WO2006085410A1 - 地図情報処理装置 - Google Patents
地図情報処理装置 Download PDFInfo
- Publication number
- WO2006085410A1 WO2006085410A1 PCT/JP2005/020625 JP2005020625W WO2006085410A1 WO 2006085410 A1 WO2006085410 A1 WO 2006085410A1 JP 2005020625 W JP2005020625 W JP 2005020625W WO 2006085410 A1 WO2006085410 A1 WO 2006085410A1
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- WIPO (PCT)
- Prior art keywords
- new road
- map information
- road
- registration
- new
- Prior art date
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- 230000010365 information processing Effects 0.000 title claims abstract description 100
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000012790 confirmation Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 2
- 238000012217 deletion Methods 0.000 claims description 2
- 230000037430 deletion Effects 0.000 claims description 2
- 238000003672 processing method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 68
- 238000012545 processing Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 230000002411 adverse Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
Definitions
- the present invention relates to a map information processing apparatus that processes map information to be displayed, and more particularly to a technique for automatically updating existing map information when a new road is detected.
- Patent Document 1 discloses a car navigation apparatus that uses a GPS (Global Positioning System) reception status to determine whether or not to add a new road to existing map information. ing.
- GPS Global Positioning System
- the current position detected by the position detection means does not exist on the road indicated by the map information recorded in the initial recording area of the navigation recording medium.
- the process of importing and writing to the additional recording area of the recording medium is repeated.
- the positioning error included in the new road information is estimated from the GPS reception status, that is, the number of GPS satellites that have received the GPS signal, and if this estimated error is smaller than the predetermined value, the new road Information is added to existing map information.
- This configuration prevents new road information from being generated and recorded based on poorly received GPS signals, and as a result, new road information that includes positioning errors can be added to existing map information. Avoided.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2002-48559
- Patent Document 1 has the following problems.
- the positioning error may become very large even if the number of GPS signals received from GPS satellites is large.
- the positioning error of a new road is estimated from the GPS reception status and this estimation result is used as a criterion for determining whether or not to register a new road, there is a problem that it will adversely affect existing functions such as the navigation function. There is.
- the present invention has been made to solve the above-described problem, and gives an existing function by performing registration after appropriately determining whether or not additional registration to existing map information of a new road is possible.
- An object of the present invention is to provide a map information processing apparatus that can eliminate adverse effects. Disclosure of the invention
- a map information processing apparatus is measured by a map information storage unit that stores map information in units of areas divided in a mesh shape, a positioning unit that measures its current position, and a positioning unit.
- a new road detecting means for detecting that the current position is on a road not included in the map information stored in the map information storing means, and a new road detected by the new road detecting means.
- New road registration determination means for determining that the new road can be additionally registered in the map information stored in the map information storage means when the road density in the area including the New road registration means for adding and registering new roads determined to be additionally registered by the determination means to the map information stored in the map information storage means.
- the present invention since it is configured to determine whether or not a new road is added to the existing map information and registered based on the road density of the area divided into meshes, a positioning error is inherently included.
- a positioning error is inherently included.
- FIG. 1 is a block diagram showing a configuration of a map information processing apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a flowchart showing registration determination processing executed by new road registration determination means of the map information processing apparatus according to Embodiment 1 of the present invention.
- FIG. 3 New road registration determination means of the map information processing apparatus according to Embodiment 2 of the present invention. It is a flowchart which shows the registration determination process performed in FIG.
- FIG. 4 is a flowchart showing registration determination processing executed in new road registration determination means of the map information processing apparatus in accordance with Embodiment 3 of the present invention.
- FIG. 5 is a block diagram showing a configuration of the map information processing apparatus according to Embodiment 4 of the present invention.
- FIG. 6 is a flowchart showing a registration process executed by the new road registration means of the map information processing apparatus in accordance with Embodiment 4 of the present invention.
- FIG. 7 is a flowchart showing details of registration determination processing shown in FIG.
- FIG. 8 A diagram for explaining the route calculation processing executed in the route calculation means of the map information processing apparatus in accordance with Embodiment 4 of the present invention.
- FIG. 9 A diagram for explaining a start point and an end point set in the route calculation processing executed in the route calculation means of the map information processing apparatus according to Embodiment 4 of the present invention.
- FIG. 10 is a flowchart showing a registration determination process executed in the new road registration determination means of the map information processing apparatus according to Embodiment 5 of the present invention.
- FIG. 11 is a flowchart showing details of a road type determination process for a new road shown in FIG.
