WO2012104965A1 - Dispositif, procédé ainsi que programme de recherche d'itinéraire, et dispositif de serveur - Google Patents

Dispositif, procédé ainsi que programme de recherche d'itinéraire, et dispositif de serveur Download PDF

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Publication number
WO2012104965A1
WO2012104965A1 PCT/JP2011/051932 JP2011051932W WO2012104965A1 WO 2012104965 A1 WO2012104965 A1 WO 2012104965A1 JP 2011051932 W JP2011051932 W JP 2011051932W WO 2012104965 A1 WO2012104965 A1 WO 2012104965A1
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WIPO (PCT)
Prior art keywords
link
new
existing
road
node
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PCT/JP2011/051932
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English (en)
Japanese (ja)
Inventor
肇 安達
子青 張
祐樹 松本
友宏 鈴木
康平 向田
Original Assignee
パイオニア株式会社
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Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to JP2011544315A priority Critical patent/JP4955130B1/ja
Priority to PCT/JP2011/051932 priority patent/WO2012104965A1/fr
Publication of WO2012104965A1 publication Critical patent/WO2012104965A1/fr

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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

Definitions

  • the present invention relates to a technical field for performing a route search using a new road that does not exist on map data.
  • Patent Document 2 when only a road map update information indicating a traveling locus in the same direction is received a predetermined number of times or more with respect to a traveling locus that is considered to exist at substantially the same position, the information is obtained from the traveling locus.
  • a technique for updating road map information on the assumption that a new road is one-way has been proposed.
  • Patent Document 2 treated a new road as one-way statistically. Therefore, in the technique combining the techniques described in Patent Documents 1 and 2, a road that is statistically regarded as one-way for either a preset new road or an existing road has a direction according to the one-way. It can be considered that only a process of searching for a route so as to pass can be performed.
  • the present invention generates a new road without affecting the existing road at the connection destination, and appropriately searches for a route using the new road by appropriately giving and releasing the travel regulation information to the new road. It is an object of the present invention to provide a route search device, a route search method and a route search program, and a server device capable of performing the above.
  • the route search device generates a new link corresponding to a new road that does not exist on the map data, based on the travel locus of the moving body, and the new link generates
  • an existing link corresponding to an existing road existing on the map data and a new node corresponding to a connection point between the new link and a link indicating the same road as the existing link are generated.
  • the travel regulation information giving means for giving regulation information, the road defined by the existing link, the new link to which the duplicate link and the travel regulation information are given And both the roads defined by the link and the new node to the target of the route search comprises a route searching means for searching for a route to a destination, a.
  • the route search method performed by the route search device includes a first generation step of generating a new link corresponding to a new road that does not exist on the map data, based on the travel locus of the moving body.
  • a new link is generated, an existing link corresponding to the existing road existing on the map data and a new node corresponding to a connection point of the new link are generated and the same as the existing link A link indicating a road, a second generation step of generating a duplicate link defined by an existing node corresponding to an end point of the existing link and the new node, and based on the travel locus, the new link and the A travel regulation information giving step for granting travel regulation information to a new node, a road defined by the existing link, the duplicate link, and the travel
  • both the road regulation information is defined by the new link and the new node granted subject to the route search comprises a route searching step of searching for a route to a destination, a.
  • a route search program executed by a route search device including a computer causes the computer to create a new link corresponding to a new road that does not exist on the map data, based on the travel locus of the moving object.
  • a first generation means for generating, when the new link is generated, generating an existing link corresponding to an existing road existing on the map data and a new node corresponding to a connection point of the new link;
  • second generation means for generating a duplicate link defined by the existing node corresponding to the end point of the existing link and the new node, the link indicating the same road as the existing link
  • Route search for searching for a route to a destination by using both the road to be searched, the new link to which the travel restriction information is added, and the road defined by the new node as a target of route search Function as a means.
  • the server device configured to be able to communicate with the plurality of terminal devices obtains the traveling trajectories of the plurality of moving bodies on which each of the plurality of terminal devices is mounted from the plurality of terminal devices.
  • FIG. 1 shows a schematic configuration of a navigation device according to the present embodiment.
  • working locus data based on a present Example is shown.
  • release of the travel regulation information which concerns on a present Example is shown.
  • a specific example of giving travel regulation information when turning to an existing road in the middle of a new road is shown.
  • working control information is shown.
  • release of the travel regulation information which concerns on a present Example is shown.
  • generation of the replication link which concerns on a present Example, and a new road exclusive node is shown.
  • generation of a duplicate link and the node only for a new road at the time of turning to the existing road in the middle of a new road is shown.
  • generation of the replication link which concerns on a present Example, and a new road exclusive node is shown.
  • a specific example of route search according to the present embodiment will be shown.
  • the processing flow of the route search concerning a present Example is shown.
  • the schematic block diagram of the system which concerns on a modification is shown.
  • the route search device generates a new link corresponding to a new road that does not exist on the map data based on the travel locus of the moving body, and the new link is generated.
  • a new node corresponding to a connection point between the existing link corresponding to the existing road existing on the map data and the new link, and a link indicating the same road as the existing link Second generation means for generating a duplicated link defined by the existing node corresponding to the end point of the existing link and the new node, and travel regulation for the new link and the new node based on the travel trajectory
  • Travel regulation information giving means for giving information, road defined by the existing link, the new link to which the duplicate link and the travel regulation information are given
  • both the road defined by links and the new node to the target of the route search comprises a route searching means for searching for a route to a destination, a.
  • the above route search device is preferably used for searching a route to the destination.
