WO2007111062A1 - 情報生成装置及び情報生成方法 - Google Patents
情報生成装置及び情報生成方法 Download PDFInfo
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- WO2007111062A1 WO2007111062A1 PCT/JP2007/053199 JP2007053199W WO2007111062A1 WO 2007111062 A1 WO2007111062 A1 WO 2007111062A1 JP 2007053199 W JP2007053199 W JP 2007053199W WO 2007111062 A1 WO2007111062 A1 WO 2007111062A1
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- Prior art keywords
- road
- information
- branch
- pattern
- lane
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Classifications
-
- 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
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- 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
-
- 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
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/09685—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is computed only once and not updated
-
- 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
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
Definitions
- Information generating apparatus information generating method, etc.
- the present application relates to an information generation apparatus and an information generation method for generating information that associates an image with a branch point in order to display an image at a branch point of a road in a navigation system that performs vehicle route guidance.
- Technical field relates to an information generation apparatus and an information generation method for generating information that associates an image with a branch point in order to display an image at a branch point of a road in a navigation system that performs vehicle route guidance.
- each branch point and the illustration image at the time of map data creation is conventionally performed manually, for example, by an operator referring to an actual photographed image of the branch point one by one.
- the illustration image was created by the operator referring to the photographed image, the cost required for these operations was excessive.
- the number of branches, road shapes, lanes, etc. vary widely, and in advance, illustration images that can handle all patterns are created in advance. As a result, the burden of creating illustration images increases and the work efficiency also deteriorates.
- Patent Document 1 For example, in Patent Document 1, a universal branch guidance image pattern is stored in advance, the road data power is also searched for a branch point, and the connection relationship between the approach and exit routes and the number of lanes are determined. Based on this, a method for generating a schematic diagram of a branch by synthesizing an image pattern is disclosed. [0007] Also, in Patent Document 2, if there is a merging point or a lane decrease between the vehicle position force branch point and the lane number immediately after the merging point or lane decrease, Is disclosed.
- Patent Document 1 Japanese Patent Laid-Open No. 2001-74490
- Patent Document 2 JP-A-11-94582
- the present application has been made in view of the above points, and one example of the problem is the work of associating a branch point with a road image at the branch point, and the cost required to create the image. It is intended to provide an information generation device and an information generation method for generating information for associating a road image that can clearly recognize the traveling direction at a branch point with the branch point.
- road pattern data indicating a road pattern at the branch point is based on road data.
- the road data includes lane connection information between roads connected at the branch point, and based on the road data, one road and a plurality of escape roads at the branch point are obtained. Based on the road identification means to be identified and the lane connection information between the identified approach road and the two adjacent escape roads, the branch between the two adjacent escape roads is addressed.
- a boundary line presence / absence information generating means for generating boundary line presence / absence information indicating whether or not a boundary line separating each lane of the approach road exists, and between the identified approach road and each escape road Boundary line correspondence information for generating boundary line correspondence information indicating a correspondence relationship between a boundary line that divides each lane of the approach road and a boundary line that divides each lane of the escape road based on the lane connection information in
- a road pattern generation unit that generates the road pattern data of the branch point including the generated boundary line presence / absence information and boundary line correspondence information.
- a computer is caused to function as the information generation device.
- the road data includes lane connection information between roads connected at the branch point, the step of specifying one approach road and a plurality of escape roads at the branch point based on the road data; Based on the lane connection information between the entered approach road and two adjacent exit roads, there is a boundary line that divides each lane of the approach road corresponding to the branch between the two adjacent exit roads.
- the approach road is generated based on the step of generating boundary presence / absence information indicating whether or not to perform and the lane connection information between the specified approach road and each escape road.
- boundary line correspondence information indicating a correspondence relationship between a boundary line partitioning each lane and a boundary line partitioning each lane of each escape road, and the generated boundary line presence / absence information and boundary line correspondence Generating the road pattern data of the branch point made of information.
- FIG. 1 is a diagram showing an example of a schematic configuration of a data creation device S according to the present embodiment.
- FIG. 2 is a diagram showing a branch illustration example according to the present embodiment.
- FIG. 3 is a diagram showing a branch illustration example according to the present embodiment.
- FIG. 4 (a) is a diagram showing an example of a combination of branches, and (b) is a diagram showing an example of assignment of branch illustrations to multistage branches.
- FIG. 5 is a diagram showing an example of the configuration of one record in an illustration pattern table or the like.
- FIG. 6 is a diagram showing an example of the configuration of one record in an illustration pattern table or the like.
- FIG. 7 is a diagram showing an example of the configuration of one record in an illustration pattern table or the like.
- Arrows are diagrams showing an example of an ID assignment condition, where (a) is a single-stage branch and (b) is a multi-stage branch.
- FIG. 10 (a) is a diagram illustrating an example of setting conditions for a branch point flag, and (b) and (c) are diagrams illustrating an example of setting a branch point flag.
- FIG. 11 is a diagram showing an example of main line flag setting conditions.
- FIG. 12 is a diagram showing an example of a shape ID and an image of a corresponding road shape on the illustration.