- FIG. 12 A block diagram showing the configuration of the map information processing apparatus in accordance with Embodiment 6 of the present invention.
- FIG. 13 is a flowchart showing registration determination processing executed in new road registration determination means of the map information processing apparatus in accordance with Embodiment 6 of the present invention.
- FIG. 14 is a flowchart showing registration determination processing executed in the new road registration determination means of the map information processing apparatus in accordance with Embodiment 7 of the present invention.
- FIG. 15 It is a block diagram showing a configuration of a map information processing apparatus according to Embodiment 8 of the present invention.
- FIG. 16 is a flowchart showing processing executed by the registration determination result presenting means and the registration determination result confirming means of the map information processing apparatus according to Embodiment 8 of the present invention. For explaining the operation of the map information processing apparatus.
- FIG. 16 is a flowchart showing processing executed by the registration determination result presenting means and the registration determination result confirming means of the map information processing apparatus according to Embodiment 8 of the present invention. For explaining the operation of the map information processing apparatus.
- FIG. 1 is a block diagram showing the configuration of the map information processing apparatus according to Embodiment 1 of the present invention.
- the map information processing apparatus includes a car navigation apparatus 1, a display apparatus 2, an audio output apparatus 3, an input apparatus 4, a vehicle speed sensor 5, a GPS receiver 6, and an acceleration sensor 7.
- the car navigation device 1 has a well-known navigation function and a function of updating map information. Details of the car navigation device 1 will be described later.
- the display device 2 is composed of, for example, a liquid crystal display device, and displays a display map image, an optimum route to the destination, and the like according to display data sent from the car navigation device 1.
- the audio output device 3 is composed of, for example, a speaker. The audio output device 3 is used for voice and map information for guiding the destination along the optimum route according to the audio data sent from the power navigation device 1. The specified information included is output by voice.
- the input device 4 is mounted on an input button provided on a main body panel that forms the front surface of the car navigation device 1, a remote controller that transmits an input signal equivalent to the input button, and a screen of the display device 2. It can be configured with a touch panel placed, a microphone for voice input (both not shown), or a combination thereof.
- This input device 4 is used for the user to input a map area to be displayed on the display device 2, a start point and an end point when calculating the optimum route, and the like.
- the input signal input from the input device 4 is sent to the car navigation device 1 as operation data.
- the vehicle speed sensor 5 measures its own moving speed. The moving speed measured by the vehicle speed sensor 5 is sent to the car navigation apparatus 1 as speed data.
- the GPS receiver 6 receives GPS signals transmitted from GPS satellites. Received by this GPS receiver 6. The GPS signal is sent to the car navigation device 1 as GPS data.
- the acceleration sensor 7 measures its horizontal and vertical changes. Changes in the horizontal direction and the vertical direction measured by the acceleration sensor 7 are sent to the car navigation apparatus 1 as acceleration data.
- the car navigation system 1 includes a display map calculation means 10, a route calculation means 11, a display control means 12, an audio output control means 13, an input reception means 14, a positioning means 15, an HDD (Hard Disk Drive) 16, an HDD access means 1 7.
- a temporary storage memory 18, a new road detection means 19, a new road registration determination means 20, a new road registration means 21 and a control means 22 are provided.
- the control means 22 follows a pre-programmed procedure, a display map calculation means 10, a route calculation means 11, a display control means 12, an audio output control means 13, and an input constituting the car navigation device 1. It controls data transmission / reception among the receiving means 14, positioning means 15, HDD access means 17, temporary storage memory 18, new road detection means 19, new road registration determination means 20 and new road registration means 21. Data sent / received between these components is a force performed via the control means 22 Below, the description that the data is sent / received via the control means 22 is omitted in order to avoid complicated explanation.
- Display map calculation means 10 calculates a map image for display based on map information sent from HDD 16 via HDD access means 17 and positioning data sent from positioning means 15.
- the display map image calculated by the display map calculation means 10 is sent to the display control means 12.
- the route calculation means 11 uses the current position indicated by the positioning data sent from the positioning means 15 or the point sent from the input receiving means 14 as the starting point of the route, and the other is sent from the input receiving means 14 This point is used as the end point of the route, and the optimal route between these two points (sometimes called the “recommended route”) is calculated.
- the optimum route calculated by the route calculation means 11 is sent to the display control means 12.
- the display control means 12 converts the display map image sent from the display map calculation means 10 and the optimum route sent from the route calculation means 11 into a format that can be displayed by the display device 2. And sent to the display device 2 as display data.
