CN101210825B - Map information generating systems - Google Patents

Map information generating systems Download PDF

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Publication number
CN101210825B
CN101210825B CN2007101995623A CN200710199562A CN101210825B CN 101210825 B CN101210825 B CN 101210825B CN 2007101995623 A CN2007101995623 A CN 2007101995623A CN 200710199562 A CN200710199562 A CN 200710199562A CN 101210825 B CN101210825 B CN 101210825B
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China
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information
driving trace
road
place
unit
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CN101210825A (en
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中村德裕
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Aisin AW Co Ltd
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Aisin AW Co Ltd
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Priority claimed from JP2006352922A external-priority patent/JP4797978B2/en
Priority claimed from JP2006352951A external-priority patent/JP5029009B2/en
Priority claimed from JP2006352908A external-priority patent/JP5223192B2/en
Application filed by Aisin AW Co Ltd filed Critical Aisin AW Co Ltd
Publication of CN101210825A publication Critical patent/CN101210825A/en
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Abstract

The invention provides a cartographic information generating system which is used for generating information about the new added roads to the cartographic information stored in a navigation device and etc.. The traveling locus information generated when vehicles (3) serving as probe cars travel along paths that are not included in navigation map data (53) provided in the navigation device (4) is transmitted to a map distribution center (2) as probe data. After receiving the traveling locus information from the navigation device (4) of each vehicle (3), the map distribution center (2) gathers together the received data, groups together traveling locus information relating to the same path, and then generates new road information relating to a single new road in each group.

Description

Map information generating systems
Technical field
The present invention relates to newly establish the relevant map information generating systems of newly establishing road information of road to what generation was stored in that cartographic information in the guider appends.
Background technology
In recent years, much carry out the guiding of going of vehicle, the guider that makes the driver can arrive the destination easily is installed on the vehicle.At this; Guider is meant this device: through the present position of detection vehicles such as GPS receiver; And pass through recording mediums such as DVD-ROM or HDD, or obtain and the corresponding map datum in present position through the internet, and it is presented on the LCD.From recording medium, read the map datum that comprises the vehicle present position; Data are presented at the map picture around the present position of vehicle on the display device according to the map; Simultaneously through vehicle location is identified (mark) and the overlapping demonstration of map picture; According to moving and the rolling map picture of vehicle, perhaps through fixing map picture and the moving vehicle station location marker, it is very clear in which place to make vehicle go now.
Japan all builds new road (newly establishing road) national every year.And, situation such as existing road disappears or the shape of existing road changes can take place thereupon.Can exist such problem this moment: the relevant information of road of newly establishing of after having generated the map datum that guider had, having built is not registered in the cartographic information data.Promptly; In having the guider that does not comprise the map datum of newly establishing road; Owing to can not be shown to LCD with newly establishing road, and newly establish the object that road can not become route search, cause guider not retrieve the path of navigation of going the long way round through newly establishing road.For fear of such inconvenience, the renewal that need carry out the map datum that is stored in the guider with the time interval to a certain degree.Here, the renewal of map datum can realize through buying the old DVD of new DVD replacement, perhaps the information dispatching centre renewal of the sending content of rewriting HDD with map datum according to the map.
And, be used for the relevant generation method of newly establishing road information of road of newly establishing that the map datum to guider appends as generation, generally being that the people is actual removes newly to establish road and carries out field investigation, and generates according to enquiry data.But the annual number of building of newly establishing road is many, if through the whole necessary items of manpower survey then a lot of times of needs.As a result, newly establishing needs the suitable time in the map datum that road is reflected to guider, cause the reliability decrease of guider.So, just attempt utilizing the resume generation of vehicle ' newly to establish road information before.For example; In TOHKEMY 2004-251790 communique, put down in writing such system: when judging vehicle and continuing to go on the road in the map datum that is not present in guider; Road information is newly established in the automatic generation of driving trace data according to vehicle, thus updating map data.