- FIG. 13 (a) is a diagram showing an example of an acquired image of an angle array
- FIG. 13 (b) is an example of an arithmetic expression for a determination angle for assigning a shape ID based on the angle array.
- FIG. 14 is a diagram showing an example of setting conditions of a shape ID.
- ⁇ 15 It is a figure showing an example of the adjustment image of the number of lanes in a single stage branch, (a) is an actual road, and (b) is a branch illustration after adjusting the number of lanes.
- FIG. 16 is a diagram showing an example of an adjustment image of the number of lanes in multistage branching.
- FIG. 19 is a flowchart showing a processing example of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 20 is a flowchart showing an example of single-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 21 is a flowchart showing an example of multistage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 22 is a flowchart showing a processing example of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 23 is a flowchart showing an example of single-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 24 is a flowchart showing an example of multistage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- FIG. 25 is a flowchart showing an example of difference processing of the system control unit 11 of the data creation device S according to the present embodiment.
- an illustration to be created is created by associating an illustration for guiding a traveling direction at a branch point of a road with each branch point. This is an embodiment in the case where the present application is applied to a data creation apparatus that creates the data.
- FIG. 1 is a diagram showing an example of a schematic configuration of a data creation device S according to the present embodiment.
- the data creation device S includes a system control unit 11 having a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and various programs and data. From a storage unit 12 (for example, a hard disk drive) and an optical disc such as a CD (Compact Disc) or DVD (Digital Versatile Disc).
- a storage unit 12 for example, a hard disk drive
- an optical disc such as a CD (Compact Disc) or DVD (Digital Versatile Disc).
- An optical disk drive 13 that records data on an optical disk that can be added to and rewritten, and a display unit 14 that displays information such as characters and images (for example, a CRT (Cathode Ray Tube) display, Liquid crystal display, etc.), an operation unit 15 (for example, a keyboard, a mouse, etc.) that receives operation instructions from the user and outputs the instruction contents to the system control unit 11 as instruction signals, a LAN (Local Area Network), etc. And a communication unit 16 that controls the communication state with other computers.
- the control unit 11 and each unit are connected to each other via a system bus 17.
- the system control unit 11 includes road identification means, boundary line presence / absence information generation means, boundary line correspondence information generation means, road pattern generation means, shape pattern generation means, lane number information generation means, determination means, It constitutes an example of a road pattern list generating means, an image specifying means, a branch point pattern list generating means, and a difference pattern list generating means.
- the data creation device S for example, a personal computer, a workstation, or the like can be applied.
- the system control unit 11 reads and executes various programs (information generation processing programs and the like) stored in the ROM and the storage unit 12 to control the entire data creation device S and to function as the above-described units. It has become.
- the system control unit 11 stores network data of roads constituting map data in a certain area in the storage unit 12 via the optical disc drive 13 and the communication unit 16. Then, this network data is read, and an illustration pattern table, an all assignment list, a difference pattern list, etc., which will be described later, are generated and stored in the storage unit 12.
- the network data (an example of road data) includes the shape of each road in a certain area, the number of lanes, lane connection information between each road at a branch point, and the like. Specifically, for example, a node indicating a branching point or a road state change point on a road, latitude / longitude information of an interpolation point of a link connected to the node, and each lane in the link in another link Information on whether or not the power is connected to which lane is included.
- This network data can be used, for example, by incorporating it into the map data used in existing navigation systems, etc., or by conducting field surveys. You can use what is made.
- the various programs may be recorded on a recording medium such as a CD-ROM and read via the optical disk drive 13, and predetermined programs may be stored via the communication unit 16. You can also download messy! ,.
- FIG. 2 and FIG. 3 are diagrams showing examples of branch illustrations according to the present embodiment.
- a branch illustration is an illustration showing an overall view of a road at a branch point of a road (a branch point on a highway, a toll road, etc. in an example of this embodiment) and an exit direction in which a vehicle should travel. It is.
- Fig. 2 (a) is a first example of a branching illustration showing a single-stage two-branch where a road splits in two directions at one branching point.
- one approach road before the branch and two escape roads after branching are drawn, and the approach lane line 1 (an example of a boundary line) is drawn on the left side of the approach road. It is connected to escape lane line 2 (an example of a boundary line) of the escape road. This indicates that it is possible to enter the left lane of the left escape road as it is with the left lane force.
- approach lane line 1 is not drawn on the right side of the approach road, indicating that it is possible to enter both lanes of the right escape road from the right lane.
- lane line 3 (an example of a boundary line) corresponding to the branch between the two escape roads is drawn.
- arrow 4 indicating that the vehicle should proceed to the left escape road.
- such illustrations are prepared for each exit direction at the same branch point.
- FIG. 2 (b) is a second example of a branch illustration showing a single-stage two-branch.
- the lane lines from the approach road are connected to both the left and right escape roads.
- the corresponding lane line is not drawn on the branch between the two escape roads. This indicates that it is possible to enter (branch) two escape roads from one lane (an example of a lane) on the entry road.
- the angle at which the left escape road curves is different from the angle at which the right escape road curves.