- the voice output control means 13 is voice information for performing guidance to the destination according to the optimum route sent from the route calculation means 11, Audio information for notifying the driver of predetermined information included in the map information is converted into a format that can be output by the audio output device 3 and sent to the audio output device 3 as audio data.
- the input receiving means 14 receives operation data sent from the input device 4 connected to the outside.
- the operation data received by the input receiving means 14 is sent to the display map calculating means 10, the route calculating means 11, and the like.
- the positioning means 15 determines its current position based on the speed data from the vehicle speed sensor 5, the acceleration data from the acceleration sensor 7 and the GPS data from the GPS receiver 6.
- the road information included in the map information read out via the HDD access means 17 is collated, and the current position of the road corresponding to which road of the road indicated by the road information is calculated.
- the result calculated by the positioning means 15 is sent as positioning data to the display map calculation means 10 and the route calculation means 11, and when the display map calculation means 10 calculates a map of its own surroundings, the route calculation means 11 Is used to calculate the optimal route.
- the HDD 16 corresponds to the map information storage means of the present invention.
- the HDD 16 stores map information including road data in advance when the car navigation system 1 is shipped. This map information is configured as a set of area map information created for each area divided into a mesh pattern by latitude lines and longitude lines. This region is called “mesh”.
- the HDD access means 17 controls the writing and reading of data with respect to the HDD 16.
- the temporary storage memory 18 is composed of, for example, a volatile memory, and is used for temporarily storing data.
- the display map calculation means 10, the route calculation means 11, the audio output control means 13 and the positioning means 15 are recorded in the HDD 16 and included in the map information (hereinafter referred to as "existing road").
- Area map information corresponding to the mesh used in the process is read from HDD 16 by HDD access means 17, and the read data is The data is stored in the temporary storage memory 18, and processing is executed using the stored data.
- the new road detection means 19 compares the map information read from the HDD 16 via the HDD access means 17 with the vehicle position included in the positioning data sent from the positioning means 15. If it is determined that the vehicle position is not on an existing road, the road where the vehicle is currently located is detected as a new road. The coordinates of the new road detected by the new road detecting means 19 are stored in the temporary storage memory 18.
- the new road registration determination means 20 reads the coordinates of the new road detected by the new road detection means 19 from the temporary storage memory 18, and maps the road represented by these coordinates to the HDD 16 already recorded. It is determined whether or not to register in addition to the information. The determination result by the new road registration determination means 20 is sent to the new road registration means 21. Details of the processing executed by the new road registration determination means 20 will be described later.
- the new road registration means 21 sends the new road information representing the new road determined to be registerable by the new road registration determination means 20 to the HDD 16 via the HDD access means 17, so that it is already recorded on the HDD 16. Register in addition to the map information.
- the map information size is used as the road density.
- a mesh of map information corresponding to the new road to be determined is specified (step ST1).
- the mesh is specified in the layer used by the positioning means 15.
- the mesh is specified in the types of map information used by the positioning means 15.
- step ST2 one of the meshes identified in step ST1 is selected (step ST2). Then, the map information size of the selected mesh is calculated (step ST3). Next, the map information size calculated in step ST3 is compared with a predetermined value (step ST4). If it is determined in step ST4 that the value is equal to or smaller than the predetermined value, it is determined that new road registration is possible (step ST5), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above. [0027] On the other hand, if it is determined in step ST4 that the map information size of the mesh calculated in step ST3 exceeds a predetermined value, the map information size of the mesh specified in step ST1 is not determined.
- step ST6 The presence / absence of a completed mesh is checked. If it is determined in step ST6 that an incomplete mesh exists, the sequence returns to step ST2. On the other hand, if it is determined that there is no incomplete mesh, it is determined that the new road is not registered (step ST7), and the registration determination process ends.
- the determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- the map information size of the mesh is used as the road density, and the existing of the new road information is based on the map information size. Since it is configured to determine whether or not additional registration to the map information is possible, the adverse effect on the navigation function caused by adding new road information that contains positioning errors to the existing map information is eliminated or reduced. New roads that do not exist on the map can be added to the existing map information. In addition, since the map information size is used as the road density, the amount of calculation can be reduced, and the road density can be calculated in a very short time.
- the new road information indicating the new road is already stored in the HDD 16, and is added to the map information to be registered. It is stored in mesh units as new road map information different from the information, and when the map information of a mesh is referred to by HDD access means 17, the new road map information corresponding to that mesh is also referred to. Can do. This configuration also provides the same effect as described above.
