JP2017161308A - Information processing apparatus, control method, program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing apparatus that can suitably associate road information with lane information.SOLUTION: A navigation device 1 extracts road links to be associated from a road link DB 32, and extracts lane links present within a first distance Lth1 from the positions of the extracted road links from a lane link DB 33. The navigation device 1 creates correspondence information 34 with which the lane links extracted from the lane link DB 33 are associated for each of the road links extracted from the road link DB 32.SELECTED DRAWING: Figure 5

Description

  The present invention relates to road data used for route search and route guidance.

  Conventionally, as a driving support technology, a navigation system that provides guidance information for guiding a vehicle route to a driver of a vehicle by an image or a voice using road map information indicating a road map has been put into practical use. . For example, in Patent Document 1, road reference information indicating a road map based on a road reference line along a road, lane reference information indicating a road map based on a lane reference line along a lane, road reference information, and A navigation device is disclosed in which correspondence information associated with lane reference information is stored in a storage unit. The navigation device searches for a route on which the vehicle travels based on road reference information, specifies the searched route based on lane reference information using correspondence information, and obtains guidance information based on the route specified by the lane reference information. Generate.

JP 2006-266865 A

  In automatic driving or the like, high-precision control is required, and it is not sufficient to generate guidance information using map data for each road, and guidance information based on map data for each lane is required. On the other hand, if a route search is performed based on map data for each lane, the number of route candidates increases, and the search takes time. Therefore, it is considered efficient to perform route search using map data in units of roads, and to generate guide guidance information based on the searched routes based on map data in units of lanes. In the case of such a configuration, it is necessary to associate the road link registered in the map data for each road with the lane link registered in the map data for each lane.

  On the other hand, Patent Document 1 discloses that the correspondence between the road link and the lane link is associated with the road link and the lane link. However, there is no mention of a method for generating the correspondence information. Not.

  Examples of the problem to be solved by the present invention include the above. A main object of the present invention is to provide an information processing apparatus capable of suitably executing association between road information and lane information.

  The invention according to claim is an information processing apparatus, and includes at least a first acquisition unit that acquires first road information indicating a first road, and a lane information storage unit that stores lane information indicating a lane, Searching for first lane information indicating a lane existing within a first distance from the position indicated by the first road information, a second acquisition unit for acquiring the first lane information, the first road information, An association unit that associates the first lane information with each other and stores the first lane information in the storage unit.

  The invention described in the claims is an information processing apparatus, and includes at least a first acquisition unit that acquires first road information indicating a first road, and a lane information storage unit that stores lane information indicating a lane. A second acquisition unit for acquiring first lane information indicating a lane existing within a first distance from the position indicated by the first road information, the first road information, and the first lane information. And a generation unit that generates correspondence information indicating that it corresponds.

  The invention described in the claims is a control method executed by the information processing apparatus, and stores at least a first acquisition step of acquiring first road information indicating a first road and lane information indicating a lane. A second acquisition step of retrieving first lane information indicating a lane existing within a first distance from the position indicated by the first road information from the lane information storage unit, and acquiring at least the first lane information; An association step of associating and storing the first road information and the first lane information in a storage unit.

  The invention described in the claims is a program executed by a computer, and at least a first acquisition unit that acquires first road information indicating a first road, and lane information that stores lane information indicating a lane A first acquisition unit that searches the storage unit for first lane information indicating a lane that is within a first distance from the position indicated by the first road information, and acquires at least the first lane information; The computer is caused to function as an association unit that associates road information with the first lane information and stores the information in a storage unit.

1 shows a schematic configuration of a navigation device. It is the figure which represented the one-way road using the road link and the lane link. It is the figure showing the road link corresponding to the one-sided two-lane road which exists in each direction of an up direction and a down direction, and a lane link row | line | column. FIG. 4 is a diagram showing a road link and a lane link row when there is one road link corresponding to the one-side two-lane road shown in FIG. 3. It is a flowchart which shows the production | generation process of the corresponding information which concerns on 1st Example. It is the figure which visualized the road link and the lane link on the map which displayed the road containing an intersection. It is a flowchart which shows the production | generation process of the corresponding information which concerns on 2nd Example. The structure of the navigation system which concerns on the modification 1 is shown. It is a figure for demonstrating the road link and lane link which concern on the modification 2. FIG.

  In a preferred embodiment of the present invention, the information processing apparatus includes at least a first acquisition unit that acquires first road information indicating a first road, and a lane information storage unit that stores lane information indicating a lane. A second acquisition unit that searches for first lane information indicating a lane existing within a first distance from the position indicated by the first road information, acquires the first lane information, the first road information, and the first An association unit that associates the one-lane information with each other and stores the information in the storage unit.