- FIG. 2 (c) is a third example of a branch illustration showing a single-stage two-branch.
- the width of the road that escapes to the left is wider than the width of the road that escapes to the right. This means that the escape road on the left is the main line and the escape road on the right is the rampway.
- the main road often has a plurality of lanes, but there may be points where lane information is set in the original network data. Therefore, in order to make the branch illustration as close as possible to reality, the width of the main line was widened. In this way, navigation system users (drivers, passengers, etc.) can easily distinguish between the main line and the ramp.
- Fig. 3 (a) is an example of a branching illustration showing a single-stage three-branch where a road is divided into three directions at one branching point.
- branch illustrations up to three branches are prepared.
- Fig. 3 (b) is an example of a multi-stage branching illustration in which a road splits in two directions at the front branch point, and a road splits in two directions ahead of the escape road. This indicates that there is a further branch point (second stage) within a predetermined distance from the first branch point (first stage).
- branch illustrations of up to two stages are prepared. To do.
- FIG. 4 (a) is a diagram showing an example of a combination of branches
- FIG. 4 (b) is a diagram showing an example of assignment of branch illustrations to multistage branches.
- Fig. 4 (a) As shown in Fig. 4 (a), in this embodiment, there are 2 branches and 3 branches in the first stage, 2 branches and 3 branches in the second stage, and the combinations are 4 patterns. It has become.
- branch illustrations corresponding to the second-stage branches are associated. For example, as shown in Fig. 4 (b), if an actual road has two branches at the first stage, and there are second branches at the ends of the branched left and right roads, The illustration in which the road is represented by a multistage branch (Illustration 1 in Fig. 4 (b)) is associated with the illustration in which the road on the right is represented by a multistage branch (Illustration 2 in Fig. 4 (b)).
- the maximum escape direction represented by one branch illustration is a maximum of five directions (the first stage is a three-stage branch, and either one of the branched left and right center roads) (Two!) When expressing the second branch as a three-stage branch).
- the illustration pattern table (an example of a road pattern list) is data in a list format that indicates correspondence between road patterns at branch points and branch illustrations, IDs, and the like.
- the illustration pattern table, an all assignment list, a difference pattern list, and the like, which will be described later, are created based on network data.
- the all assignment list (an example of a branch point pattern list) is data in a list format representing road patterns corresponding to all the branch points subject to illustration assignment in the target area.
- the point-specific pattern change list is data in a list format representing road patterns after allocation for each branch point when the road pattern changes at a certain branch point.
- the difference pattern list is a network pattern data obtained when the network data is changed, when the data specification is changed, when the information creation program is changed, or the like.
- This is a list format data that shows road patterns that do not exist in the current illustration pattern table among the road patterns at the branch points.
- Each of these illustration pattern table, all allocation list, point-specific pattern change list, and difference pattern list includes a field indicating the same type of road pattern in one record (an example of road pattern data).
- 5 to 7 are diagrams showing an example of the configuration of one record in the illustration pattern table or the like.
- an illustration pattern table first, the latitude and longitude of a branch point (an example of point identification information), an image ID, and an image file name corresponding to a road pattern (image An example of specific information), additional information such as file name before adjustment and change status is set.
- additional information such as file name before adjustment and change status is set.
- the fields in which these information are set are given according to the type of output data.
- an image ID and an image file name are set.
- an all assignment list a latitude / longitude, an image ID, an image file name, and a file name before adjustment are set. Longitude latitude, image ID , The image file name is set.
- the general information is information given to all road patterns.
- the first tier on the left is information about the escape lane on the left side of the first tier.
- the second tier on the left is the information that is set when there is a divergence point on the second tier in the escape lane on the left side of the first tier.
- the first tier on the right side is information relating to the escape lane on the first tier side on the right side.
- the second tier on the right side is the information that is set when there is a divergence point on the second tier in the escape lane on the right side of the first tier.
- the first tier is information on the escape lane in the middle of the first tier when the first tier has three branches.
- the second level in the center is information that is set when there is a second level branch point in the escape lane in the center of the first level.
- the road type (or information indicating the road type, section, etc.) is a highway and the link type is a separated main line.
- One link (indicating main road) or ramp link (indicating rampway) is connected.
- the link that satisfies the condition (1) is identified as an approach link (indicating an approach road), and the link that satisfies the condition (2) is identified as an exit link (indicating an exit road).
- the arrow ID is information indicating on which escape road the arrow 4 as shown in FIGS. 2 and 3 is displayed, in other words, the escape direction.
- This arrow ID is included in the general information. It is.
- FIG. 8 is a diagram showing an example of an arrow ID assignment condition.
- (A) is a case of a single stage branch, and (b) is a case of a multistage branch.
- Fig. 8 (a) in the case of a single stage branch, 1, 2, 3 and arrow IDs are assigned in order from the left side in the escape direction.
- Fig. 8 (b) in the case of multistage branching, 1 to 5 are assigned in order from the left side of the escape direction.
- Fig. 9 is a diagram showing an example of assignment of an arrow ID, (a) is a case of single-stage two-branch, (b) is a case of single-stage three-branch, and (c) and (d ) Is the case of multistage branching.