- the map information size of all the meshes exceeds a predetermined value.
- the map information size of at least one mesh exceeds a predetermined value, so that it can be determined that the new road registration is rejected. In this case, there is an advantage that the calculation amount is small.
- Embodiment 2 The map information processing apparatus according to embodiment IV of the present invention converts the number of links connecting nodes, in other words, the number of roads connecting intersections to the existing map information of a new road as the road density. Whether or not additional registration is possible is determined.
- the configuration of the map information processing apparatus according to the second embodiment is the same as that of the map information processing apparatus according to the first embodiment shown in FIG. 1, and is executed by the new road registration determination means 20. Only the processing is different.
- FIG. 3 is a flowchart showing a registration determination process executed by the new road registration determination means 20 of the map information processing apparatus according to the second embodiment.
- a mesh of map information corresponding to the new road to be determined is specified (step ST1).
- the mesh is specified in the layer used by the positioning means 15.
- the mesh is specified in the types of map information used by the positioning means 15.
- step ST2 one of the meshes identified in step ST1 is selected (step ST2). Then, the map information of the selected mesh is acquired (step ST11). Next, the number of links (the number of roads) included in the map information acquired at step ST11 is calculated (step ST12). Then, the number of links calculated in step ST12 is compared with a predetermined value (step ST13). If it is determined in step ST13 that the number of links is equal to or less than the predetermined value, it is determined that new road registration is possible (step ST5), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST13 when it is determined in step ST13 that the number of links calculated in step ST3 exceeds a predetermined value, among the meshes specified in step ST1, the determination of the number of links is incomplete. Is checked (step ST14). If it is determined in step ST14 that an incomplete mesh exists, the sequence returns to step ST2. On the other hand, if it is determined that there is no incomplete mesh, it is determined that new road registration is not permitted (step ST7), and the registration determination process ends. This new road registration judgment The determination result in the means 20 is sent to the new road registration means 21 as described above.
- the number of roads determined as the road density is determined based on the number of links. Since it is configured to determine whether or not additional registration to existing map information is possible, the adverse effect on the navigation function caused by adding a new road that contains positioning errors to existing map information is eliminated or reduced. New roads that do not exist on the map can be added to the existing map information. Moreover, since the number of links is the road density, the road density can be calculated accurately in a short time.
- the map information processing apparatus provides an existing map of a new road with the total extension of links connecting nodes, in other words, the total extension of roads connecting intersections to each other as road density. Whether or not additional registration to information is possible is determined.
- the configuration of the map information processing apparatus according to the third embodiment is the same as the configuration of the map information processing apparatus according to the first embodiment shown in FIG. Only the processing is different.
- FIG. 4 is a flowchart showing a registration determination process executed by the new road registration determination means 20 of the map information processing apparatus according to the third embodiment.
- a mesh of map information corresponding to the new road to be determined is specified (step ST1).
- the mesh is specified in the layer used by the positioning means 15.
- the mesh is specified in the types of map information used by the positioning means 15.
- step ST2 one of the meshes identified in step ST1 is selected (step ST2). Then, the map information of the selected mesh is acquired (step ST11). Next, the total extension distance of the link (road) included in the map information acquired in step ST11 is calculated (step ST21). The total extension distance of this link is calculated by sequentially referring to the links included in the map information and accumulating the distances. Next, it is calculated in step ST21. The total extension distance of the linked links is compared with a predetermined value (step ST22). If it is determined in step ST22 that the total link distance is less than or equal to the predetermined value, it is determined that new road registration is possible (step ST5), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST22 determines whether the total extension distance of the link calculated in step ST3 exceeds a predetermined value. If it is determined in step ST23 that the total extension distance of the link calculated in step ST3 exceeds a predetermined value, determination of the total extension distance of the link among the meshes specified in step ST1. Is checked for the presence or absence of incomplete meshes (step ST23). If it is determined in step ST23 that an incomplete mesh exists, the sequence returns to step ST2. On the other hand, if it is determined that there is no incomplete mesh, it is determined that the new road is not registered (step ST7), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- the map information processing apparatus of Embodiment 3 of the present invention based on the total extension distance of the road, which is the road density, that is, based on the total extension distance of the nodes in the map information. As a result, it is configured to determine whether or not new road information can be added to the existing map information, so the new road information that contains positioning errors has an adverse effect on the navigation function. New roads that do not exist on the map can be added to the existing map information. In addition, since the total extension distance of the nodes is the road density, the road density can be calculated with extremely high accuracy.