  The information processing apparatus includes a first acquisition unit, a second acquisition unit, and an association unit. The first acquisition unit acquires at least first road information indicating the first road. The second acquisition unit searches the lane information storage unit storing the lane information indicating the lane, by searching for the first lane information indicating the lane existing within the first distance from the position indicated by the first road information. Get one lane information. The association unit associates the first road information acquired by the first acquisition unit and the first lane information acquired by the second acquisition unit and stores them in the storage unit. In this aspect, when associating the first road information with the lane information, the information processing device searches for the first lane information indicating the lane existing within the first distance from the position of the first road, and the first road information Can be associated with

  In one aspect of the information processing apparatus, the information processing apparatus further includes a third acquisition unit that acquires route information related to a route along which the moving body moves, and the first acquisition unit indicates a road included in the route. Information is acquired as the first road information. According to this aspect, the information processing apparatus can suitably limit the association process between the road information and the lane information to a range necessary for generating the guidance information for route guidance.

  In another aspect of the information processing apparatus, the third acquisition unit searches for the route by referring to a road information storage unit that stores road information indicating a road including the first road. The information is acquired, and the first acquisition unit acquires road information indicating a road included in the route from the road information storage unit as the first road information. According to this aspect, the information processing apparatus can perform a route search with reference to the road information stored in the road information storage unit, and can associate the lane information with the road information of the road included in the route.

  In another aspect of the information processing apparatus, the associating unit includes the first lane information excluding at least lane information indicating a lane in which a lane change to a lane capable of traveling along the route is restricted, The information is stored in the storage unit in association with the first road information. According to this aspect, the information processing apparatus can prevent the lane information of the lane that is not suitable for traveling along the route from being unnecessarily associated with the first road information.

  In another aspect of the information processing apparatus, the second acquisition unit acquires the first distance set by the setting unit. Thereby, the information processing apparatus can suitably adjust the allowable distance difference between the associated lane and the road.

  In another aspect of the information processing apparatus, the second acquisition unit determines the first distance based on a width of the first road. With this aspect, the information processing apparatus can accurately determine the first distance so that the road information and the lane information are appropriately associated with each other.

  In another aspect of the information processing apparatus, the first acquisition unit acquires information indicating a road included in a predetermined area based on a current position as the first road information. Also according to this aspect, the information processing apparatus can associate road information and lane information necessary in advance before a route search or the like.

  In another preferred embodiment of the present invention, the information processing apparatus includes at least a first acquisition unit that acquires first road information indicating a first road, and a lane information storage unit that stores lane information indicating a lane. A second acquisition unit that acquires first lane information indicating a lane existing within a first distance from the position indicated by the first road information, the first road information, and the first lane information correspond to each other. A generating unit that generates correspondence information indicating that the information is to be displayed. According to this aspect, the information processing apparatus can suitably generate correspondence information that associates the first road information with the first lane information.

  In another preferred embodiment of the present invention, the control method is executed by the information processing apparatus, and includes at least a first acquisition step of acquiring first road information indicating a first road, and lane information indicating a lane. A second acquisition step of retrieving from the stored lane information storage unit first lane information indicating a lane existing within a first distance from a position indicated by the first road information, and acquiring at least the first lane information; And an association step of associating and storing the first road information and the first lane information in a storage unit. The information processing apparatus searches the first lane information indicating the lane that exists within the first distance from the position of the first road when the first road information is associated with the lane information by executing this control method. , Can be associated with the first road information.

  In another preferred embodiment of the present invention, a program executed by a computer, at least a first acquisition unit that acquires first road information indicating a first road, and a lane that stores lane information indicating a lane A second acquisition unit that retrieves, from the information storage unit, first lane information indicating a lane existing within a first distance from the position indicated by the first road information, and acquires at least the first lane information; The computer is caused to function as an associating unit that associates 1 road information with the first lane information and stores the information in the storage unit. By executing this program, the computer searches the first lane information indicating the lane existing within the first distance from the position of the first road when the first road information is associated with the lane information. Can be associated with road information. Preferably, the program is recorded on a recording medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

<First embodiment>
[Configuration of navigation device]
FIG. 1 shows a schematic configuration of a navigation device 1 according to the first embodiment.

  As shown in FIG. 1, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a data storage unit 31, a communication device 38, a display unit 40, an audio output unit 50, and an input device 60.

  The autonomous positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. 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 22, a ROM 23, and a RAM 24, and controls the entire navigation device 1.

  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.

  The system controller 20, the data storage unit 31, the display unit 40, the audio output unit 50, and the input device 60 are connected to each other via the bus line 30.

  The data storage unit 31 is configured by a storage medium such as an HDD or an SD card (registered trademark), for example, and stores various data used for navigation processing such as map data and facility data. In the present embodiment, the data storage unit 31 includes a road link DB 32, a lane link DB 33, and correspondence information 34 as part of the map data. The data storage unit 31 is an example of the “lane information storage unit”, “road information storage unit”, and “storage unit” in the present invention.