  • generation means produces
  • the second generation means generates a new node corresponding to the connection point between the new link and the existing link when the new link is generated. Specifically, the second generation means generates a new node that is not connected to the existing link.
  • the second generation means generates a duplicate link that is a link indicating the same road as the existing link and is defined by the existing node and the new node corresponding to the end point of the existing link.
  • the intersection between the new link and the existing link is generated and connected without affecting the information of the existing road to which the new road is connected (for example, without rewriting the link ID of the existing link), and the map is appropriately displayed. It becomes possible to add to the data.
  • the restriction information adding means adds the travel restriction information to the new link and the new node based on the travel locus of the moving body.
  • the “travel regulation information” is information indicating travel regulations such as one-way regulation, right turn prohibition regulation, and left turn prohibition regulation. By giving the travel regulation information in this way, it is possible to appropriately generate a new road according to the travel performance of the user.
  • the route search means uses both the road specified by the existing link and the road specified by the new link and the new node to which the duplicate link and the travel regulation information are given as a route search target to reach the destination. Search for a route.
  • the route specified by the existing link and the route specified by the duplicate link, the new link, and the new node can be appropriately targeted for route search. Therefore, the route specified by the existing link and the route specified by the duplicate link, the new link, and the new node can be appropriately targeted for route guidance.
  • the route search means performs a route search in consideration of the travel restriction information given to the new link and the new node.
  • the route search device further includes an acquisition unit that acquires traffic information associated with the existing link, and the route search unit uses a road defined by the existing link as a target of the route search. The route is searched based on the traffic information.
  • the route search is appropriately performed in consideration of traffic information (for example, information such as traffic jam information and road closures) attached to the existing link. It can be carried out.
  • traffic information for example, information such as traffic jam information and road closures
  • the route search means searches for a road defined by a link including the new link and / or the duplicate link based on the travel restriction information.
  • One of a route and a second route searched for a road defined only by the existing link and not including the new link and the duplicate link is selected.
  • the optimal route is appropriately selected from the first route specified by the duplicate link, the new link and the new node, and the second route specified by the existing link, searched based on the travel regulation information.
  • the travel regulation information providing unit follows the travel locus corresponding to the travel when the mobile body travels on the road corresponding to the new link for the first time.
  • travel restriction information is given and the mobile body travels again on the road corresponding to the new link
  • the mobile body first selects the road corresponding to the new link based on the travel locus corresponding to the travel. The travel restriction information given when traveling is canceled.
  • the travel regulation information when the vehicle travels for the first time on the new road, the travel regulation information can be appropriately given, and when traveling on the same new road a plurality of times, the travel regulation information is appropriately released sequentially. I can go. Therefore, the more the vehicle runs on the new road, the more accurate road regulations can be reflected on the new road.
  • the travel restriction information can be automatically given / released during traveling, it is possible to save the user from manually editing the travel restriction information later.
  • the second generation unit generates the new node and the duplicate link only when there is no existing node at a connection point between the new link and the existing link. .
  • the second generation means does not insert a new node on the existing link in this way and is not connected to the existing link.
  • a new node is generated and a duplicate link that overlaps an existing link is generated.
  • the second generation means does not generate such a new node and a duplicate link when an existing node exists at the connection point between the new link and the existing link. In this case, the new link is simply connected to the existing node.
  • the second generation means includes, as the duplicate link, a link having an existing node corresponding to one of two end points in the existing link and the new node as end points, and the existing link A link having the existing node corresponding to the other of the two end points in the link and the new node as end points can be generated.
  • it further comprises means for displaying the new link and the travel restriction information given to the new node. Thereby, the user can easily recognize the travel regulation information currently given to the new road.
  • a route search method performed by the route search device includes a first generation step of generating a new link corresponding to a new road that does not exist on the map data, based on the travel locus of the moving object, When the new link is generated, an existing link corresponding to the existing road existing on the map data and a new node corresponding to a connection point of the new link are generated, and the same road as the existing link
  • both the road information is defined by the new link and the new node granted subject to the route search comprises a route searching step of searching for a route to a destination, a.
  • a route search program executed by a route search device including a computer generates a new link corresponding to a new road that does not exist on map data, based on a travel locus of the moving body.
  • a first generation unit that generates a new node corresponding to a connection point between the existing link corresponding to the existing road existing on the map data and the new link when the new link is generated;
  • a travel regulation information giving means for giving travel regulation information to the new link and the new node, defined by the existing link
  • Route search means for searching for a route to a destination with both the duplicate link and the new link to which the travel restriction information is assigned and the road defined by the new node as a target of route search To function as.
  • route search program can be suitably handled in a state recorded on a recording medium.
  • a server device configured to be able to communicate with a plurality of terminal devices is configured such that, from the plurality of terminal devices, traveling trajectories of a plurality of moving bodies on which each of the plurality of terminal devices is mounted.
  • a first generating unit that generates a new link corresponding to a new road that does not exist on the map data based on the travel locus received by the receiving unit, and the new link is generated A new node corresponding to a connection point between the existing link corresponding to the existing road existing on the map data and the new link, and a link indicating the same road as the existing link
  • Second generation means for generating a duplicate link defined by the existing node corresponding to the end point of the existing link and the new node; and based on the travel locus, the new link and the previous link
  • a travel regulation information giving means for granting travel regulation information to a new node, a road defined by the existing link, the new link to which the duplicate link and the travel regulation information are assigned, and the new node
  • Route search means for searching for a route to a destination with both roads to be searched, and transmission means for transmitting information related to the route searched by the route search means to the terminal device.
  • the route search method, the route search program, and the server device also appropriately set the route specified by the existing link and the route specified by the duplicate link, the new link, and the new node as a target of the route search. Can do.