- the map information processing apparatus performs route calculation using map information including the detected new road in order to confirm the validity of the new road, and is obtained by this route calculation. Depending on whether or not a new road is included in the recommended route, it is determined whether or not the new road can be additionally registered in the map information.
- FIG. 5 is a block diagram showing a configuration of the map information processing apparatus according to Embodiment 4 of the present invention.
- a new road deletion means 23 is added to the car navigation device 1 of the map information processing apparatus according to Embodiment 1 shown in FIG.
- the processing executed in the registration means 21 is It differs from those of the map information processing apparatus according to the first embodiment.
- the new road registration determination means 20 determines whether or not to register the new road detected by the new road detection means 19 in addition to the map information already recorded in the HDD 16. Judgment is made based on the calculation result. The judgment result by the new road registration judgment means 20 is sent to the new road registration means 21. Details of the processing executed in the new road registration determination means 20 will be described later.
- the new road registration means 21 sends the new road information representing the new road detected by the new road detection means 19 to the HDD 16 via the HDD access means 17, and has already been recorded in the HDD 16. Add to the map information and register.
- the new road deleting means 23 deletes the new road information added and registered on the HDD 16 by the new road registration means 21 by sending a command to the HDD 16 via the HDD access means 17.
- the new road registration means 21 adds the detected new road to the map information already stored in the HDD 16, as shown in the flowchart of FIG. Add and register (step ST101).
- registration determination processing is executed by the new road registration determination means 20 (step ST102). Details of the registration determination process will be described later.
- step ST103 it is checked whether or not registration of the new road has been determined by the registration determination process in step ST102 (step ST103).
- the new road is already stored in the HDD 16 by the registration determination process in step ST102, and is added and registered in the map information.
- the registration process ends.
- step ST104 the process of deleting this registered new road is executed (step ST104). That is, the new road deleting means 23 The new road registered in the HDD 16 by the road registration means 21 is deleted.
- a calculation start point (search start point) used in route calculation performed to confirm the validity of a new road is set (step ST31).
- a calculation start point for example, a point registered as a home is set.
- a calculation end point (search end point) used in route calculation is set (step ST32).
- the calculation end point for example, the current position of the own vehicle is set.
- the recommended route between the start point set in step ST31 and the end point set in step ST32 is calculated by the route calculation means 11 (step ST33). Then, it is checked whether or not a new road is included in the calculated recommended route (step ST34). If it is determined in step ST34 that the recommended route includes a new road, it is determined that a new road can be registered (step ST5), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above. On the other hand, if it is determined in step ST34 that the recommended route does not include a new road, it is determined that the new road is not registered (step ST7), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- a route calculation technique already known in the field of car navigation is used.
- the nearest link, road (road) that is, the nearest link is searched for a given calculation start point.
- the nearest neighbor point on the nearest link obtained (the intersection of the perpendicular from the calculation start point and the nearest link. If there is no intersection with the perpendicular on the nearest link segment, the nearest neighbor link from the calculation start point) Is the starting point of the route calculation.
- the nearest link, road (road), that is, the nearest link to the given calculation end point is searched, and the nearest point on the nearest link obtained by this search (perpendicular and nearest neighbor from the calculation end point)
- the intersection with the link, where the intersection with the perpendicular is on the nearest link segment If it does not exist, the end point of the nearest link) that is closer to the calculation end point is the end point of the route calculation.
- a link existing within the radius r (eg, 500 m) from the point S is searched.
- five links are searched: link L1, link L2, link L3, link L4, and link L5.
- link L1 link L2, link L3, link L4, and link L5.
- link L5 link L1, link L2, link L3, link L4, and link L5.
- the distance to the link is the length of the vertical line from point S if it can be lowered onto the link line segment, and if the perpendicular line cannot be lowered onto the link line segment, the link end point Is the distance to the point closest to point S.
- the links Ll, L2, and L8 can be drawn perpendicularly from the point S to the respective link line segments, so that the perpendicular lengths dl, d2, and d3 are points.
- the vertical line cannot be lowered from the point S to the link segment, so the distance from the link end points of the links L4 and L5 to the point closest to the point S, that is, d4 Is the distance from point S to the link.
- the distance dl, d2, d3, and d4 calculated in this way are compared with each other to determine the shortest distance dl.
- the route calculation process is executed starting from the point VI at a distance dl from the point S.
- the above-described processing is also performed when obtaining the end point (destination) of route calculation.