- an arrow ID is allocated to each escape direction as shown in FIG.
- the allocation is based on the exit direction regardless of whether it is the first-stage escape road or the second-stage escape road.
- a branching point flag (an example of boundary line presence / absence information) indicates whether or not there is an approach lane line corresponding to a branch between two adjacent escape roads as shown in FIGS. 2 (a) and (b). Information. This branch point flag is included in the general information, information on the second tier on the left, the second tier on the right, and the second tier on the center.
- FIG. 10 (a) is a diagram illustrating an example of setting conditions for a branch point flag
- FIGS. 10 (b) and 10 (c) are diagrams illustrating examples of setting a branch point flag.
- One branch point flag is set for two branches and two for three branches.
- the branch point flag is set based on lane connection information (an example of lane connection information) between an incoming link connected to a branch node of the original network data and two adjacent outgoing links.
- the main line flag indicates whether or not the escape road is a main line as shown in Fig. 2 (c). Information. This main line flag is included in the information on the first row on the left, the first row on the right, and the first row on the center.
- FIG. 11 is a diagram illustrating an example of main line flag setting conditions.
- the main line flag is 1 when the number of lanes of the exit link on both the left and right sides is 1 and the road type of the exit link is main. It is set and 0 is set if it is not a main line.
- the shape ID (an example of shape pattern information) is information indicating the shape of the escape road, and a pattern close to the actual road shape of each escape road is assigned to each of the pre-patterned road shapes. This shape ID is included in the left first stage, right first stage, and center first stage information, and up to three shape IDs are included in the left second stage, right second stage, and center second stage information (2 2 if the stage is 2 branches, 3 if 3 stages).
- FIG. 12 is a diagram showing an example of a shape ID and an image of a corresponding road shape on the illustration.
- shape IDs 1 to 7 there are seven types of shape IDs 1 to 7, and in order from 1, go straight, small left angle, large left angle, small right angle, large right angle, left Swelling, right swelling.
- shape ID power ⁇ ⁇ 5 what is actually expressed on the illustration is straight, small left angle, large left angle, small right angle, large right angle (shape ID power ⁇ ⁇ 5).
- the left bulge and right bulge are converted to other shape ID models by converting the shape ID, which will be described later.
- the shape ID is set for each escape road based on the information indicating the road shape of the original network data.
- the branch node force of the network data the interpolation point of the approach link is moved a predetermined distance in the direction opposite to the travel direction, and the road of the approach road is determined from the latitude and longitude information of the interpolation point.
- the shape is specified, and the interpolation point of each escape link is moved from the branch node to the traveling direction (escape direction) by a predetermined distance, and the road shape of the escape road is specified from the latitude and longitude information of the interpolation point.
- target points interpolation points located at predetermined distances.
- the longitude / longitude information is acquired, and the longitude and latitude information of the nth (n is a natural number) target point (initially a branch node) and the n + 1 first target point, a predetermined direction (for example, a straight line connecting the two target points) , X axis direction, east direction, etc.) as an angle array.
- a confluence node a node with multiple link force entry
- the distance interval and the number of arrays (that is, the number of angles to be acquired) for acquiring the angle array are given as, for example, initial values and parameters of the information generation processing program.
- Fig. 13 (a) is a diagram showing an example of an acquisition image of an angle array
- Fig. 13 (b) is an example of an arithmetic expression for a determination angle for assigning a shape ID based on the angle array. It is.
- the distance interval for acquiring the angle array for the approach link is 100 m and the number of arrays is 2
- the distance interval for acquiring the angle array for each exit link is 100 m, and the number of arrays This is an example when 3 is set.
- angles il, 12 are obtained for the entry link and angles ol, for the exit link. 2, have acquired o3.
- the approach angle ⁇ in and the exit angle ⁇ out are calculated by an arithmetic expression as shown in FIG. 13 (b).
- the average value of each angle in the angle array of the incoming links is defined as the incoming angle ⁇ in.
- the difference between the average value of each angle in the angle array of the escape link and the approach angle is defined as the escape angle ⁇ out.
- FIG. 14 is a diagram showing an example of setting conditions for the shape ID.
- the shape ID is set corresponding to the escape angle ⁇ out obtained by the above calculation. Note that other methods may be used as the shape ID determination method.
- the road shape corresponding to the shape ID as it is may not be represented by an illustration, or there may be no problem even if it is simplified.
- the shape ID of the left exit link is 1 (straight) and the shape ID of the right exit link is 2 (small left angle) in a single stage 2-branch, the shape ID of the right exit link is set to 1 (straight).
- the second reason is to express road shapes other than straight, small left angle, large left angle, small right angle, and large right angle in order to better represent the branch illustration.
- it is converted to a shape ID for a special road shape (for example, 6 or later).
- the data is stored in the storage unit 12.
- the number of lanes indicates the number of lanes on the exit road, and is set for each exit link. This number of lanes is included in the information on the first tier on the left, the first tier on the right, and the information on the first tier on the left. Stage power ⁇ 2 for branch, 3 for 3 branch).