Patent documentation 1:JP spy open 2004-251790 (the 8th page～the 9th page, Fig. 4)
At this, in the map information updating system of said patent documentation 1 record, carry out map match, if when judging vehicle and continuing to go on the road in the map datum that is not present in guider, generate according to driving trace without exception and newly establish road information.Therefore, might generate a plurality of to identical newly establish road newly establish road information.That is, even repeatedly go under the situation of same road, on the road in a plurality of tracks that goes the time, the duplicate possibility of driving trace is very little, in addition, and because of detecting the deviation that error also can cause driving trace.Therefore, go to generate when newly establishing road at every turn and newly establish road information, cause a road is appended a plurality of road informations of newly establishing.
Summary of the invention
The present invention is for solving the invention of the problem that exists in the prior art; Purpose is; A kind of map information generating systems is provided, and this map information generating systems is newly established under the situation of road information generating according to track of vehicle, prevents same road is generated a plurality of road informations of newly establishing.
(1) in order to reach said purpose; Map information generating systems of the present invention comprises information collection unit and newly establishes the road information generation unit; This information collection unit collect with the road that in the road network of cartographic information, does not comprise that goes on the relevant driving trace information of driving trace of vehicle; This newly establishes the road information generation unit driving trace information collected according to said information collection unit; Generate with newly establish road relevant newly establish road information; This map information generating systems is characterised in that, comprises the information block unit, and this information block unit divides into groups to the driving trace information of going on same road in the collected driving trace information of said information collection unit respectively; The said road information generation unit of newly establishing is according to by the driving trace information of said information block unit packet, to each group generate one with newly establish road relevant newly establish road information.
(2) like said (1) described map information generating systems; It is characterized in that; Comprise that begin chain confirms the unit and finish chain and confirm the unit; This begin chain confirms that the unit is used for confirming that driving trace begins the road chain in place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise, this end chain confirms that the unit is used for confirming that driving trace finishes the road chain in place, this driving trace finishes place and is meant; Place when the road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information, said information block unit begin the place to said driving trace road chain divides into groups with the identical relevant driving trace information of driving trace of road chain that said driving trace finishes the place.
(3) like said (1) or (2) described map information generating systems; It is characterized in that; Comprise metrics calculation unit; This metrics calculation unit is calculated the standoff distance between each driving trace to the driving trace of the collected a plurality of driving trace information of said information collection unit, and said information block unit pair divides into groups with the relevant driving trace information of interior driving trace at predetermined distance with the standoff distance that said metrics calculation unit calculates.
(4) like any described map information generating systems in said (1)～(3); It is characterized in that; Said metrics calculation unit is to the driving trace of a plurality of driving trace information, calculate every at a distance from the standoff distance between the position coordinates of predetermined distance mean value and as the standoff distance between the driving trace.
(5) like said (1) described map information generating systems; Map information generating systems according to claim 1; It is characterized in that; Comprise the information rejected unit, this information rejected unit is got rid of in the collected driving trace information of said information collection unit and is inferred that said information block unit divides into groups to following driving trace information in order not have vehicle ' in the driving trace information of newly establishing on the road; This driving trace information is meant, the driving trace information except the driving trace information that said information rejected unit is got rid of.
(6) like said (5) described map information generating systems; It is characterized in that; Comprise that begin chain confirms the unit and finish chain and confirm the unit; This begin chain confirms that the unit is used for confirming that driving trace begins the road chain in place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise, this end chain confirms that the unit is used for confirming that driving trace finishes the road chain in place, this driving trace finishes place and is meant; Place when the road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information, said information rejected unit are got rid of said driving trace and are begun the road chain in place and the identical driving trace information of road chain in said driving trace end place.
(7) like said (5) perhaps (6) described map information generating systems; It is characterized in that; Comprise that engine stops detecting unit; This engine stops detecting unit and is used to detect vehicle motor and stops, said information rejected unit get rid of said engine stop detecting unit detected go in the driving trace information that stops of engine.
(8) like any described map information generating systems in said (5)～(7); It is characterized in that; Comprise and retreat detecting unit; This is retreated detecting unit and is used to detect vehicle rollback, said information rejected unit get rid of said retreat detecting unit detected go in the driving trace information retreated.
(9) like any described map information generating systems in said (5)～(8); It is characterized in that; Comprise beginning place detecting unit and finish the place detecting unit; This begins the place detecting unit and is used to detect driving trace and begins the place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise, this end place detecting unit is used to detect driving trace and finishes the place, and this driving trace finishes place and is meant; Place when the road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information, said information rejected unit get rid of said driving trace begin place and said driving trace finish between the place distance at predetermined distance with interior driving trace information.