- the home is set as the starting point for the route calculation for confirming the effectiveness of the new road
- the current position of the host vehicle is set as the ending point.
- the start point is set to a point moved a predetermined distance from the point registered as home
- the end point is set to a point moved a predetermined distance from the current position
- the distance from the start or end of the route calculation to the link existing within the predetermined radius r is calculated, and the link with the shortest distance is used as the neighboring link.
- a rectangle with a predetermined size formed by a line parallel to the longitude and latitude directions centered on the route calculation start point or end point is set, and the distance to the link existing in the rectangle is calculated.
- the link with the shortest distance can be configured as a neighboring link.
- the home is set as the starting point for the route calculation for confirming the validity of the new road, and the current position of the host vehicle is set as the ending point.
- start point predetermined search start point
- any of the points from P1 to P7 shown in Fig. 9 can be selected.
- P1 is the home location
- P2 is the start point of the new road Ml
- P3 is a point a certain distance before the start point of the new road Ml
- P4 is the start (end) of the road before the new road Ml is detected.
- P5 is the starting point of the route M2 before the new road Ml is detected
- P6 is the point where the car navigation system was activated
- P7 is the point where the day started running.
- any of the points from Q1 to Q6 shown in FIG. 9 can be selected.
- Q1 is the current position M3
- Q2 is the end point of the new road Ml
- Q3 is a point a predetermined distance away from the end point of the new road Ml
- Q4 is the start (end) point of the road before the new road Ml is detected.
- Q5 is a point a predetermined distance from the current position M3
- Q6 is the end point of the route M2 before the new road Ml is detected.
- any force from Q1 to Q6 can be selected as the starting point
- any force from P1 to P7 can be selected as the ending point.
- the configuration is such that the effectiveness is determined by using a plurality of combinations of the start point and the end point described above.
- the map information processing apparatus determines whether additional registration of new road information to existing map information is possible based on the detected road type of the new road or the road to which the new road is connected. It is what you do.
- the configuration of the map information processing apparatus according to the fifth embodiment is the same as the configuration of the map information processing apparatus according to the first embodiment shown in Fig. 1, and the new road detection means 19 and the new road registration. Only the processing executed in the judging means 20 is different.
- the new road detection means 19 determines that the road where the own vehicle is present is a new road if the vehicle position measured by the positioning means 15 does not exist on the existing road when collecting new road information executed at a predetermined cycle.
- the coordinates are stored in the temporary storage memory 18, and the moving speed at the coordinate point stored in the temporary storage memory 18 is calculated from the movement time and the movement distance, and stored in the temporary storage memory 18.
- the registration determination process is started in the new road registration determination means 20, first, the road type of the existing road connected to the start point and end point of the new road to be determined is obtained, and at least one of them is determined. It is checked whether or not indicates a highway (step ST41). If it is determined in step ST41 that at least one of the existing roads connected to the start and end points of the new road is a highway, it is determined that a new road can be registered (step ST5 ), The registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST41 when it is determined in step ST41 that at least one of the existing roads connected to the start and end points of the new road is not a highway, the road type determination process for the new road is performed. It is executed (step ST42). Details of the road type determination process will be described later.
- step ST43 based on the result of the road type determination process, it is checked whether or not the type of the new road is an expressway (step ST43). This step If it is determined in step ST43 that the road is a highway, it is determined that a new road can be registered (step ST5), and the registration determination process ends.
- the determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST43 if it is determined in step ST43 that the road is not an expressway, it is determined that the new road is not registered (step ST7), and the registration determination process ends.
- the determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST201 the average speed when the new road is passed is calculated from the speed data at the time of collecting the new road information stored in the temporary storage memory 18 .
- step ST202 it is checked whether or not the calculated average speed is equal to or greater than a predetermined value.
- the new road is determined to be a highway (step ST203), and the road type determination is terminated.
- step ST204 it is determined that the new road is not a highway (step ST204), and the road type determination is terminated.
- the map information processing apparatus is configured to determine whether the new road is an expressway based on the average speed, but includes a curve whose turning radius is smaller than a predetermined value.
- the new road may be determined as a general road.
- the map information processing apparatus is configured to determine whether the road type of the new road is a high-speed road, but whether it is a toll road or an automobile-only road. Can also be configured to determine.
- a highway or a toll road or a motorway
- New roads related to the type of road can be added.
- a map information processing apparatus is an automatic toll collection system (hereinafter referred to as an automatic toll collection system).
- an automatic toll collection system hereinafter referred to as an automatic toll collection system.