  • FIG. 1 shows the configuration of the navigation device 1.
  • the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, an audio output.
  • a unit 50 and an input device 60 are provided.
  • the self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13, and functions as a self-supporting positioning sensor.
  • the acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data.
  • the angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data.
  • the distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.
  • the GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites.
  • the positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.
  • the system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20.
  • the CPU 22 controls the entire system controller 20.
  • the ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored.
  • the RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.
  • a system controller 20 a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.
  • the disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20.
  • the disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.
  • the data storage unit 36 is configured by, for example, an HDD or a flash memory, and stores various data used for navigation processing such as map data, map information, and facility data.
  • the data storage unit 36 has a map database in which map data and the like are stored.
  • the communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and acquires traffic information distributed from a server such as a VICS center via the communication interface 37.
  • the communication device 38 corresponds to an example of “acquiring means” in the present invention.
  • the display unit 40 displays various display data on a display device such as a display under the control of the system controller 20.
  • the system controller 20 reads map information from the data storage unit 36.
  • the display unit 40 displays the map information read from the data storage unit 36 by the system controller 20 on the display screen.
  • the display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately.
  • a buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided.
  • the display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.
  • the audio output unit 50 is a D / A (Digital) for audio digital data sent from the CD-ROM drive 31 or DVD-ROM 32, BD-ROM, RAM 24 or the like via the bus line 30 under the control of the system controller 20.
  • D / A converter 51 Analog D / A converter 51
  • AMP 52 amplifier 52 that amplifies the audio analog signal output from D / A converter 51, and the amplified audio analog signal is converted into audio and output into the vehicle And a speaker 53.
  • the input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data.
  • the input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle.
  • the display 44 is a touch panel system
  • the touch panel provided on the display screen of the display 44 also functions as the input device 60.
  • the navigation device 1 performs a process for generating a new road. Specifically, the navigation device generates a new road based on the travel locus data of the vehicle.
  • FIG. 2 shows the data structure of the travel locus data 100.
  • the travel locus data 100 is data corresponding to the travel locus of the vehicle, and is collected every predetermined time by the navigation device 1 while the vehicle is traveling.
  • the travel locus data 100 is stored in the data storage unit 36 in the navigation device 1.
  • the travel locus data 100 includes latitude / longitude coordinate data 101, vehicle travel speed data 102, vehicle travel direction data 103, time data 104, and an off-road flag 105 ( To be precise, the on / off data of the offload flag 105).
  • the latitude / longitude coordinate data 101 is data indicating a traveling locus of the vehicle. Specifically, the latitude and longitude coordinate data 101 uses the latitude and longitude coordinates of the vehicle (hereinafter also referred to as “independent positioning position coordinates”) obtained by the autonomous positioning device 10. Note that the position coordinates received by the GPS receiver 18 may be used instead of the independent positioning position coordinates as the latitude / longitude coordinate data 101, or the independent positioning position coordinates based on the position coordinates received by the GPS receiver 18 may be used. You may use the position coordinate which correct
  • the vehicle running direction data 103 is generated using the output value of the self-supporting positioning device 10.
  • the time data 104 is data indicating the time when the navigation apparatus 1 generates the travel locus data 100.
  • the off-road flag 105 is a flag indicating whether or not the road on which the vehicle is traveling is an off-road section. When the off-road flag 105 is on, it indicates that the road on which the vehicle is traveling is an off-road section. This indicates that the vehicle is traveling on a road deviating from the existing road. On the other hand, when the off-road flag 105 is off, it indicates that the road on which the vehicle is traveling is on-road. This indicates that the vehicle is traveling on an existing road.
  • the on / off of the offload flag 105 is set by the CPU 22 in the navigation device 1. Specifically, the CPU 22 sets on / off of the off-road flag 105 by using map matching for matching the vehicle position on a road included in the map data. This map matching is performed by, for example, comparing the position of the own vehicle by comparing the position coordinates of the position determined by the position determination device 10 with the position coordinates on the road corresponding to the position determination position coordinates on the road. It corresponds to the process of matching on the road that the data has.
  • the map matching can be performed appropriately, that is, when the autonomous positioning position coordinates substantially coincide with the position coordinates on the road of the map data, the vehicle is traveling in the on-road section. And the offload flag 105 is set to off.
  • the vehicle is off-roaded. It is determined that the vehicle is traveling in the section, and the off-road flag 105 is set to ON.
  • the “on-road section” refers to a road section determined by the CPU 22 to exist on the map data
  • the “off-road section” is determined not to exist on the map data by the CPU 22. It refers to the section of the road that has been made. Basically, existing roads correspond to “on-road sections”, and new roads correspond to “off-road sections”.
  • the term “new road” is used for a road newly generated by the CPU 22 based on an off-road section in addition to a road that does not exist on the map data.
  • the position coordinate data after map matching may be used as the latitude / longitude coordinate data 101 instead of the independent positioning position coordinates. That is, when the off-road flag 105 is off, the position coordinate data on the road of the map data may be used as the latitude / longitude coordinate data 101. Further, the travel locus data 100 may include the position coordinates received by the GPS receiver 18 separately from the latitude / longitude coordinate data 101.
  • the CPU 22 of the navigation device 1 generates a new road based on the travel locus data 100 as shown in FIG. Specifically, the CPU 22 generates a new road corresponding to the off-road section based on the travel locus data 100 obtained when the vehicle travels in the off-road section. In this case, the CPU 22 determines an off-road section based on the off-road flag 105 of the travel locus data 100 for the road on which the vehicle has traveled, and the latitude and longitude coordinate data of the travel locus data 100 for the determined off-road section. Based on 101 (corresponding to the data of autonomous positioning position coordinates, etc.), a new road corresponding to the off-road section is generated.