(1) described map information generating systems with said structure; The go relevant driving trace information of driving trace of the vehicle on the road that in the road network of cartographic information, does not comprise of collection; Simultaneously the driving trace information of going on same road in the driving trace information of collecting is divided into groups; According to the driving trace information of dividing into groups, to each group generate one newly establish road relevant newly establish road information, newly establish under the situation of road information thereby generate at driving trace according to vehicle; Can prevent same road is generated a plurality of situation of newly establishing road information, road information is newly established in correct generation.
In addition; (2) described map information generating systems begins the road chain in place and the identical relevant driving trace information of driving trace of road chain that said driving trace finishes the place is divided into groups to said driving trace; Thereby newly establish under the situation of road information generating according to the driving trace of vehicle, can be according to the connection of chain and the appropriate differentiation driving trace on same road that goes.
In addition; (3) described map information generating systems is to the driving trace of a plurality of driving trace information of collection; Calculate the spacing distance between each driving trace; Driving trace information to the driving trace of spacing distance in predetermined distance that calculate is relevant is divided into groups, and newly establishes under the situation of road information thereby generate at the driving trace according to vehicle, can be according to the configuration of driving trace and the appropriate differentiation driving trace on same road that goes.
In addition; (4) described map information generating systems is to the driving trace of a plurality of driving trace information of collection; Calculate every mean value at a distance from the spacing distance between the position coordinates of predetermined distance; Driving trace information to the driving trace of mean value in predetermined distance at the interval that calculates is relevant is divided into groups, and newly establishes under the situation of road information thereby generate at the driving trace according to vehicle, can be according to the configuration of driving trace and the appropriate differentiation driving trace on same road that goes.
In addition; (5) described map information generating systems is got rid of in the driving trace information of collecting and is inferred for vehicle and do not go in the driving trace information of newly establishing on the road; Driving trace information to except the driving trace information of having got rid of is divided into groups; Thereby newly establish under the situation of road information generating according to the driving trace of vehicle, in fact eliminating vehicle that can be correct does not go at the driving trace of newly establishing on the road.Therefore, can be rapidly and correct generation newly establish road information.
In addition; (6) described map information generating systems begins the road chain in place and the identical driving trace information of road chain in driving trace end place to driving trace; Supposition is not got rid of in the driving trace information of newly establishing on the road for vehicle goes; Road information is newly established in generation according to the driving trace information except the driving trace information of having got rid of; Thereby newly establish under the situation of road information generating, can prevent to generate and newly establish road information according to the driving trace in main facilitieses such as parking lot or shopping center of going according to the driving trace of vehicle.
In addition; (7) described map information generating systems driving trace information that the engine of vehicle in going is stopped is inferred and is not got rid of at the driving trace of newly establishing on the road for vehicle goes; Road information is newly established in generation according to the driving trace information except the driving trace information of having got rid of; Thereby newly establish under the situation of road information generating, can prevent to generate and newly establish road information according to the driving trace in main facilitieses such as parking lot or shopping center of going according to the driving trace of vehicle.
In addition; (8) described map information generating systems driving trace information that vehicle is retreated under steam; Supposition is not got rid of at the driving trace of newly establishing on the road for vehicle goes; Road information is newly established in generation according to the driving trace information except the driving trace information of having got rid of; Thereby newly establish under the situation of road information generating, can prevent to generate and newly establish road information according to the driving trace in main facilitieses such as parking lot or shopping center of going according to the driving trace of vehicle.
In addition; (9) described map information generating systems begins the driving trace information of distance in predetermined distance between place and the said driving trace end place to driving trace; Supposition is not got rid of at the driving trace of newly establishing on the road for vehicle goes; Road information is newly established in generation according to the driving trace information except the driving trace information of having got rid of; Thereby newly establish under the situation of road information generating, can prevent that driving trace according to for ease and through the parking lot time from generating newly to establish road information according to the driving trace of vehicle.
Description of drawings
Fig. 1 is the simple structural drawing of the map information generating systems of this embodiment of expression.
Fig. 2 is the block diagram of structure of the map information generating systems of this embodiment of expression.