- FIG. 15 is a diagram showing an example of an adjustment image of the number of lanes in a single-stage branch.
- (A) is an actual road
- (b) is a branch illustration after adjusting the number of lanes.
- the figure shows an example where the upper limit of the total number of lanes for all exit links is 5.
- Fig. 15 (a) when the number of lanes on the actual road is 6 on the left side and 1 on the right side, the number of lanes is adjusted so that the total is 5. Specifically, the left side is reduced to 4 as shown in Fig. 15 (b). At this time, the number of lanes is adjusted so that the ratio of the number of lanes of each exit link after adjustment is close to the ratio of the number of lanes of each exit link before adjustment. For example, if the upper limit is 5 and the actual left lane count is 4 and the right lane count is 3, Reduce to 3 and 2, respectively.
- an upper limit may be set for one exit link that is just the total number of lanes of all exit links. For example, if the upper limit of the number of lanes for one exit link is 4, and the actual number of lanes on the left side is 6, reduce it to 4.
- FIG. 16 is a diagram illustrating an example of an adjustment image of the number of lanes in multistage branching.
- the total power of the number of lanes in the second-stage exit link is adjusted to be equal to the sum of the number of lanes in the first-stage exit link and the number of second-stage branch flag power ⁇ To do.
- the lane of the second-stage exit link Adjust the number of lanes so that the total number is 5. At this time, the number of lanes is adjusted so that the ratio of the number of lanes of each exit link after adjustment is close to the ratio of the number of lanes of each exit link before adjustment.
- the branch point flag on the second stage is 1, the number of lanes on the exit link is further reduced. Since it cannot be used, the branch point flag is converted to 0.
- adjustment may be performed by providing an upper limit value for one exit link.
- the approach lane flag (an example of boundary line correspondence information) is the lane line and exit road of the approach road This information indicates the correspondence with the lane line, and is set from the lane line on the left by the number corresponding to the lane line.
- This approach lane flag is set to the first stage of the single stage branch or multistage branch, and is included in the information on the first stage on the left, the first stage on the right, and the first stage on the center.
- FIG. 17 is a diagram showing an example of setting conditions for the approach lane flag.
- the approach lane flag is set based on the lane connection information of the original network data.
- One is set as the initial value of the approach lane flag. 1 indicates that an approach lane line is directly connected to an exit lane line.
- the corresponding position of the approach lane flag is converted to 0 and set. 0 indicates that there is no entry lane line connected to a certain escape lane line.
- 2 is added (inserted) to the corresponding position of the current approach lane flag. 2 indicates that there is no escape lane line that leads to an entry lane line! /
- FIG. 18 is a diagram showing an example of setting the approach lane flag.
- the number of lanes on the left exit link is 3, and there is no entry lane connected to multiple exit lanes, and there are no exit link lanes connected to multiple entry lanes.
- the left entry flag is set to an initial value of 11.
- an invalid value for example, 1 is set in the approach lane flag.
- the number of lanes on the right exit link is 2, and the approach lane A1 is connected to the exit lanes C1 and C2.
- the right approach lane flag is set to 0.
- the lane number of the right exit link is 1, and the approach lanes A1 and A2 are connected to the exit lane C1.
- the right approach lane flag is set to 2.
- the number of lanes on the right exit link is 3. Then, approach lanes A1 and A2 are connected to escape lane C1, and approach lane A3 is exit lanes C2 and C3. Connected to. In this case, 012 is set to the right approach lane flag.
- FIG. 19 is a flowchart showing a processing example of the system control unit 11 of the data creation device S according to the present embodiment.
- the system control unit 11 when starting the execution of the information generation processing program, the system control unit 11 first searches for a node in the network data stored in the storage unit 12, and the above 3.1. As described in, specify the branch node to be created and the ingress and egress links connected to the bifurcated node (step Sl).
- the system control unit 11 determines whether there is a branch node to be created.
- Step S2 If there is a branch node, each exit link connected to the node is traversed, and a next branch node is searched within a predetermined distance from the node (Step S3). Then, it is determined whether or not the next branch node exists within a predetermined distance (step S4). If the next branch node does not exist (step S4: NO), the branch node to be created is a single-stage branch. If the next branch node exists (step S4: YES), it is determined that the branch node to be created is a multi-stage branch, and a multi-stage branch is executed. Processing is executed (step S6).
- FIG. 20 is a flowchart showing an example of single-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- step S5 the system control unit 11 secures a work area for one record of the road pattern in the RAM as shown in Fig. 20, and as described in 3.2 above.
- step S11 the leftmost arrow ID (general information) of the identified escape link is set in the work area (step S11).
- the system control unit 11 sets the branch point flag (general information) in the work area as described in 3.3 above (step S12), and as described in 3.4 above.
- branch point flag general information
- the shape ID is set in the work area for all exit links, and this shape ID is converted if necessary (step S14).
- step S15 the system control unit 11 obtains the number of lanes for all exit links, adjusts as necessary, and sets the work area. 3. Set the approach lane flag for all exit links as described in step 7 (step S16).