  • the CPU 22 generates a link corresponding to the new road (hereinafter referred to as “new link”), a node corresponding to the end point of the new road (hereinafter referred to as “new node”), and the like. Then, the CPU 22 stores data such as the generated new link and new node in the data storage unit 36, and performs route search and route guidance using the stored data.
  • new link a link corresponding to the new road
  • new node a node corresponding to the end point of the new road
  • the CPU 22 of the navigation device 1 corresponds to an example of “first generation means” in the present invention.
  • the “travel regulation information” is information indicating travel regulations such as one-way regulation, right turn prohibition regulation, and left turn prohibition regulation.
  • the CPU 22 when the vehicle travels on a new road for the first time, the CPU 22 generates a new road according to the above-described procedure, and sets travel regulation information according to the travel locus corresponding to the travel to the new road.
  • the CPU 22 gives travel restriction information for one-way restriction for prohibiting travel in the opposite direction to the travel to the new link corresponding to the new road. To do. Further, the CPU 22 prohibits turning in the direction opposite to the bent direction when the vehicle turns at the intersection when the vehicle first travels, for example, when turning at the intersection from the new road and entering the existing road.
  • the right turn prohibition restriction or the left turn prohibition restriction travel restriction information for giving to the node corresponding to the intersection.
  • intersection node a node corresponding to such an intersection is referred to as an “intersection node”.
  • An intersection node is a node corresponding to a connection point between an existing link corresponding to an existing road and a new link.
  • the intersection node may be an existing node indicating a node existing on the map data, or may be a new node described above (this case will be described in detail later).
  • the CPU 22 applies the travel restriction information given to the new link and the intersection node when traveling on the first new road based on the travel locus corresponding to the travel.
  • the process which cancels sequentially is performed. Specifically, for the new link to which the one-way restriction is applied, when the vehicle travels in the direction in which the one-way restriction is applied (that is, when the vehicle travels in the direction opposite to the first traveling direction), the new link is given.
  • the one-way restriction granted to is canceled. That is, the CPU 22 cancels the one-way restriction given to the new link at the time when the new link travels back and forth. In this way, the new link can be bidirectionally passed.
  • the CPU 22 turns the intersection node in the direction in which the right turn prohibition restriction or the left turn prohibition restriction is applied (that is, the first turn).
  • the right turn prohibition restriction or the left turn prohibition restriction given to the intersection node is canceled. In this way, the intersection node can be turned right or left.
  • the CPU 22 of the navigation device 1 corresponds to an example of the “running regulation information adding unit” in the present invention.
  • the CPU 22 When canceling the travel restriction information as described above, the CPU 22 first determines whether or not the vehicle has traveled again on the same new road, and travels when it is determined that the vehicle has traveled again on the same new road. Release regulatory information. For example, when generating a new road, the CPU 22 assigns information on a road type (for example, “user road”) that can identify the new road and other roads to the new link. Based on the information, it is determined whether or not the same new road has been traveled again.
  • a road type for example, “user road”
  • FIG. 3A shows a diagram when the vehicle first travels on a new road.
  • links L11a and L11b indicate existing links
  • nodes N11a and N11b indicate existing nodes.
  • a link L21 indicated by a bold line indicates a new link generated when the vehicle travels as indicated by arrows A1 and A2 (that is, when the vehicle goes straight and then turns left at the intersection).
  • the new link L21 is connected to the existing node N11a on the existing link L11a and to the existing node N11b on the existing link L11b.
  • the CPU 22 newly generates travel restriction information for one-way restriction that prohibits traveling in the direction opposite to the direction indicated by the arrow A1, based on the traveling of the vehicle indicated by the arrow A1. It is given to the link L21 (see reference A3).
  • the CPU 22 based on the left turn of the vehicle at the existing node N11b (intersection node) as indicated by the arrow A2, the CPU 22 provides the right node prohibition travel restriction information that prohibits the right turn at the existing node N11b. (See reference A4).
  • FIG. 3B shows a diagram when the vehicle travels again on a new road (new link L21).
  • new link L21 a new road
  • the CPU 22 cancels the one-way restriction travel restriction information given to the new link L21. That is, the CPU 22 changes the new link L21 so that it can be bidirectionally passed, as indicated by reference numeral A6.
  • FIG. 3 shows an example in which the travel regulation information is given when the vehicle turns to an existing road at the intersection (existing node N11b) corresponding to the end point of the new link L21. In the case where the vehicle bends on the existing road, the travel regulation information is similarly given.
  • FIG. 4 shows a specific example of giving travel regulation information when the vehicle turns to an existing road in the middle of a new road.
  • elements denoted by the same reference numerals as those in FIG. 3 have the same meaning, and description thereof is omitted as appropriate.
  • the link L11c indicates an existing link
  • the node N11c indicates an existing node.
  • the new link L21 is connected to the existing node N11c on the existing link L11c and the existing node N11b on the existing link L11b, and the existing node N11a on the existing link L11a exists in the middle of the new link L21. (That is, there is an intersection that intersects the existing link L11a in the middle of the new link L21).
  • the vehicle turns left at the existing node N11a in the middle of the new link L21 as indicated by the arrow B1.
  • the CPU 22 gives the travel restriction information of the right turn prohibition restriction that prohibits the right turn at the existing node N11a to the existing node N11a (see reference B2).
  • FIG. 5 shows a display example of the travel regulation information.