Fig. 3 is the figure of an example of the storage area of expression driving trace information D B.
Fig. 4 is the figure of an example that representes newly to establish the storage area of road information DB.
Fig. 5 is the block diagram of structure of the guider of this embodiment of expression.
Fig. 6 is the key diagram of basic procedure of the map information generating systems of this embodiment of expression.
Fig. 7 is the process flow diagram of detection data collection and treatment program of the map information generating systems of this embodiment.
Fig. 8 is the figure that obtains example of the driving trace information when representing on the road of vehicle ' in the road network that is not included in navigation map data.
Fig. 9 is the process flow diagram of newly establishing road information generation and notifier processes program of the map information generating systems of this embodiment.
Figure 10 is the figure of the driving trace information instances that is excluded in the step 12 of expression.
Figure 11 is the figure of the driving trace information instances that is excluded in the step 12 of expression.
Figure 12 is the figure of the driving trace information instances that is grouped in the step 13 of expression.
Figure 13 is the figure of the driving trace information instances that is grouped in the step 13 of expression.
Figure 14 is that the expression notice is newly established the figure of the notice of road information with the display frame of display.
Figure 15 is the process flow diagram of the map data update handling procedure of this embodiment map information generating systems.
Embodiment
Below, to map information generating systems of the present invention, the embodiment based on it has been specialized is elaborated with reference to accompanying drawing.
At first, utilize Fig. 1 that the simple structure of map information generating systems in this embodiment 1 is described.Fig. 1 is the simple structural drawing of map information generating systems 1 in this embodiment.
As shown in Figure 1, the map information generating systems 1 in this embodiment comprises map home-delivery center 2 basically, as the vehicle 3 of detection vehicle be arranged on the guider 4 on the vehicle 3.
Here, map home-delivery center 2 collects and also to preserve the driving trace information as detection data of being sent by each vehicle 3 that goes in all parts of the country, and according to driving trace information generate relevant newly establish road newly establish road information.Then, Update Information with reference to the road information generation of newly establishing that is generated, what dispensing was generated Updates Information, and this map data update that is used for legacy version that Updates Information is to comprise the redaction map datum of newly establishing road.In addition; Update Information and be divided into two kinds; A kind of is to be used for the cartographic information that is stored in guider 4 is all rewritten Updating Information entirely of (following title upgrading entirely), and another kind is the difference update data in the regulation zone (to call difference update in the following text) of a updating map data.Below in this embodiment of explanation, special only to describing as the embodiment that Updates Information with the difference update data.Vehicle 3 is the vehicles on each road in the whole nation that go, and constitutes probe vehicle system as detection vehicle with map home-delivery center 2.At this, probe vehicle system is meant the system that vehicle is come acquisition of information as sensor.Specifically, be such system: with speed data, the action situation of each system such as steering operation and gear is sent to the center with the GPS positional information to vehicle through communication module 5, at central side, the data of collecting is utilized as various information again.
At this; In the map generation system 1 of this embodiment; That obtained and be sent to the detection data of map home-delivery center 2 as vehicle 3; The position coordinates (latitude and longitude) of the vehicle 3 when going on the road that in the navigation map data 53 (with reference to Fig. 5) that guider 4 is had, does not comprise particularly including vehicle 3, orientation, the speed of a motor vehicle.That is, the driving trace information of the relevant driving trace of vehicle 3 with on the road that in the navigation map data 53 (with reference to Fig. 5) that guider 4 is had, does not comprise that goes the time is obtained and is sent as detection data.In addition, the vehicle 3 that can communicate by letter with map home-delivery center 2 there is no need to be many also to have only one.In this case, need not consider the driving trace of other vehicles, only the driving trace according to own vehicle upgrades navigation map data 53.
Guider 4 is mobile units, and it is arranged on the vehicle 3, representes the map around the position of own vehicle according to institute's map data stored, and retrieval also guiding arrives the path of the destination that sets.Here; Map home-delivery center 2 and guider 4 can through be loaded in advance DCM on the vehicle (DataCommunication Module: data communication module) or the vehicle of mobile phone etc. carry out two-way communication with communication module 5 (following letter only is called communication module 5), receive and dispatch between the two as various information such as the driving trace information of detection data and difference update data.