- ETC automatic toll collection system
- FIG. 12 is a block diagram showing a configuration of the map information processing apparatus according to Embodiment 6 of the present invention.
- ETC in-vehicle terminal 8 is added to the map information processing apparatus according to Embodiment 1 shown in FIG. 1, and ETC data receiving means 24 is added to car navigation apparatus 1.
- ETC data receiving means 24 is added to car navigation apparatus 1.
- the processes executed in the new road detection means 19 and the new road registration determination means 20 are different from those of the map information processing apparatus according to the first embodiment.
- the ETC in-vehicle terminal 8 passes through the entrance / exit (toll booth) of the toll road, the ETC in-vehicle terminal 8 is the information regarding the passage of the toll gate by wireless communication with the ETC roadside device (not shown) installed at the entrance / exit Send and receive certain automatic toll collection data, and settle the toll.
- the automatic toll collection data sent and received by the ETC in-vehicle terminal 8 is sent to the ETC data receiving means 24 of the car navigation device 1.
- the ETC data receiving means 24 stores the automatic toll collection data received from the ETC in-vehicle terminal 8 in the temporary storage memory 18 as toll road running state information.
- the toll road running state information stored in the temporary storage memory 18 can be obtained by the positioning means 15 in addition to the case where the ETC data receiving means 24 receives automatic toll collection data from the ETC in-vehicle terminal 8.
- the new road detecting means 19 determines that the own vehicle position measured by the positioning means 15 does not exist on the existing road, and stores the coordinates in the temporary storage memory 18 at the same time.
- the toll road running state information in the temporary storage memory 18 is referred to determine whether the currently driving road is a toll road, and the determination result is associated with the coordinates of the start point of the new road.
- the ETC data receiving means 24 receives the automatic toll collection data from the ETC in-vehicle terminal 8 in a state where a new road is detected
- the new road detecting means 19 changes the toll road running state in association with the coordinates of the point. Is stored in the temporary storage memory 18.
- the registration determination process executed by the new road registration determination means 20 is the same as the registration determination process according to the fifth embodiment already described with reference to the flowchart of FIG. 10 except for the following points. That is, the road type determination process for a new road executed in step ST42 of the flowchart shown in FIG. 10 is different from that of the fifth embodiment.
- the details of the road type determination process for a new road will be described with reference to the flowchart shown in FIG.
- step ST211 it is checked from the temporary storage memory 18 whether the toll road running state at the starting point of the new road indicates “toll road running” (step ST211). If it is determined that the vehicle is traveling on a toll road, the new road is determined to be an expressway (step ST203), and the road type determination ends. On the other hand, if it is determined in step ST211 that no toll road driving is indicated, then it is checked whether the new road includes a point where the toll road driving state changes to “toll road driving”. (Step ST212). This is done by examining the presence or absence of a coordinate point whose toll road driving state information has changed to “During toll road driving” as information associated with the coordinates stored in the temporary storage memory 18 as a new road. Is called.
- step ST212 if it is determined that the new road includes a point where the toll road driving state changes to "toll road driving”, the new road is determined to be an expressway (step ST203). The road type determination ends. On the other hand, if it is determined in step ST212 that the new road does not include a point where the toll road driving state changes to “toll road driving”, the new road is determined not to be a highway (step ST204). The road type determination ends.
- the map information processing apparatus is configured to determine whether the road type of the new road is a toll road, but whether it is a highway or an automobile-only road. Can also be configured to determine.
- a toll road (or high speed) is obtained based on the automatic toll collection data acquired from the ETC in-vehicle terminal 8. Since it is determined that the road is a road or a road dedicated to automobiles, the determination can be made accurately and easily.
- whether or not the new road information can be additionally registered to the existing map information based on whether or not the detected new road is a predetermined point, for example, near the home. Is determined.
- the configuration of the map information processing apparatus according to the fifth embodiment is the same as that of the map information processing apparatus according to the first embodiment shown in FIG. 1, and is executed by the new road registration determination means 20. Only the processing is different.
- a new road home periphery determination process is executed (step ST51). In this home periphery determination process, it is determined whether or not the new road exists within a predetermined distance from the home, for example, within 5 km. Next, based on the determination result of step ST51, whether or not the new road is around the home is checked (step ST52). If it is determined that the vehicle is in the vicinity of the home, it is determined that a new road can be registered (step ST5), and the registration determination process ends. The determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- step ST52 when it is determined in step ST52 that the vehicle is not near the home, it is determined that the new road is not registered (step ST7), and the registration determination process ends.