  • FIG. 5 shows existing roads 201 and 202, a new road 203 (indicated by a thick line), an intersection 205 between the existing road 201 and the new road 203, and an intersection 206 between the existing road 202 and the new road 203.
  • An example of the displayed map image is shown.
  • the travel restriction information for the one-way restriction given to the new link corresponding to the new road 203 is displayed by the arrow mark (see C1), and the intersection node corresponding to the intersection 206
  • the travel restriction information of the right turn prohibition restriction given to is displayed (see reference C2).
  • the user can easily recognize the travel regulation information currently given to the new road.
  • it is not limited to displaying travel regulation information with an arrow mark.
  • This processing flow is realized by the system controller 20 executing a program stored in advance. The flow is executed during or after the vehicle travels. Specifically, when the processing flow is performed during traveling, the processing flow is repeatedly executed based on the traveling locus data 100 acquired at a predetermined cycle. When the processing flow is performed after traveling, the processing flow is collected in the data storage unit 36. It is executed based on the travel locus data 100.
  • step S101 the CPU 22 acquires travel locus data 100 as shown in FIG. Then, the process proceeds to step S102.
  • step S ⁇ b> 102 the CPU 22 determines whether or not a new road exists on the road determined by the travel locus data 100. Specifically, the CPU 22 determines whether or not data corresponding to a road determined by the travel locus data 100 is stored in the data storage unit 36.
  • step S102 If there is a new road (step S102; Yes), that is, if the data corresponding to the road determined by the travel locus data 100 is not stored in the data storage unit 36, the process proceeds to step S103.
  • step S ⁇ b> 103 the CPU 22 generates a new road based on the travel locus data 100. Specifically, the CPU 22 determines an off-road section based on the off-road flag 105 of the travel locus data 100 for the road on which the vehicle has traveled, and the latitude and longitude coordinates of the travel locus data 100 for the determined off-road section. Based on the data 101, a new road corresponding to the off-road section is generated. In this case, the CPU 22 generates data such as a new link and a new node. Then, the process proceeds to step S104.
  • step S104 the CPU 22 gives predetermined road type information to the new link generated in step S103. Specifically, the CPU 22 assigns information of a road type (for example, “user road”) that can identify the new road and other roads to the new link. Then, the process proceeds to step S105.
  • a road type for example, “user road”
  • step S105 the CPU 22 gives traveling restriction information for one-way restriction to the new link generated in step S103. Specifically, the CPU 22 assigns travel restriction information for one-way restriction that prohibits travel in the direction opposite to the direction in which the vehicle traveled on the new road. Then, the process proceeds to step S106.
  • step S ⁇ b> 106 the CPU 22 gives the travel restriction information of the right turn prohibition restriction or the left turn prohibition restriction to the intersection node between the new link and the existing link. Specifically, the CPU 22 assigns the right turn prohibition restriction or the left turn prohibition restriction travel restriction information that prohibits the vehicle from turning in the direction opposite to the direction of the turn at the intersection node. Then, the process ends.
  • step S102 when there is no new road (step S102; No), that is, when data corresponding to the road determined by the travel locus data 100 is stored in the data storage unit 36 (the road determined by the travel locus data 100 is a new road). Even if the new road has already been generated, this case is also included), and the process proceeds to step S107.
  • step S107 the CPU 22 determines whether or not the vehicle has traveled again on the new road. In this case, the CPU 22 determines whether or not the vehicle has re-traveled the new road based on the road type information given to the link.
  • step S107 the process proceeds to step S108. If the vehicle has not re-traveled on the new road (step S107; No), the process ends.
  • step S108 the CPU 22 determines whether or not the travel restriction information (hereinafter referred to as “link information”, which corresponds to the one-way travel restriction information) given to the new link should be changed. . Specifically, the CPU 22 performs the determination in step S108 by determining whether or not the vehicle has traveled in the direction in which the one-way restriction is applied for the new link to which the one-way restriction is applied.
  • link information which corresponds to the one-way travel restriction information
  • step S108 If the link information is to be changed (step S108; Yes), the process proceeds to step S109. In this case, the CPU 22 cancels the travel restriction information for the one-way restriction given to the new link (step S109). Then, the process proceeds to step S110. On the other hand, when the link information should not be changed (step S108; No), the process proceeds to step S110 without performing the process of step S109.
  • step S110 the CPU 22 should change the travel restriction information given to the intersection node (hereinafter referred to as “node information”. “Node information” corresponds to the travel restriction information of the right turn prohibition restriction or the left turn prohibition restriction). Determine whether. Specifically, when the right turn prohibition restriction or the left turn prohibition restriction is applied to the intersection node, the CPU 22 determines whether or not the vehicle has turned in the direction in which the right turn prohibition restriction or the left turn prohibition restriction is applied to the intersection node. Thus, the determination in step S110 is performed.
  • step S110 If the node information should be changed (step S110; Yes), the process proceeds to step S111. In this case, the CPU 22 cancels the right turn prohibition restriction or left turn prohibition restriction travel restriction information given to the intersection node (step S111). Then, the process ends. On the other hand, when the node information should not be changed (step S110; No), the process ends without performing the process of step S111.
  • the travel regulation information when the vehicle first travels on the new road, the travel regulation information can be appropriately given, and when traveling on the same new road a plurality of times, the travel regulation information is appropriately displayed sequentially. It can be released. Therefore, the more the vehicle runs on the new road, the more accurate road regulations can be reflected on the new road.
  • the CPU 22 extends a new link (duplicate link) different from the new link on the existing link to which the new link is connected, thereby providing a part of the overlapping section, and the new link (duplicated link) in the overlapping section.