The guider 4 of this embodiment comes the map datum of updated stored when map home-delivery center 2 receives the difference update data according to the difference update data that receive.
In addition; In the map information generating systems 1 of this embodiment of following explanation; Guider 4 directly obtains the difference update data from map home-delivery center 2; Carry out map and upgrade, but also can through user PC that the user had (Personal Computer: personal computer) or the retailer wait the point of sale to carry out the map renewal.
For example, when carrying out the map renewal, in the user PC that can come to communicate, download the difference update data from map home-delivery center 2 through communication networks such as internets with map home-delivery center 2 through user PC.Then; Hope is temporarily stored the difference update data of downloading into HDD (Hard Disk Drive: hard disk); Then with the data recording of storage in media such as CD-R or DVD-R, read this data through making guider 4, thus to guider 4 exchange difference update data.
When carrying out the map renewal through the point of sale, networks such as communication via satellite will Update Information entirely and download on the point of sale PC that is arranged on the point of sale.And the HDD as the point of sale of storage medium that is connected on the PC of point of sale can pull down.Hope then to be connected with guider 4, Update Information entirely thereby guider 4 exchanged through the HDD with the point of sale of pulling down such as IEEE1394 (Institute of Electrical andElectronic Engineers 1394) standard.
Below, utilize Fig. 2 that the map home-delivery center 2 that constitutes map information generating systems 1 is elaborated.Fig. 2 is the block diagram of map information generating systems 1 structure of this embodiment of expression.
As shown in Figure 2, map home-delivery center 2 comprise server (information collection unit, newly establish road information generation unit, information block unit, metrics calculation unit) 20, be connected with server 20 as the driving trace information D B24 of information recording part, newly establish road information DB25, central side cartographic information DB26, version management DB27, notice with display 28, central side communicator 29.
Server 20 comprises: CPU21, and it is as the calculation element and the control device of the integral body control of carrying out server 20; RAM22, it uses as processing memory when CPU21 carries out various computing; Internal storage devices such as ROM23, it writes down various control programs.Said various control program is used to carry out following processing etc.: improper information is got rid of and is handled, from vehicle 3 collect as getting rid of improper information the driving trace information of detection data; Information block is handled, and in the driving trace information that is not excluded, the driving trace information that travels on the same road is divided into groups; Newly establish road information and generate to handle, according to the driving trace information of dividing into groups, to each group generate one relevant newly establish road newly establish road information; Priority set to be handled, and newly establishes road information to what generate, according to this vehicle ' number of newly establishing road priority is set; Newly establish the road information notifier processes, will newly establish road information according to the priority that sets and be presented at notice with on the display 28; Update Information to generate and handle, according to legacy version map datum and redaction map datum, generation comprises the difference update data of newly establishing road information that do not comprised in the road network of legacy version map datum; Map datum sends to be handled, and the difference update data that generate is sent to the guider 4 of requirement.In addition, can be with replacement CPU21 such as MPU.
The storage of driving trace information D B24 accumulation is by the driving trace information of the relevant vehicle driving trace of each vehicle 3 collection that travels on the whole nation.The driving trace information of the driving trace information D B24 of this embodiment storage is the driving trace information of the relevant driving trace of vehicle 3 when going on the road that in the road network of the navigation map data of guider 4, does not comprise.
Below, utilize Fig. 3 that the driving trace information that is stored among the driving trace information D B24 is carried out more detailed explanation.Fig. 3 is the figure of an example of the storage area of expression driving trace information D B.
As shown in Figure 3, driving trace information comprises: begin chain number L SIt representes this chain number; That is, the existing road chain that from navigation map data, has comprised, the driving trace of the travels down that begins to vehicle in the road network of navigation map data, not comprise begin the chain number of the road chain of place (the some s of Fig. 8) (below be called begin chain); Finish chain number L EThe chain number that its expression is such; That is, the road that vehicle does not comprise from the road network of navigation map data, the driving trace that turns back to the existing road chain that comprises in the navigation map data finish the chain number of the road chain in place (the some E of Fig. 8) (below be called finish chain); Vehicle 3 go on the road that in map datum, does not comprise the time, according to the rules the moment t that obtains of the time interval (for example every), position coordinates P at a distance from 1sec (x, y), working direction N and speed of a motor vehicle S.