  The road link DB 32 is a database of links (also referred to as “road links”) for each road when the road network is expressed as nodes corresponding to road connecting portions such as intersections and links connecting the nodes. In the road link DB 32, attribute information of a section corresponding to the road link is recorded for each road link. The road link attribute information includes, for example, road link ID, position information corresponding to the start point and end point, ID of each road node corresponding to the start point and end point, road width, road shape data, and the like. As will be described later, the road link DB 32 is used for processing for determining a route (also referred to as “guidance route”) to a destination to be a guidance target. The attribute information of the road link registered in the road link DB 32 is an example of “road information” in the present invention.

  The lane link DB 33 is a database of lane links (also referred to as “lane links”) corresponding to sections obtained by dividing the lanes constituting the road based on a predetermined reference. In the lane link DB 33, traffic control information such as lane link ID, position information corresponding to the start point and end point, or ID of each lane node corresponding to the start point and end point, lane number, lane type, lane width, lane change prohibition, Includes lane shape data. As will be described later, the lane link DB 33 is used for processing for generating guidance information for the determined guidance route. The lane link or its attribute information registered in the lane link DB 33 is an example of “lane information” in the present invention.

  Each lane link may be delimited by the same standard as the road link, or may be delimited by a different standard from the road link. In this embodiment, each lane is represented by a lane link having a predetermined length (for example, 1 m). The system controller 20 newly generates a lane link having a predetermined length by dividing the lane link in an initial state registered in the lane link DB 33 into predetermined lengths in the generation process of the correspondence information 34 described later. May be stored in the lane link DB 33. Thus, by generating guidance information using a lane link shorter than a road link, the system controller 20 can perform more detailed guidance display and voice guidance in route guidance.

  The correspondence information 34 is information for associating the road link registered in the road link DB 32 with the lane link registered in the lane link DB 33. For example, the corresponding information 34 is associated with a corresponding lane link ID for each road link ID. As will be described later, the system controller 20 generates the correspondence information 34 for a road link in a predetermined area including the current position before executing the route search. In the present embodiment, the road link DB 32 and the lane link DB 33 are provided by different companies, for example, so that correspondence information 34 that associates the road link DB 32 and the lane link DB 33 does not exist in the initial state. .

  The data storage unit 31 further stores a road node database that is a connection point of road links registered in the road link DB 32 and a lane node database that is a connection point of lane links registered in the lane link DB 33. May be.

  The communication device 38 receives road traffic information and other information distributed from a VICS (registered trademark, Vehicle Information Communication System) center. The communication device 38 receives part or all of the data of the road link DB 32 and / or the lane link DB 33 stored in the data storage unit 31 from a server or the like that manages map data based on the control of the system controller 20. May be.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 31. The display unit 40 displays the map data read from the data storage unit 31 by the system controller 20 on a display screen such as a display. 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 display 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 is composed of, for example, a liquid crystal display device having a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

  The audio output unit 50 is output from the D / A converter 51 that performs D / A conversion of audio digital data sent from the RAM 24 or the like via the bus line 30 under the control of the system controller 20, and the D / A converter 51. An amplifier (AMP) 52 that amplifies the audio analog signal to be amplified, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle.

  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. When 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 input device 60 is an example of the “setting unit” in the present invention.

  When the input device 60 or the like detects an input of a route search request specifying a destination or the like, the system controller 20 searches for a route from the current position to the destination by referring to the road link DB 32 and determines a guidance route. . Then, the system controller 20 specifies the lane link corresponding to the road link constituting the guide route with reference to the correspondence information 34, and generates the guide information of the determined guide route based on the information of the specified lane link. Then, the data is output by the display unit 40 or the audio output unit 50. Further, the system controller 20 performs processing for generating the correspondence information 34 at a predetermined timing before the route search is executed. In this case, the system controller 20 determines an area (also referred to as “road link extraction area AR”) for designating a road link to be associated, and correspondence information 34 for each road link in the road link extraction area AR. Is generated. A method for generating the correspondence information 34 will be described later. For example, the road link extraction area AR is set to a predetermined range based on the current position (for example, within a predetermined distance from the current position). The road link extraction area AR is an example of a “predetermined area” in the present invention, and an arbitrary road in the road link extraction area AR is an “first road” in the present invention, an arbitrary in the road link extraction area AR. The road link corresponding to the road or the attribute information thereof is an example of “first road information” in the present invention.

  Note that the CPU 22 of the system controller 20 executes a program stored in advance in the ROM 23 or the like to thereby execute the “first acquisition unit”, “second acquisition unit”, “third acquisition unit”, “association unit” of the present invention. ”,“ Generator ”, and“ computer ”that executes the program of the present invention.

[Generate correspondence information]
Next, a method of generating correspondence information 34 that associates road links and lane links will be described. Schematically, the system controller 20 extracts, for each road link in the road link extraction area AR, lane links that exist within a predetermined distance (also referred to as “first distance Lth1”) from the road of the road link. Thereafter, a lane link string (also referred to as a “lane link string”) is recognized from the extracted lane link, and correspondence information 34 in which the lane link string is associated with a road link is generated.