  • a new road-only node that is not connected to the existing link is added at the upper intersection.
  • the reason why the duplicate link and the new road dedicated node are generated as described above is as follows. As shown in FIG. 3 and the like, when the existing node N11b already exists at the connection point between the new link L21 and the existing link L11b (for example, when an existing intersection node such as a trace of the old road exists), the new link L21. Can be connected to the existing node N11b. However, if there is no existing node at the connection point between the new link and the existing link, it can be said that it is necessary to add a new node to the connection point.
  • the link ID assigned to the existing link is divided and the link ID is rewritten, and traffic data such as VICS information and route search related data are generated. Link ID inconsistency with a lot of data linked by the link ID such as
  • the CPU 22 of the navigation device 1 corresponds to an example of “second generation means” in the present invention.
  • the CPU 22 similarly applies and cancels the travel regulation information as described above even when the duplicate link and the new road dedicated node are generated in this way. Specifically, the CPU 22 assigns / cancels the right-turn prohibition restriction or the left-turn prohibition restriction travel restriction information to the new road dedicated node. Specifically, when the vehicle travels on a new link for the first time, the CPU 22 displays the travel restriction information of the right turn prohibition restriction or the left turn prohibition restriction that prohibits turning in a direction opposite to the direction in which the node for the new road is bent. Grant to dedicated nodes.
  • the CPU 22 makes a right turn prohibition restriction or left turn given to the new road dedicated node. Release prohibited regulations.
  • CPU22 gives information, such as a travel regulation equivalent to the existing link which overlaps with the said duplication link, to a duplication link.
  • traffic information such as VICS information is given only to existing links, and is not given to duplicate links that overlap the existing links.
  • FIG. 7 a specific example of generation of the duplicate link and the new road dedicated node according to the present embodiment will be described.
  • elements denoted by the same reference numerals as those in FIG. 3 have the same meaning, and description thereof is omitted as appropriate.
  • FIG. 7A shows a diagram before a duplicate link and a new road dedicated node are generated.
  • the example shown in FIG. 7A is the same as the example shown in FIG. 3 in that a new link L21 is generated when the vehicle travels as indicated by arrows A1 and A2.
  • the example shown in FIG. 7A differs from the example shown in FIG. 3 in that there is no existing node at the connection point between the new link L21 and the existing link L11b.
  • the CPU 22 generates a new road dedicated node N22 that is not connected to the existing link L11b at the connection point between the new link L21 and the existing link L11b.
  • the CPU 22 uses the right turn prohibition restriction travel restriction information for prohibiting the right turn at the new road dedicated node N22 based on the left turn of the vehicle at the new road dedicated node N22 as indicated by the arrow A2 for the new road only. It is given to the node N22 (see reference D1).
  • the CPU 22 generates a duplicate link that indicates the same road as the existing link L11b and is defined by the existing nodes N12a and N12b of the existing link L11b and the new road dedicated node N22. Specifically, the CPU 22 generates a duplicate link L22a whose end points are the existing node N12a and the new road dedicated node N22, and a duplicate link L22b whose end points are the existing node N12b and the new road dedicated node N22. In this case, the CPU 22 connects the new link L21 and the duplicate link L22a at the new road dedicated node N22, connects the existing link L11b and the duplicate link L22a at the existing node N12a, and is new at the new road dedicated node N22.
  • the link L21 and the duplicate link L22b are connected, and the existing link L11b and the duplicate link L22b are connected by the existing node N12b. Further, the CPU 22 changes the link IDs of the duplicate links L22a and L22b, but makes the link strings of the duplicate links L22a and L22b the same.
  • the duplicate link L22b corresponds to a link where the vehicle has not traveled.
  • the existing link L11b and the duplicate links L22a and L22b are shown separated from each other, but the existing link L11b and the duplicate links L22a and L22b overlap.
  • the existing link L11b and the duplicate links L22a and L22b are actually displayed on the map image, for example, new roads corresponding to the duplicate links L22a and L22b are displayed in the foreground.
  • the existing link L11b and the duplicate links L22a and L22b can be appropriately distinguished, and the user can appropriately recognize that traffic data such as VICS information is attached only to the existing link L11b. Become.
  • FIG. 7 shows an example in which the duplicate links L22a and L22b and the new road dedicated node N22 are generated for the end point of the new link L21.
  • Duplicate links and new road-only nodes are similarly generated.
  • FIG. 8 shows a specific example of generation of a duplicate link and a new road dedicated node when the vehicle turns to an existing road in the middle of the new road.
  • elements denoted by the same reference numerals as those in FIGS. 4 and 7 have the same meaning, and the description thereof is omitted as appropriate.
  • the new link L21 is connected to the existing link L11b and the existing link L11c, and intersects the existing link L11a in the middle of the new link L21. Also, it is assumed that no existing node exists at the connection point between each of the existing links L11a to 11c and the new link L21.
  • a case where the vehicle turns left in the middle of the new link L21 and enters the existing link L11a is taken as an example.
  • the CPU 22 generates a new road dedicated node N23 that is not connected to the existing link L11a at the connection point between the new link L21 and the existing link L11a.
  • the CPU 22 uses the right road prohibition restriction travel restriction information for prohibiting the right turn at the new road dedicated node N23 based on the left turn of the vehicle at the new road dedicated node N23 as indicated by the arrow B1. This is given to the node N23 (see reference D2). Further, the CPU 22 is a link indicating the same road as the existing link L11a, and the duplicate link L23a having the existing node N13a of the existing link L11a and the new road dedicated node N23 as endpoints, and the existing node N13b of the existing link L11a. And a new link L23b having the new road dedicated node N23 as endpoints.