- the system control unit 11 outputs the road pattern 1 record set in the work area to the storage unit 12 (step S17), and ends the single-stage processing.
- FIG. 21 is a flowchart showing an example of multi-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- step S6 the system control unit 11 secures a work area for one record of road pattern in RAM as shown in Fig. 21, and the same as in the case of single-stage branch (step S12 ⁇ S16), branch 1st stage (general information, 1st stage on the left side, 1st stage on the right side and 1st stage on the center), branch point flag, main line flag, shape ID, number of lanes and entry flag in work area Set (Steps S31 to S35). However, for the number of lanes, as described in 3.6 above, lane adjustment corresponding to the first stage of multistage branching is performed.
- the system control unit 11 also determines the branch point flag and shape ID for the second branch stage (second stage on the left side, second stage on the right side and second stage on the center) as in the case of the single stage branch.
- the number of lanes is set in the work area (steps S36 to S37). However, for the number of lanes, lane adjustment corresponding to the second stage of multistage branching is performed as described in 3.6 above.
- the system control unit 11 merges (combines) the information on the first stage and the information on the second stage, and unnecessary information (for example, the main line flag, the shape, the number of lanes in the first stage that branches in multiple stages) Etc.) is set to an invalid value (eg 1) (step S39).
- unnecessary information for example, the main line flag, the shape, the number of lanes in the first stage that branches in multiple stages
- the system control unit 11 sets an arrow ID (general information) corresponding to the exit link to be processed in the work area (step S40).
- the system control unit 11 outputs (stores) the road pattern 1 record set in the work area to the storage unit 12 (step S41), and ends the multistage processing. [0122] Returning to FIG. 19, after the single-stage branch process or multi-stage branch process (steps S5 and S6) is completed, the node in the network data is searched again (step Sl).
- step S2 NO
- step S2 NO
- step S 7 Create an illustration pattern table that can be used only by records with different road patterns, and set an image ID for each record (for example, set in order from 1), then output this illustration pattern table to the storage unit 12 (step S 7).
- the operator or the like displays the contents of the illustration pattern table on a display or prints on paper on another computer or the like.
- the image data of the branch illustration is created while referring to the contents of each record.
- the operator or the like sets the file name of the corresponding branch illustration image data for each record in the illustration pattern table.
- the storage unit 12 stores an illustration pattern table in which the file name of the image data is set.
- the illustration pattern table may be created by the above-described processing of the system control unit 11. For example, an operator or the like may create a typical road pattern in advance. You can use things.
- FIG. 22 is a flowchart showing a processing example of the system control unit 11 of the data creation device S according to the present embodiment.
- the system control unit 11 determines whether to create a single-stage branch or a multi-stage branch for the branch node to be created, as in FIG. 19, and performs a single-stage branch process or a multi-stage branch process. Execute.
- FIG. 23 is a flowchart showing an example of single-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- the system control unit 11 sets an arrow, a branch point flag, a main line flag, a shape, a lane number, and an entry flag in the work area (Step 311). ⁇ 316).
- the system control unit 11 specifies a record having a pattern that matches the road pattern at the branch point to be created from the illustration pattern table using the set information as a search key (step S 19 ).
- the system control unit 11 determines whether or not the road pattern exists in the illustration pattern table (step S20). If it exists (step S20: YES), the branch to be created is determined. The longitude / latitude information of the point, the image ID of the identified record, and the file name of the image data are set in the work area, and the information set in the work area is output to the storage unit 12 as one record in the all allocation list (stored) (Step S21).
- step S20 NO
- the system control unit 11 executes difference processing described later (step S22).
- the system control unit 11 creates a spot guide data record having a guide point in the direction of the exit link in which the arrow ID is set (step S23), and ends the single-stage processing.
- FIG. 24 is a flowchart showing an example of multi-stage branch processing of the system control unit 11 of the data creation device S according to the present embodiment.
- the same reference numerals are used for the same elements as in FIG. It is attached.
- the system control unit 11 displays the branch point flag, the main line flag, the shape ID, the number of lanes, and the entry flag for the first stage of the branch as in the case of FIG.
- the branch point flag, shape ID lane number, and number of lanes in the work area for the second stage of the branch are merged (combined), Arrow Set the ID in the work area (steps S31 to S40).
- the system control unit 11 specifies a record having a pattern that matches the road pattern of the branch point to be created from the illustration pattern table using the set information as a search key (step S43). .
- step S44 determines whether or not the road pattern exists in the illustration pattern table (step S44), and if it exists (step S44: YES), the branch point of the creation target is determined.
- the longitude and latitude information, the image ID of the identified record, and the file name of the image data are set in the work area, and the information set in the work area is output to the storage unit 12 as one record of the all allocation list (step S45). ).
- step S44 if the road pattern does not exist in the illustration pattern table (step S44:
- step S46 the system control unit 11 executes a difference process described later.
- the system control unit 11 creates a spot guide data record having a guide point in the direction of the exit link in which the arrow ID is set (step S47), and ends the multistage processing.