  FIG. 2 is a diagram showing a one-way road using road links R1 to R3 and lane links L1 to L14. In the example of FIG. 2, the road link R1 is a one-lane road, and switches to a three-lane road corresponding to the road link R2 at the road node “N1” corresponding to the branch point. In addition, the road link R2 is connected to the road link R3 indicating a three-lane road at the road node “N2”. In FIG. 2, the end with the arrow of the road link and the lane link represents the end point of each link, and the other end represents the start point of each link.

  Here, with reference to FIG. 2, a method for specifying the lane link associated with the road link R2 will be described.

  First, the system controller 20 includes the road link R2 and the lane links L1 to L14 based on the attribute information of the road link R2 registered in the road link DB 32 and the attribute information of each lane link registered in the lane link DB 33. The position of each lane link in two-dimensional coordinates (for example, latitude and longitude) is specified. Next, as shown in FIG. 2, the system controller 20 specifies a range (also referred to as “lane link extraction area AL”) that is within the first distance Lth1 from the target road link R2. The lane link extraction area AL may be set in a range that extends only in the lateral direction (vertical direction) of the target road link R2 instead of the example shown in FIG. Then, the system controller 20 extracts lane links (lane links L1 to L14 in FIG. 2) that partially or entirely overlap with the lane link extraction area AL. The lane link extracted based on the lane link extraction area AL or its attribute information is an example of “first lane information” in the present invention.

  Here, the system controller 20 may set the first distance Lth1 to a predetermined value stored in advance in the data storage unit 31 or the like, or may be set to a value designated by a user input to the input device 60. Good. By allowing the first distance Lth1 to be changed by user input as in the latter case, the first distance Lth1 can be adjusted flexibly, and the accuracy of association between the road link and the lane link can be preferably improved. .

  Next, from the lane links L1 to L14 that overlap with the lane link extraction area AL, the system controller 20 sets lane link strings “LL1”, “LL2”, “ LL3 "is recognized. In this case, the system controller 20 recognizes the position of the start point and the end point of each lane link L1 to L14, and the start point of one lane link and the end point of the other lane link match (that is, connect to the same lane node). ) Is recognized as a lane link row.

  In the example of FIG. 2, the system controller 20 has one start point and the other end point of the lane links adjacent to the lane links L1 to L5 overlap based on the attribute information of the lane links L1 to L14 registered in the lane link DB33. It is judged that it corresponds to a series of lane link groups, and a lane link row LL1 composed of lane links L1 to L5 is recognized. Similarly, the system controller 20 determines that the lane links L1, L6 to L10 correspond to a series of lane links in which one start point and the other end point of adjacent lane links overlap, and the lane links L1, L6 to L10 Recognize the configured lane link row LL2. Similarly, the system controller 20 specifies the lane link row LL3 including the lane links L1, L6, and L11 to L14.

  Next, the system controller 20 generates correspondence information 34 in which each recognized lane link row LL1 to LL3 is associated with the road link R2. For example, the system controller 20 stores correspondence information 34 in which the link IDs of the lane links constituting the lane link row are associated with the link ID of the road link R2 in the data storage unit 31 for each of the lane link rows LL1 to LL3. Remember.

  Next, a specific example for a road where an oncoming lane exists will be described with reference to FIGS. 3 and 4.

  FIG. 3 is a diagram showing road links R4 and R5 and lane link rows LL4 to LL7 corresponding to roads having two lanes in each of the upward direction and the downward direction. In the example of FIG. 3, road links R4 and R5 corresponding to each of two lanes in the upward direction and two lanes in the downward direction are registered in the road link DB 32. In FIG. 3, a lane link extraction area AL corresponding to the road link R4 is shown.

  In this case, first, the system controller 20 extracts lane links existing in a range overlapping with the lane link extraction area AL shown in FIG. 3 based on the same procedure as described in FIG. 2, and from the extracted lane links, Each lane link row LL4 to LL6 shown in FIG. 3 is recognized. Next, the system controller 20 compares the direction in which each identified lane link row LL4 to LL6 can travel with the direction in which the road link R4 can travel. In this case, the system controller 20 determines that the advancing direction of the lane link row LL6 is different from the advancing direction of the road link R4, and for the road link R2, the lane link row LL4 excluding the lane link row LL6, Correspondence information 34 associated with LL5 is generated.

  Note that the system controller 20 preferably sets the first distance Lth1 for determining the lane link extraction area AL according to the road width included in the attribute information of the target road link. In the example of FIG. 3, the system controller 20 includes the lane link strings LL4 and LL5 by setting the first distance Lth to 1/2 of the road width included in the attribute information of the road link R4, for example, The lane link extraction area AL is determined within a range not including LL6. Thus, the system controller 20 does not need to perform the process of excluding the lane link row LL6 of the opposite lane from the target of association with the road link R4 by accurately setting the lane link extraction area AL according to the road width. .