  • the CPU 22 when the vehicle bends at the starting point of the new link L21 and enters the existing link L11c, the CPU 22 generates the new road dedicated node N24 and the duplicate links L24a and L24b in the same procedure as described above. To do.
  • processing flow for generating a duplicate link and a new road dedicated node according to the present embodiment will be described.
  • This processing flow is realized by the system controller 20 executing a program stored in advance. The flow is executed during or after the vehicle travels.
  • step S201 the CPU 22 generates a new road body based on the travel locus data 100 by the method described above. Then, the process proceeds to step S202.
  • step S202 the CPU 22 determines whether there is an existing node near the intersection of the existing road and the new road generated in step S201. Specifically, the CPU 22 determines whether or not a corresponding existing node exists at a position where the new road is connected to the existing road by referring to the map data. If the existing node does not exist (step S202; No), the process proceeds to step S203. If the existing node exists (step S202; Yes), the process ends.
  • step S203 the CPU 22 generates a duplicate link that overlaps the existing link to which the new link is connected. Specifically, the CPU 22 generates two duplicate links corresponding to the link obtained by dividing the existing link at the connection point between the new link and the existing link. Then, the process proceeds to step S204.
  • step S204 the CPU 22 adds a new road dedicated node near the intersection of the new road and the existing road. Specifically, the CPU 22 generates a new road dedicated node that is not connected to the existing link at the connection point between the new link and the existing link. Then, the process proceeds to step S205.
  • step S205 the CPU 22 connects the new link and the duplicate link with the new road dedicated node. Specifically, the CPU 22 connects each end point of the two duplicated links to the new link at the new road dedicated node. Then, the process proceeds to step S206.
  • step S206 the CPU 22 connects the existing link and the duplicated link with the existing nodes at both ends of the existing link. Specifically, the CPU 22 connects the end point that is not connected to the new road dedicated node among the two end points in each of the two duplicate links to the existing node of the existing link. Specifically, the CPU 22 connects one end point of the two replication links to one of the existing nodes at both ends of the existing link, and connects the other end point of the two replication links to the other of the existing nodes at both ends of the existing link. Connect. Then, the process ends.
  • the CPU 22 of the navigation device 1 performs route search for both the road defined by the existing link and the road defined by the new link, the duplicate link generated by the above-described method and the new road dedicated node. Search for the route to the destination. Specifically, the CPU 22 does not include a route searched for a road defined by a link including a new link and / or a duplicate link (hereinafter referred to as “new route”), a new link, and a duplicate link.
  • new route a route searched for a road defined by a link including a new link and / or a duplicate link
  • new route a new link
  • Existing route One of the routes searched for the road defined only by the existing link
  • the CPU 22 adopts one of the new route and the existing route according to the arrival time to the destination, the distance from the departure point to the destination, the toll road charge to the destination, and the like. Further, as described above, the CPU 22 searches for the new route in consideration of the travel restriction information given to the new link and the new road dedicated node, and the existing route is attached to the existing link. Route search is performed in consideration of traffic information (information such as traffic jam information and traffic closures).
  • the CPU 22 of the navigation device 1 corresponds to an example of “route searching means” in the present invention.
  • the “new route” corresponds to the “first route” in the present invention
  • the “existing route” corresponds to the “second route” in the present invention.
  • route search it is possible to realize route search only for roads that are sure to be able to actually pass, such as the occurrence of problems such as routes that can not pass through new roads It can be avoided.
  • a new route is searched for in consideration of travel regulation information, and an existing route is searched for in consideration of traffic information. Therefore, it is possible to appropriately select an optimum route taking these into consideration. For example, if a new road is restricted so that it cannot pass through the new road, or if you consider the travel restriction, you can use the existing road faster than the new road. In such a case, the existing route can be appropriately selected.
  • FIG. 10A shows a specific example of the route search when the travel regulation information is given to the new link and the new road dedicated node.
  • a link L25 indicates a new link
  • links L26a and L26b indicate duplicate links that overlap with the existing link L15 (in the following, when the duplicate links L26a and L26b are not distinguished from each other, “ Node N5 indicates a new road-dedicated node.
  • links and nodes that are not particularly denoted indicate existing links and existing nodes, respectively.
  • travel restriction information for one-way restriction is given to the new link L25
  • travel restriction information for right-turn prohibition restriction is given to the new road dedicated node N5. It is assumed that the duplicate link L26 and the new road dedicated node N5 are generated by the method described above, and the travel regulation information is given by the method described above.
  • the CPU 22 searches for a route that targets the new link L25 and the duplicate link L26 as a new route, and travel restriction information of right turn prohibition restriction given to the new road dedicated node N5.
  • the route is searched in consideration of.
  • the CPU 22 obtains a new route as indicated by solid arrows E1, E2, E3, E4, E5, and E6.
  • the CPU 22 obtains a new route to turn left at the new road dedicated node N5 in order to comply with the right turn prohibition restriction given to the new road dedicated node N5.
  • the CPU 22 searches for a route only for the existing link that does not include the new link L25 and the duplicate link L26 as the existing route.
  • the CPU 22 obtains an existing route as indicated by dashed arrows F1, F2, F3, and F4.
  • the existing route has a shorter distance from the departure point to the destination than the new route (in other words, the arrival time is earlier).
  • the CPU 22 adopts an existing route.
  • FIG. 10B shows a specific example of the route search when the travel restriction information is not given to the new link L25 and the new road dedicated node N5.
  • the new link L25 is not given the one-way travel restriction information and the new road dedicated node N5 is not given the right turn prohibition travel restriction information.