- the determination result in the new road registration determination means 20 is sent to the new road registration means 21 as described above.
- the new road exists within a predetermined distance from the home. Although it is configured to determine whether or not it exists, it can be configured to determine whether or not the new road exists on the same mesh as the home. It can also be configured to determine whether the new road is included in the same mesh as the home or a mesh adjacent to the home's existing mesh. In the home periphery determination process in the map information processing apparatus according to the seventh embodiment, it is configured to determine whether or not the new road is near the home. It can also be configured to determine whether. It can also be configured to determine whether or not the location is a location registered by the user.
- the new road is added to the existing map information. Because it is configured to be registered, it is possible to follow a new road in an area that is convenient for the user. In addition, it is possible to accurately and easily determine areas that are convenient for the user.
- the map information processing apparatus presents to the user the result of determining whether or not additional registration of new road information representing the detected new road to the existing map information is possible, and responds to this presentation.
- new road information is additionally registered in the existing map information.
- FIG. 15 is a block diagram showing a configuration of the map information processing apparatus according to Embodiment 8 of the present invention.
- This map information processing apparatus is configured by adding registration determination result presentation means 25 and registration determination result confirmation means 26 to the car navigation apparatus 1 of the map information processing apparatus according to Embodiment 1 shown in FIG. ing. Further, the process executed in the new road registration means 21 is different from that of the map information processing apparatus according to the first embodiment. In other words, the new road registration means 21 executes a new road registration process when the registration judgment result confirmation means 26 confirms that a new road should be registered.
- the registration determination result presentation unit 25 presents the registration determination result performed by the new road registration determination unit 20 to the user (step ST301).
- the registration determination result confirmation means 26 performs a display for inquiring about the user's will with respect to the registration determination result presented in step ST301 (step ST302).
- FIG. 17 shows an example of a screen displayed on the display device (monitor) 2 of the car navigation device 1 after these steps ST301 and ST302 are executed.
- step ST303 it is checked whether or not an input from the user ("Yes” or "Ire, E") has been made from input device 4 (step ST303). If it is determined that no user input has been made, the user waits for a predetermined time (for example, 0.2 seconds) (step ST304), and then the sequence proceeds to step ST303. Return. On the other hand, if it is determined in step ST303 that the input from the user has been made, it is checked whether or not the input is “yes” (step ST305). If it is determined that the input from the user is “Yes”, the process ends. On the other hand, if it is determined that the input from the user is “No”, the determination result of the new road registration determination means 20 is reversed (step ST306), and the process ends.
- a predetermined time for example, 0.2 seconds
- the user can recognize the new road registration determination result.
- the new road is not unconditionally added to the map information and the cause can be recognized. It is also possible to reflect the user's wishes even if there is a discrepancy between the registration judgment result automatically calculated by the system and the user's desired registration necessity.
- the existing function is obtained by performing registration after appropriately determining whether or not the new road can be additionally registered in the existing map information. Suitable for eliminating adverse effects on
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Priority Applications (5)
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DE112005003354T DE112005003354B4 (de) | 2005-02-08 | 2005-11-10 | Karteninformationsverarbeitungsvorrichtung zum Registrieren von neuen Straßen |
US13/221,300 US8983769B2 (en) | 2005-02-08 | 2011-08-30 | Map information processing apparatus |
US13/221,371 US20110313823A1 (en) | 2005-02-08 | 2011-08-30 | Map information processing apparatus |
US13/221,426 US20110313659A1 (en) | 2005-02-08 | 2011-08-30 | Map information processing apparatus |
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JP2005032016A JP4241637B2 (ja) | 2005-02-08 | 2005-02-08 | 地図情報処理装置 |
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US13/221,426 Division US20110313659A1 (en) | 2005-02-08 | 2011-08-30 | Map information processing apparatus |
US13/221,300 Division US8983769B2 (en) | 2005-02-08 | 2011-08-30 | Map information processing apparatus |
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DE112005003354T5 (de) | 2007-12-27 |
DE112005003354B4 (de) | 2013-06-06 |
US9062981B2 (en) | 2015-06-23 |
US20080120171A1 (en) | 2008-05-22 |
JP2006220449A (ja) | 2006-08-24 |
US20110313661A1 (en) | 2011-12-22 |
US20110313823A1 (en) | 2011-12-22 |
JP4241637B2 (ja) | 2009-03-18 |
US8983769B2 (en) | 2015-03-17 |
US20110313659A1 (en) | 2011-12-22 |
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