  FIG. 4 is a diagram showing the road link R6 and the lane link rows LL4 to LL7 when there is one road link corresponding to the one-side two-lane road shown in FIG. In this case, the road link R6 is set at a position along the median strip, and is given an attribute indicating that it can travel in both the up and down directions. In this case, the lane link extraction area AL corresponding to the road link R6 is set to a range including the lane link rows LL4 to LL7 corresponding to the upper and lower two lanes. In this case, the system controller 20 generates correspondence information 34 that associates all the lane link trains LL4 to LL7 in the lane link extraction area AL with the road link R6. In the case where a lane link corresponding to only one specific direction along the route is associated with the road link R6 as in the second embodiment described later, the system controller 20 may, for example, specify each of the specified lane link rows LL4 to LL7. The lane link row to be associated is selected by referring to each of the travelable directions.

[Processing flow]
FIG. 5 is a flowchart showing the procedure of the generation process of the correspondence information 34 executed by the system controller 20 in the first embodiment. The system controller 20 executes the processing of the flowchart shown in FIG. 5 when a route search is requested, when the lane link DB 33 is acquired from another server, or at predetermined time intervals.

  First, the system controller 20 determines a road link extraction area AR (step S101). For example, the system controller 20 sets an area within a predetermined distance from the position indicated by the current position information generated by the GPS receiver 18 as the road link extraction area AR. In this case, for example, the system controller 20 may set the road link extraction area AR so that the size includes a point that can be set as the destination.

  Next, the system controller 20 extracts road links in the road link extraction area AR from the road link DB 32, and extracts lane links within the first distance Lth1 from the lane link DB 33 for each extracted road link (step S102). Specifically, the system controller 20 sets a lane link extraction area AL for each extracted road link based on the first distance Lth1, and sets a lane link overlapping the lane link extraction area AL for each road link. Identify. In this case, the system controller 20 may determine the first distance Lth1 corresponding to each road link according to the road width included in the attribute information of the road link. For example, the system controller 20 sets the first distance Lth1 longer as the road width included in the attribute information of the target road link is longer.

  Next, the system controller 20 recognizes, for each road link in the road link extraction area AR, a lane link string in which a lane link that can travel is connected to the lane link group extracted in step S102 (step S103). Then, the system controller 20 generates correspondence information 34 that associates each road link in the road link extraction area AR with the lane link string recognized in step S103 (step S104). In this case, the system controller 20 may generate the correspondence information 34 after dividing each lane link of the associated lane link row so as to have a predetermined length and registering it in the lane link DB 33. .

  Next, the system controller 20 determines whether there is a route search request specifying a destination or the like (step S105). Then, when there is a route search request (step S105; Yes), the system controller 20 performs a route search based on the road link registered in the road link DB 32 and determines a guide route (step S106). If the destination exists outside the road link extraction area AR set in step S101, the system controller 20 resets the road link extraction area AR to include the destination and executes steps S102 to S104. May be.

  Next, the system controller 20 extracts a lane link corresponding to the road link constituting the guide route determined in step S106 (step S107). Specifically, the system controller 20 refers to the correspondence information 34, and extracts each lane link of the lane link row associated with each road link constituting the guide route from the lane link DB 33.

  Next, the system controller 20 generates guidance information necessary for route guidance based on the lane link extracted in step S <b> 107, and outputs it by the display unit 40 or the voice output unit 50. For example, the system controller 20 determines the lane link where the own vehicle position exists based on the own vehicle position recognized based on the outputs of the autonomous positioning device 10 and the GPS receiver 18 and the attribute information of the lane link extracted in step S107. Identify. Then, the system controller 20 displays the position of the vehicle on the map image displayed on the display unit 40, and displays the line along the lane link extracted in step S107 as a guide route. Similarly to general route guidance, the system controller 20 outputs a direction or the like to be advanced by the audio output unit 50 when the next right or left turn point is approached within a predetermined distance.

  As described above, the navigation device 1 according to the first embodiment extracts the road link to be associated from the road link DB 32, and the lane link existing within the first distance Lth1 from the position of each extracted road link is the lane. Extracted from the link DB 33. And the navigation apparatus 1 produces | generates the correspondence information 34 which linked | related the lane link extracted from lane link DB33 for every road link extracted from road link DB32. As a result, the navigation device 1 executes the route search using the road link DB 32 and then extracts the lane link corresponding to the road link constituting the guide route on the correspondence information 34 from the lane link DB 33, thereby Guidance information for guidance can be generated based on lane links.

  Further, for example, in a mode in which the navigation device 1 has only the road link DB 32 in the initial state and receives the lane link DB 33 that the external device has and uses the lane link DB 33, it corresponds in advance as in Patent Document 1. It is difficult to store the information 34. Thus, even if the correspondence information 34 that associates the road link DB 32 and the lane link DB 33 does not exist in the initial state due to different companies that provide the road link DB 32 and the lane link DB 33, the navigation device 1 Can suitably generate the correspondence information 34.

<Second embodiment>
In the second embodiment, the system controller 20 generates the correspondence information 34 corresponding to each road link (also referred to as “on-route road link”) constituting the guide route after the route search is executed. Different from the embodiment. Since the configuration and the like of the navigation device 1 are the same as those in the first embodiment, the description thereof is omitted.