  • the CPU 22 searches for a new route for the new link L25 and the duplicate link L26 without considering the travel regulation information.
  • the CPU 22 obtains new routes as indicated by solid arrows G1, G2, and G3.
  • the CPU 22 obtains a new route that makes a right turn at the new road dedicated node N5.
  • the new route has a shorter distance from the departure point to the destination (in other words, the arrival time is earlier) than the existing route.
  • the CPU 22 adopts a new route.
  • This processing flow is realized by the system controller 20 executing a program stored in advance.
  • the flow is executed when a route search instruction is input by the user.
  • the flow relates to selection of an optimum route around a point where a new road and an existing road are connected.
  • step S301 the CPU 22 starts a route search process. Specifically, the CPU 22 refers to the map data stored in the data storage unit 36 based on the current position of the vehicle and the destination, and starts the route search process. Then, the process proceeds to step S302.
  • step S302 the CPU 22 searches for a route (new route) for the new link and the duplicate link. Specifically, the CPU 22 searches for a new route for the road defined by the link including the new link and / or the duplicate link in consideration of the travel regulation information given to the new link and the new road dedicated node. To do. That is, the CPU 22 searches for a new route that complies with the travel restriction given to the new link and the new road dedicated node. Then, the process proceeds to step S303.
  • step S303 the CPU 22 searches for a route (existing route) targeting the existing link.
  • the CPU 22 is defined only by existing links that do not include new links and duplicate links in consideration of traffic information (congestion information, traffic closure information, such as VICS information) associated with existing links. Search for an existing route for a road. Then, the process proceeds to step S304.
  • step S304 the CPU 22 determines whether the new route has an earlier arrival time to the destination than the existing route.
  • the CPU 22 adopts the new route (step S305), and the process ends.
  • the CPU 22 adopts the existing route (step S306), and the process ends.
  • the route search is appropriately performed in consideration of the travel restriction information given to the new link and the new road dedicated node in the state where the duplicate link that overlaps the existing link exists. be able to. Therefore, it is possible to search for an appropriate route while complying with the travel regulation information.
  • the present invention is applied to the navigation device 1.
  • the present invention is applied to a server device configured to be communicable with a plurality of terminal devices instead of the navigation device 1.
  • FIG. 12 shows a schematic configuration diagram of a system according to a modified example.
  • terminal devices 400a to 400c are mounted on vehicles 450a to 450c, respectively, and transmit / receive information to / from server device 300.
  • the terminal device 400 include a portable terminal device (such as a smartphone) having a communication function.
  • a portable terminal device such as a smartphone
  • FIG. 12 for convenience of explanation, only three terminal devices 400a to 400c are shown, but in actuality, four or more terminal devices 400 may exist.
  • the server device 300 can perform the same processing as the navigation device 1 described above. Specifically, server device 300 receives information related to the travel locus of vehicle 450 from a plurality of terminal devices 400, and stores the received information related to the travel locus. Thereafter, the server device 300 generates a new link based on the received information regarding the travel locus. In addition, when the server device 300 generates a new link, the server device 300 generates a new road-dedicated node corresponding to the connection point between the new link and the existing link, and indicates the same road as the existing link. The duplicate link defined by the existing node corresponding to the end point of the existing link and the new road dedicated node is generated.
  • the server device 300 gives travel regulation information to the new link and the new road dedicated node based on the information about the travel locus. Then, the server device 300 targets both the road specified by the existing link, the new link to which the duplicate link and the travel regulation information are added, and the road specified by the new road-dedicated node for the route search. Search for a route to the ground. Thereafter, the server device 300 transmits information regarding the searched route to the terminal device 400.
  • the route search is appropriately performed in consideration of the travel restriction information given to the new link and the new road-dedicated node in a state where the duplicate link that overlaps the existing link exists. It can be performed.
  • the present invention can be applied to various mobile objects such as ships, helicopters, and airplanes in addition to vehicles.
  • the present invention can also be applied to terminal devices used by pedestrians. That is, the “moving body” includes pedestrians.
  • the present invention can be used for navigation devices including PNDs, portable terminal devices such as mobile phones, server devices, and the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

Le dispositif de recherche d'itinéraire de l'invention est équipé: d'un premier moyen de formation qui forme, sur la base d'un chemin de déplacement d'un corps mobile, un nouveau lien correspondant à une nouvelle route absente de données de carte; d'un second moyen de formation qui, lorsqu'un nouveau lien est formé, forme un nouveau nœud correspondant à un point de connexion entre un lien existant correspondant à une route existante présente dans les données de carte et le nouveau lien, et qui forme simultanément un lien copie qui indique la même route que ledit lien existant et qui est défini par un nœud existant correspondant au point d'extrémité dudit lien existant, et par un nouveau nœud; d'un moyen d'attribution d'informations de restriction de déplacement qui attribue des informations de restriction de déplacement pour le nouveau lien et le nouveau nœud, sur la base du chemin de déplacement; et d'un moyen de recherche d'itinéraire qui recherche un itinéraire jusqu'à une destination avec pour objet de recherche d'itinéraire à la fois la route définie par le lien existant et la route définie par le nouveau lien et le nouveau nœud attribués par le lien copie et les informations de restriction de déplacement.
PCT/JP2011/051932 2011-01-31 2011-01-31 Dispositif, procédé ainsi que programme de recherche d'itinéraire, et dispositif de serveur WO2012104965A1 (fr)

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PCT/JP2011/051932 WO2012104965A1 (fr) 2011-01-31 2011-01-31 Dispositif, procédé ainsi que programme de recherche d'itinéraire, et dispositif de serveur

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