And accumulation stores the above-mentioned record information that goes of counting similar number with the data of collecting from each vehicle 3 among the driving trace information D B24.
On the other hand; Newly establishing road information DB25 is the relevant storage unit of newly establishing road information of newly establishing road of storage; This newly establishes road information is to generate like this: as after state; With a plurality of driving trace information of storing among the driving trace information D B24, divide into groups according to each driving trace information that travels on the same road, newly establish road information thereby generate this.The road information of newly establishing that newly the establishing of this embodiment stored among the road information DB25 is relevant information of newly establishing road; It is to generate like this: improper information is got rid of processing (S12 of Fig. 9) and information block is handled (S13 of Fig. 9) to carrying out from the driving trace information of vehicle 3 collections; Thereby, generate this relevant information of newly establishing road according to being divided into the driving trace information of going and newly establishing the relevant driving trace on the road same.In addition, also store such information, that is, equally through after the priority stated handle and that (S16 of Fig. 9) be provided with, relevant know or the information of the priority of navigation device 4 when providing and delivering with enterprising the working of display 28 in notice.
Below, utilize Fig. 4 to carry out more detailed explanation to newly establishing the road information of storing among the road information DB25 of newly establishing.Fig. 4 is the figure of an example that representes newly to establish the storage area of road information DB25.
Specifically, as shown in Figure 4, it comprises: the driving trace that exists that belongs to each grouping begins the begin chain number L of the existing road chain in place ASExist driving trace to finish the end chain number L of the existing road chain in place AEBelonging on the driving trace of grouping from beginning the every mean place coordinate P in place at a distance from predetermined distance (for example 10m) A(X, Y).And the road of newly establishing that shown in Figure 4 newly establishing stipulated in the road information is such road, that is, and and from chain number L ASThe existing road chain begin, through position coordinates P A(X Y), arrives chain number L AEThe road of road chain.
In addition; Central side cartographic information DB26 stores base map data 30 respectively according to each version; These base map data 30 generate according to the data or the input operation of outside input, are the basic map datums when upgrading the navigation map data of guider 4 storages.Here, version is meant the Production Time information that is used for confirming the map data creating time, through can confirm the time of map data creating with reference to version.In addition; Central side cartographic information DB26 also stores difference update data 31 respectively according to each version; These difference update data 31 are made according to base map data 30 by server 20, and a part of difference update that is used for guider 4 map data stored is the redaction cartographic information.
And version management DB27 stores the relevant information of navigation map data version of storage in each guider 4.Here; Navigation map data or base map data 30 store route guidance and the required various information of displayed map that comprise road network, for example comprise: be used for the chain data of the crossing intersection data of the map video data of displayed map, relevant each intersection, the node data that articulation point is arranged, relevant road (chain), the retrieve data that is used for searching route, relevant facility facility data, be used to retrieve the retrieve data in place etc.
In addition, notice is a kind of being used for to notify the notification unit to map home-delivery center 2 with the road information of newly establishing that is generated with display 28.Specifically, the notice of newly establishing road can show newly establish road with its around map, and then can also show that relatively other roads stress that demonstration newly establishes the map (with reference to Figure 14) of road.And map home-delivery center 2 is with reference to the map that is shown, and actually carries out field investigation to newly establishing road, generates the base map data 30 that comprise the redaction of newly establishing road.In addition, the notice notice of newly establishing road information of carrying out with display 28 can be handled the priority that (S16 of Fig. 9) set according to priority and notifies.
Further, central side communicator 29 is to be used for the communicator that communicates with guider 4 through network 8.At this; LAN), WAN (Wide Area Network: wide area network), in-house network, mobile telephone network, telephone network, public telecommunication network, private wire network, the Internet etc. as network 8, can use communication system of following communication network for example etc.: LAN (Local Area Network:.For example can also use communication systems such as CS broadcasting through broadcasting satellite, BS broadcasting, ground wave digital television broadcasting, FM multi-broadcast.Can also use non-automatic fee system (ETC), the narrow domain communication system communication systems of using in the intelligent roadnet (ITS:IntelligentTransportation System) such as (DSRC) of stopping.
Below, use Fig. 5 that the simple structure of the guider 4 that constitutes this embodiment map information generating systems 1 is described.Fig. 5 is the block diagram of the structure of expression embodiment of the present invention guider 4.