  In the second embodiment, the system controller 20 does not execute the generation process of the correspondence information 34 until there is a route search request. Then, when there is a route search request, the system controller 20 determines a guide route using the road link registered in the road link DB 32, and sets the road links on each route constituting the determined guide route to the lane. It is defined as a target for link association. After that, as in the first embodiment, the system controller 20 extracts the lane link existing within the first distance Lth for each road link on the route, and the lane link string based on the direction that can proceed from the extracted lane link. Recognize Then, the system controller 20 generates correspondence information 34 that associates the corresponding route road link with the lane link string.

  As described above, in the second embodiment, the system controller 20 only needs to generate the minimum necessary correspondence information 34 necessary for route guidance. Therefore, the processing load and the like can be suitably reduced.

  Further, preferably, in the second embodiment, the system controller 20 lanes on the guide route that cannot substantially travel along the guide route for legal or safety reasons based on legal restrictions such as prohibition of lane change. A lane link corresponding to a section (also referred to as a “travel prohibited section”) may be excluded from association targets. Hereinafter, the above-described lane link exclusion process based on the travel prohibited section is also referred to as a “lane link exclusion process”.

  FIG. 6 is a diagram in which road links and lane links are visualized on a map displaying roads including intersections. In FIG. 6, road links “Ra”, “Rb”, and “Rc” indicate road links on the route. A plurality of lane links “La” indicated by solid arrows indicate lane links associated with the road links on the route, and a plurality of lane links “Lb” indicated by broken arrows indicate that the roads on the route without depending on the lane link exclusion process. A lane link that is not associated with a link is indicated, and a lane link “Lc” with an arrow marked with “x” indicates a lane link that is excluded from being associated with a road link on a route by the lane link exclusion process. The area within the broken line frame 70 indicates a section in which lane change is prohibited by law (also referred to as “lane change prohibited section”).

  In this case, the system controller 20 refers to the traffic regulation information included in the attribute information of each lane link, and recognizes that the lane section in the broken line frame 70 is a lane change prohibition section. The system controller 20 then determines a lane (that is, a center lane and a right lane) that is different from a lane that can travel along the guide route (that is, the left lane) among the lane sections within the lane change prohibition section indicated by the broken line frame 70. The lane link in the travel prohibited section is excluded from the candidates for association with the road link on the route.

  As described above, the system controller 20 excludes the lane link corresponding to the lane for which lane change to the lane for traveling along the guide route is legally restricted from the candidates for association with the route road link. Thereby, it is possible to prevent the lane link corresponding to the lane section incapable of traveling along the guide route from being unnecessarily associated with the road link on the route.

  In addition, the system controller 20 is configured for a section (refer to a broken line frame 71) within a predetermined distance (also referred to as “second distance Lth2”) within a lane change prohibition section on a lane that cannot travel along the guide route. Is determined to be a section where it is difficult to change the lane to a lane that can travel along the guide route, and is regarded as a travel prohibited section. Then, the system controller 20 excludes the lane link in the travel prohibited section from the candidates for association with the road link on the route. Preferably, the second distance Lth2 is set for each lane, and the longer the number of lane changes necessary to move to a lane that can travel along the guide route (the left lane in FIG. 6), the longer the second distance Lth2 is. Set to distance. In the example of FIG. 6, the second distance Lth2 for the right lane that requires two lane changes to the left lane that can travel along the guide route is set to the length of the two lane links, The second distance Lth2 with respect to the central lane that requires one lane change to the lane is set to the length of one lane link. As described above, the system controller 20 takes into consideration the travel distance necessary for the lane change and specifies the lane section in which the travel along the guide route cannot be safely performed as the travel prohibition section, so that the road link on the route is unnecessary. Lane link association can be prevented.

  In addition, in the example of FIG. 6, the system controller 20 regards a lane section that requires a lane change immediately after a left turn (see a broken line frame 72) in addition to a lane change prohibition section and a preceding section, as a travel prohibition section, Exclude lane links in the prohibited travel section from candidates for association with road links on the route. Thus, preferably, the system controller 20 sets a lane section within the second distance Lth2 from the right / left turn point among the lanes that need to be changed immediately after the right / left turn at the right / left turn point as the travel-prohibited section. To do.

  Further, in the example of FIG. 6, the system controller 20 also travels along the guide route in consideration of the distance required for the lane change even in the section immediately before the right turn point where the lane change prohibition section corresponding to the road node Nb does not exist. The section within the second distance Lth2 from the right turn point of the lane other than the lane where the vehicle can travel (see the broken line frame 73) is set as the travel prohibited section. Thus, preferably, the system controller 20 needs to change the lane within the second distance Lth2 to a lane that can travel along the guide route regardless of the presence or absence of traffic regulation information that prohibits lane change. This section is also set as a travel-prohibited section. This can also prevent the lane link corresponding to the lane section that cannot safely travel along the guide route from being unnecessarily associated with the road link on the route.

