notebook PC (Personal Computer)).
- PDA Personal Digital Assistant
- PHS Personal Handyphone System
- notebook PC Personal Computer
- the “road” corresponding to the link includes, for example, a pedestrian road (sidewalk), and the “road situation” includes, for example, a sidewalk congestion state.
- a ship or an aircraft is used as an example of a moving object, and the present application may be applied to a navigation device mounted on a ship or an aircraft.
- a "road" corresponding to a link is
- a sea route corresponds
- a “connection portion” corresponding to a node corresponds to, for example, a port or an airfield.
- a train user is an example of a moving object, and the present application may be applied to a portable terminal of the train user.
- a "road” corresponding to a link may be, for example,
- the route (for example, Yamanote Line) corresponds to the “connection part” corresponding to the node, for example, “ride”
- the "station with change” corresponds to the "road condition", for example, the congestion in the train.
- the train route map data is stored as map data in the portable terminal of the train user or a server connected to the portable terminal via a mobile communication network. Will also be stored.
- the mobile terminal of the train user switches from the "line” corresponding to one link to the other link via the "transfer station” corresponding to the node to which at least two links are connected.
- a “train user” moves (transfers) to the corresponding “line”, it determines whether there are any regulatory elements (for example, stairs or ticket gates) that regulate the movement, and determines the number of links connected to the node.
- Determination determination of the connection shape of the "route” corresponding to the link to the connection part corresponding to the node, and attribute of the "route” corresponding to at least one of the links connected to the node (E.g., operation intervals) and / or the status of the "route” (e.g., congestion) is determined (the time required for transfer may be added to the determination target). ⁇ ).
- the mobile terminal of the train user determines whether or not the control element exists, the number of links, the connection shape of the road corresponding to the link, the attributes of the road, and The node cost corresponding to one or any combination of two or more of the road conditions is obtained, and the link cost (determined by the route distance, the attribute, etc., as in the above-described embodiment) and the obtained Based on the node cost, search for the optimal route from among the route candidates from the first point (for example, Tokyo Station) to the second point (for example, Shibuya Station) (Other settings of the link and node learning level, and Calculation of new link costs and node costs based on this is of course also applied). Also in this case, as shown in FIG. 6, a node cost table in which a plurality of node costs preset in accordance with a combination of the connection shape of the route, the attributes of the route, and the presence / absence of the restriction element is registered. Is prepared.
- the present invention is not limited to the above embodiment.
- the above embodiment is an exemplification, and has substantially the same configuration as the technical idea described in the claims of the present invention.
- Technical scope of the invention Enclosed in the box.
Description
Claims
Priority Applications (3)
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EP05734117A EP1752738A4 (en) | 2004-05-07 | 2005-04-25 | ROAD SEARCH DEVICE, ROAD SEARCH METHOD, ROAD SEARCH PROCESSING PROGRAM, ETC. |
US11/579,670 US20080114542A1 (en) | 2004-05-07 | 2005-04-25 | Route Searching Device, Route Searching Method, and Route Searching Processing Program |
JP2006512955A JP4358228B2 (ja) | 2004-05-07 | 2005-04-25 | 経路探索装置、経路探索方法、及び経路探索処理プログラム等 |
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JP2004138718 | 2004-05-07 | ||
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Also Published As
Publication number | Publication date |
---|---|
EP1752738A1 (en) | 2007-02-14 |
EP1752738A4 (en) | 2012-12-12 |
JP2009080127A (ja) | 2009-04-16 |
US20080114542A1 (en) | 2008-05-15 |
JP2009075123A (ja) | 2009-04-09 |
JP4358228B2 (ja) | 2009-11-04 |
JP4700723B2 (ja) | 2011-06-15 |
JPWO2005108928A1 (ja) | 2008-07-31 |
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