- FIG. 25 is a flowchart showing an example of difference processing of the system control unit 11 of the data creation device S according to the present embodiment.
- the system control unit 11 stores the information set in the work area in single-stage processing or multi-stage processing as one record of the differential pattern list as shown in FIG. Output to 12 (step S51).
- the system control unit 11 executes the adjustment process so as to assign any branching illustration to the branching point to be created.
- the system control unit 11 converts all entry flags to initial values (converts 0 to 1 and deletes the added 2), and then creates an object to be created from the illustration pattern table. Identify records that have a pattern that matches the road pattern at the branch point (Step S5).
- Step S53 determines that the road pattern exists in the illustration pattern table.
- Step S53: NO convert all branch point flags to 1, and then select a pattern that matches the road pattern of the branch point to be created.
- the record which has is specified step S54).
- step S55 determines whether or not the road pattern exists in the illustration pattern table. If it does not exist (step S55: NO), all the escape lanes are set to 1. In addition, all the approach lane flags are converted to invalid values, and then a record having a pattern that matches the road pattern of the branch point to be created is specified (step S56).
- step S57 determines whether or not the road pattern exists in the illustration pattern table. If it does not exist (step S57: NO), all the shape IDs are set to 1. Then, a record having a pattern that matches the road pattern at the branch point to be created is identified (step S58).
- the system control unit 11 determines whether or not the road pattern exists in the illustration pattern table (step S59). If the road pattern does not exist (step S59: NO), the error log is stored in the storage unit 12. (Step S60), and the difference process is terminated.
- step S53, S55, S57, S59: YES the system control unit 11 uses the information set in the work area as one record in the all allocation list. Is output to the storage unit 12 (step S61), and the difference process is terminated.
- Step Sl the nodes in the network data are searched again.
- Step S2 NO
- the system control unit 11 performs processing. finish. In this way, an all allocation list, a difference pattern list, an error log, and the like are created in the storage unit 12.
- the operator creates a branch illustration for the road pattern extracted as the difference pattern list, and sets the file name of the image data of the branch illustration in the difference pattern list. Then, merge (combine) the difference pattern list and the illustration pattern list. Create a new illustration pattern list and create navigation data (for example, KIWI data description method) based on this illustration pattern list and the image data of the branch illustration.
- the system control unit 11 identifies the ingress link and the egress link at the branch point based on the network data including the lane connection information, and Based on the lane connection information between adjacent exit links, a branch point flag indicating the presence or absence of an approach lane line corresponding to a branch between two adjacent exit roads is created. Based on the lane connection information between the two, the entry lane flag indicating the correspondence between the entry lane line and the exit lane line is created, and a road pattern including the branch point flag and the entry lane flag is created. It is.
- a road pattern for specifying a branch illustration can be created for an actual branch point.
- this road pattern also includes a branch point flag indicating the presence or absence of an approach lane line corresponding to a branch between two adjacent escape roads, and an entry lane flag indicating the correspondence between the approach lane line and the exit lane line.
- a branch point flag indicating the presence or absence of an approach lane line corresponding to a branch between two adjacent escape roads
- an entry lane flag indicating the correspondence between the approach lane line and the exit lane line.
- the system control unit 11 creates a shape ID indicating a road shape patterned in advance for each exit link based on the network data node, the latitude and longitude information of the interpolation point, and the like. Since the road pattern including the ID is created, it is possible to create a branching illustration that captures the characteristics of the road shape at the branch point by setting the number of road shape patterns appropriately. There is no need to create an enormous number of branch illustrations in order to support this.
- the system control unit 11 converts at least one of the shape IDs into a different shape ID. Can be further reduced. [0158] Furthermore, the system control unit 11 acquires the number of lanes of each escape road based on the network data, and when the total number of lanes of all escape roads exceeds a predetermined upper limit, When the number of lanes on one escape road exceeds the predetermined upper limit, the number of lanes is reduced, so that the created branch illustrations are easy to see for the user, and the number of branch illustrations to be created should be further reduced. Can do.
- system control unit 11 creates a multi-level branch road pattern when the next branch node exists within a predetermined distance of the exit destination of a certain branch node. Branch illustrations can be created.
- system control unit 11 creates an illustration pattern table having different road pattern powers, it is not necessary to create a branch illustration for all possible road patterns. If branch illustrations are created only for road patterns included in the table, all actual branch points can be handled, and as a result, the efficiency of creating illustrations is improved.
- the system control unit 11 searches the illustration pattern table, identifies the branch illustration corresponding to the road pattern at each branch point, and determines the latitude / longitude information of the branch point and the image data of the identified branch illustration. Since an all assignment list consisting of road pattern records including file names is created, it is possible to greatly reduce the cost required for association without the need to manually associate branch points and branch illustrations.
- system control unit 11 searches the illustration pattern table and extracts the road pattern that is included in the illustration pattern table and creates a difference pattern list. If there is a change in the information creation processing program, it is sufficient to create a branch illustration only for the road pattern extracted as the difference pattern list. Can be reduced. Also, when creating navigation data for an area other than the area that has been created up to now! It is possible to deal with new areas by creating a branch illustration for
- the system control unit 11 may use a road pattern not included in the illustration pattern table. Whether or not it is necessary to create a branch illustration among the road patterns output as the difference list by assigning branch illustrations while simplifying the road pattern while outputting to the difference list Therefore, it is sufficient to create only the branch illustrations that are really necessary, so that the cost of creating illustrations can be further reduced.