  FIG. 7 is a flowchart showing the procedure of the generation process of the correspondence information 34 executed by the system controller 20 in the second embodiment. The system controller 20 executes the processing of the flowchart shown in FIG. 7 when a route search request is made.

  First, the system controller 20 determines whether there is a route search request specifying a destination or the like (step S201). Then, when there is a route search request (step S201; Yes), the system controller 20 performs a route search using the road link registered in the road link DB 32 and determines a guide route (step S202).

  Next, the system controller 20 extracts the road link on the route corresponding to the guide route from the road link DB 32, and extracts the lane link within the first distance Lth1 for each extracted road link from the lane link DB 33 (step). S203). In this case, the system controller 20 sets a lane link extraction area AL for each extracted road link based on the first distance Lth1, and extracts a lane link that overlaps the lane link extraction area AL for each road link. .

  Next, the system controller 20 excludes the lane link corresponding to the prohibited travel section in which travel along the guide route is difficult due to regulations or safety from the lane link specified in step S203 (step S204). Specifically, the system controller 20 sets the second distance Lth2 in the lane section (broken frames 70, 71, 73 in FIG. 6) where the lane change to the lane that can travel along the planned route is restricted. Based on the above, the travel prohibited section is specified, and the lane link corresponding to the travel prohibited section is excluded.

  Next, the system controller 20 recognizes a lane link row based on a travelable direction from the lane links that are not excluded in step S204 among the lane links specified in step S203 (step S205). And the system controller 20 produces | generates the correspondence information 34 which linked | related each road road link and the lane link row | line | column recognized by step S205 (step S206). Thereafter, the system controller 20 generates guidance information necessary for route guidance based on the lane link associated with the route road link in step S206, and outputs it by the display unit 40 or the voice output unit 50 (step S207).

  As described above, according to the second embodiment, the system controller 20 can perform the route guidance efficiently by associating the lane link and the road link within the minimum necessary range for the route guidance.

<Modification 1>
A part of the processing executed by the navigation device 1 in the first and second embodiments may be executed by a server device that can communicate with the navigation device 1.

  FIG. 8 shows a configuration of a navigation system according to the first modification. In the example of FIG. 8, the navigation device 1 can perform data communication with the server device 2 via a network. When the server device 2 has a road link DB 32, a lane link DB 33, and correspondence information 34 instead of the navigation device 1, and receives a route search request designating the current position and destination from the navigation device 1, The route is searched based on the route search request, and the guide route is determined. Then, the server device 2 transmits the determined guidance route information, the route guidance information to be output by the navigation device 1, and the like to the navigation device 1.

  In this navigation system, in the case of the first embodiment, for example, the server device 2 generates the correspondence information 34 in advance by executing steps S101 to S104 in FIG. When there is a route search request, route search is performed, guidance information for the determined guide route is generated, and guidance information is transmitted to the navigation device 1. Similarly, in the case of the second embodiment, when the server device 2 receives a route search request from the navigation device 1, the server device 2 executes the processing of steps S202 to S207 in FIG. Send to. Thus, also by the navigation system of FIG. 8, the server device 2 can suitably generate the correspondence information 34.

  The navigation device 1 receives the road link DB 32, the lane link DB 33, and the correspondence information 34 generated by the server device 1 from the server device 2, thereby performing route search processing, generation and output of guidance information, and the like. Also good. The server device 2 may be a server system composed of a plurality of server devices. In this modification, the server device 2 is an example of an “information processing device” in the present invention.

<Modification 2>
FIG. 9 is a diagram for explaining road links and lane links according to the second modification. In the navigation system according to the second modification, the vehicle can be guided in each lane. In the second modification, as in the first embodiment, when the system controller 20 detects an input of a route search request specifying a destination or the like by the input device 60 or the like, the system controller 20 refers to the road link DB 32 from the current position. A route search to the ground is performed to determine a guide route. Then, necessary road links are extracted from the correspondence information 34. Then, as in the first embodiment, the system controller 20 refers to the correspondence information 34, and the lane link in the lane link row associated with each of the road links constituting the guide route is obtained from the lane link DB 33. Extract.

  Then, the system controller 20 extracts node point information indicating the start point or end point of each extracted lane link. Here, since each lane link is generated by connecting the start point node and the end point node, node point information corresponding to each lane link can be extracted. In FIG. 9, the numeral portion surrounded by a circle indicates each node point information. Hereinafter, a numerical value surrounded by a circle on the drawing is expressed as “circle N” (N is a numerical value) in the specification.

  Furthermore, the system controller 20 extracts traffic regulation information such as lane change prohibition corresponding to each extracted lane link. Further, the system controller 20 assigns restriction information indicating whether or not to change lanes to the node point information based on the extracted traffic restriction information, and stores the information in the correspondence information 34 (for example, temporarily). To.

  And the system controller 20 recognizes the connection (the presence or absence of connectivity) for every lane link about each extracted lane link. For example, when each lane link is extracted as shown in FIG. 9, the system controller 20 recognizes that the lane links circle 1 to circle 5 corresponding to the right lane of the road link Ra are one connection. Similarly, the system controller 20 connects the lane link circle 1 to the circle 5 corresponding to the center lane of the road link Ra, the lane link circle 1 to the circle 14 of the left lane along the road links Ra and Rb, the road link Rb, It is recognized that the lane links 1 to 15 in the right lane along Rc are one connection.

  Then, based on each recognized connection, the system controller 20 includes information on the recommended degree of lane change (information recommending or not recommending lane change, information prohibiting lane change, etc.) in each node point information. Including). For example, the system controller 20 includes information recommending a lane change to the left lane in the node point information corresponding to the center lane and the lane links 1 to 4 in the right lane in the broken line frame 81 in FIG. Give. Further, the system controller 20 gives information indicating that the lane cannot be changed to the node point information corresponding to the lane link of the circle 5 in the center lane and the right lane in the broken line frame 82. Similarly, the system controller 20 assigns information recommending a lane change to the right lane to the node point information corresponding to the lane link from the circle 8 to the circle 13 in the left lane in the broken line frame 84, and the broken line in the lane The node point information corresponding to the lane link of the circle 14 in the frame 86 is given information that disables lane change. Note that information that does not recommend lane change may be added to the node point information corresponding to the lane link for which connectivity is originally secured. For example, the system controller 20 does not recommend lane change to the node point information corresponding to the lane links 1 to 5 of the lane in the broken line frame 83 and the circles 1 to 8 of the lane in the line frame 85. May be given.

  By generating guidance information using the information regarding the recommended degree of lane change given as described above, the system controller 20 can finely guide the vehicle for each lane (lane unit) in the route guidance.

  Preferably, the system controller 20 corresponds to the node point information corresponding to the circle 14 in the broken line frame 86 and the circle 5 in the broken line frame 82 when the guide route along the road links Ra to Rc is set. When passing the position of the node point information to be performed, it is preferable to re-search (reroute) the guide route. In other words, the system controller 20 may perform a re-search (reroute) of the guide route when passing through the lane link corresponding to the travel prohibited section of the first and second embodiments.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Server apparatus 10 Self-supporting positioning apparatus 18 GPS receiver 20 System controller 22 CPU
31 Data storage unit 38 Communication device 40 Display unit 44 Display 60 Input device

Claims (11)

A first acquisition unit that acquires at least first road information indicating the first road;
A first lane information indicating a lane existing within a first distance from a position indicated by the first road information is retrieved from a lane information storage unit storing lane information indicating a lane, and the first lane information is acquired. A second acquisition unit;
An association unit that associates the first road information with the first lane information and stores the first lane information in a storage unit;
An information processing apparatus comprising: A third acquisition unit that acquires route information related to a route along which the moving body moves;
The information processing apparatus according to claim 1, wherein the first acquisition unit acquires information indicating a road included in the route as the first road information. The third acquisition unit acquires the route information by searching the route with reference to a road information storage unit that stores road information indicating a road including the first road,
The information processing apparatus according to claim 2, wherein the first acquisition unit acquires road information indicating a road included in the route from the road information storage unit as the first road information.   The association unit associates the first lane information excluding at least lane information indicating a lane in which lane change to a lane capable of traveling along the route is restricted is associated with the first road information, and the storage unit The information processing apparatus according to claim 2, wherein the information processing apparatus is stored in the information processing apparatus.   The information processing apparatus according to claim 1, wherein the second acquisition unit acquires the first distance set by a setting unit.   The information processing apparatus according to any one of claims 1 to 4, wherein the second acquisition unit determines the first distance based on a width of the first road.   The information processing apparatus according to any one of claims 1 to 6, wherein the first acquisition unit acquires information indicating a road included in a predetermined area based on a current position as the first road information. A first acquisition unit that acquires at least first road information indicating the first road;
A second acquisition unit for acquiring first lane information indicating a lane existing within a first distance from a position indicated by the first road information, from a lane information storage unit storing lane information indicating a lane;
A generating unit that generates correspondence information indicating that the first road information corresponds to the first lane information;
An information processing apparatus comprising: A control method executed by the information processing apparatus,
A first acquisition step of acquiring at least first road information indicating the first road;
A first lane information indicating a lane existing within a first distance from a position indicated by the first road information is searched from a lane information storage unit storing lane information indicating a lane, and at least the first lane information is acquired. A second acquisition step,
An association step of associating and storing the first road information and the first lane information in a storage unit;
A control method. A program executed by a computer,
A first acquisition unit that acquires at least first road information indicating the first road;
A first lane information indicating a lane existing within a first distance from a position indicated by the first road information is searched from a lane information storage unit storing lane information indicating a lane, and at least the first lane information is acquired. A second acquisition unit to perform,
A program that causes the computer to function as an association unit that associates the first road information with the first lane information and stores the first lane information in a storage unit.   A recording medium on which the program according to claim 10 is recorded.

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