- a force that assigns a branching illustration in which an arrow corresponding to each escape direction is assigned to one branching point For example, without drawing an arrow on the branching illustration, 1 One branch illustration may be assigned to the branch point, and the branch illustration may be displayed in the navigation system, and an arrow indicating the exit direction may be displayed superimposed on the illustration.
- the branch illustration is associated with the branch point of the expressway.
- the present invention is also applied to the case where the branch last is associated with the branch point or intersection of the toll road. Can do.
- the number of branches, the number of branches in one stage, the distance interval and angle arrangement for obtaining the road shape, the number of angle arrangements, the shape pattern, the upper limit value of the number of lanes, other meters, etc. are shown in the above embodiment. It is not limited to those, but can be changed and applied as appropriate.
- the present invention is not limited to the above embodiment.
- the above embodiment is merely an example, and the present invention has the same configuration as the technical idea described in the claims of the present invention, and any device that exhibits the same function and effect is the present invention. It is included in the technical scope of the invention.
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
- Traffic Control Systems (AREA)
Description
Claims
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JP2008507394A JP4495237B2 (ja) | 2006-03-24 | 2007-02-21 | 情報生成装置及び情報生成方法等 |
US12/294,097 US20090210151A1 (en) | 2006-03-24 | 2007-02-21 | Information generation system and information generation method |
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JP2006-083107 | 2006-03-24 |
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PCT/JP2007/053199 WO2007111062A1 (ja) | 2006-03-24 | 2007-02-21 | 情報生成装置及び情報生成方法 |
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US (1) | US20090210151A1 (ja) |
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JP2009176223A (ja) * | 2008-01-28 | 2009-08-06 | Geo Technical Laboratory Co Ltd | 経路案内データベースのデータ構造 |
CN102944242A (zh) * | 2012-11-09 | 2013-02-27 | 深圳市凯立德欣软件技术有限公司 | 一种导航方法及导航设备 |
CN101424538B (zh) * | 2007-10-30 | 2013-04-03 | 爱信艾达株式会社 | 车辆用导航装置以及车辆用导航方法 |
JP2013101044A (ja) * | 2011-11-08 | 2013-05-23 | Aisin Aw Co Ltd | レーン案内表示システム、方法およびプログラム |
CN104422426A (zh) * | 2013-08-30 | 2015-03-18 | 博世汽车部件(苏州)有限公司 | 在高架道路区域内提供车辆导航信息的方法和设备 |
JP2016024004A (ja) * | 2014-07-18 | 2016-02-08 | 日産自動車株式会社 | 車両用表示装置 |
WO2019049323A1 (ja) * | 2017-09-08 | 2019-03-14 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
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DE102007036627A1 (de) * | 2007-08-02 | 2009-02-05 | Navigon Ag | Verfahren zum Betrieb eines Navigationssystems |
WO2014027478A1 (ja) * | 2012-08-13 | 2014-02-20 | 本田技研工業株式会社 | 道路環境認識装置 |
US9122702B2 (en) * | 2012-10-16 | 2015-09-01 | Nokia Technologies Oy | Method and apparatus for providing location trajectory compression based on map structure |
US10147316B2 (en) | 2016-09-12 | 2018-12-04 | Here Global B.V. | Method, apparatus and computer program product for indexing traffic lanes for signal control and traffic flow management |
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CN101424538B (zh) * | 2007-10-30 | 2013-04-03 | 爱信艾达株式会社 | 车辆用导航装置以及车辆用导航方法 |
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KR101235821B1 (ko) | 2008-01-28 | 2013-02-21 | 가부시키가이샤 지오 기쥬츠켄큐쇼 | 기록 매체, 생성 지원 장치 및 경로 안내 장치 |
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JP2013101044A (ja) * | 2011-11-08 | 2013-05-23 | Aisin Aw Co Ltd | レーン案内表示システム、方法およびプログラム |
CN102944242A (zh) * | 2012-11-09 | 2013-02-27 | 深圳市凯立德欣软件技术有限公司 | 一种导航方法及导航设备 |
CN104422426A (zh) * | 2013-08-30 | 2015-03-18 | 博世汽车部件(苏州)有限公司 | 在高架道路区域内提供车辆导航信息的方法和设备 |
JP2016024004A (ja) * | 2014-07-18 | 2016-02-08 | 日産自動車株式会社 | 車両用表示装置 |
WO2019049323A1 (ja) * | 2017-09-08 | 2019-03-14 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
JPWO2019049323A1 (ja) * | 2017-09-08 | 2020-10-15 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
Also Published As
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JP4495237B2 (ja) | 2010-06-30 |
JPWO2007111062A1 (ja) | 2009-08-06 |
US20090210151A1 (en) | 2009-08-20 |
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