As shown in Figure 5, the guider 4 of this embodiment comprises: the present place of detecting the vehicle present position detect handling part 41, driving trace information D B42, information of vehicles DB43, cartographic information DB44, according to the information of input carry out various computings navigation ECU (begin chain confirm the unit, finish chain confirm unit, beginning place detecting unit, finish the place detecting unit) 45, receive operator's operation operating portion 46, to the loudspeaker 48 of the LCD 47 of information such as operator's displayed map, the prompting of outgoing route guiding related sound, the reading device that can read recording mediums such as CD or DVD be DVD driver 49, the communication module 5 that communicates with the traffic information center or the map home-delivery center 2 at VICS center etc.In addition, navigation ECU45 also is connected with the vehicle speed sensor 50 that detects the vehicle travel speed, the ACC switch 51 that detects the ON/OFF (being the startup/stop of engine) of ACC (attached key), the shift lever sensor 52 that detects gear.
Describe in the face of each textural element that constitutes guider 4 down.Now handling part 41 is detected by GPS61, geomagnetic sensor 62, range sensor 63, rotation direction sensor 64, the gyrosensor 65 as orientation detection portion, altitude gauge formations such as (not marking among the figure) in the place, can detect the position, orientation of present vehicle, to the distance of object (for example intersection) etc.
In addition, driving trace information D B42 is a storage unit, the relevant driving trace information of driving trace when its temporary transient store car 3 is gone on the road that in navigation map data 53 road networks of cartographic information DB44 storage, does not comprise.Specifically, GPS61 and gyrosensor 65 detect following information, and these information are stored among the driving trace information D B42 in order, and these information are: begin chain number L S, as shown in Figure 3, it is the chain number of this road chain, this road chain is that the existing road chain that vehicle has comprised from navigation map data begins the place to the driving trace of the travels down that beginning does not comprise in the road network of navigation map data; Finish chain number L E, it is the chain number of this road chain, this road chain is that the road that vehicle does not comprise from the road network of navigation map data finishes the place to the driving trace that returns the existing road chain that comprises in the navigation map data; In the time of on vehicle 3 goes the road that in map datum, does not comprise according to the rules the moment t that obtains of the time interval (for example every at a distance from 1sec) and position coordinates P (x, y); And working direction N and speed of a motor vehicle S.And,, the record information that goes that is stored among the driving trace information D B42 is sent to map home-delivery center 2 as detection data with predetermined timing.In addition, to the driving trace information of having sent, after each the transmission all with its deletion.
Information of vehicles DB43 is the storage unit that storage is provided with the relevant information of the vehicle 3 of guider 4.Information as vehicle 3 is correlated with stores for example vehicle type (common car, in-between car, large car, especially big car, automobile with small output volume etc.) or vehicle-width.
Cartographic information DB44 storage is used for the navigation map data 53 of the go guiding and the route search of guider 4.And, in this embodiment, use external memory and the recording medium of hard disk, but can also use disk such as floppy disk except hard disk as external memory as driving trace information D B42, information of vehicles DB43, cartographic information DB44.In addition, can also storage card, tape, magnetic drum, CD, MD, DVD, CD, MO, IC-card, light-card etc. be used as external memory.
At this; Navigation map data 53 shows that by route guidance and map required various information constitute equally with foregoing base map data 30, for example by the chain data of the crossing intersection data of the map video data that is used for displayed map, relevant each intersection, the node data that articulation point is arranged, relevant road (chain), be used for the retrieve data of searching route, about the facility data of facility, be used to retrieve the retrieve data in place etc.
Navigation map data 53 can be through a full renewal or a renewal of the region-wide map datum in the update all whole nation confirm that the difference update of area map data upgrades in the lump.About the concrete update processing method of full renewal and difference update,, here omit its explanation owing to be known technology.
In addition, the navigation ECU45 that constitutes guider 4 comprises: CPU71, and it is as the calculation element and the control device of the integral body control of carrying out guider 4; RAM72, it uses as processing memory when CPU71 carries out various computing, and the path data during the memory scan outbound path; ROM73, it stores various programs; Flash memory 74 internal storage devices such as grade, the program that its storage is read from ROM73.The various control programs of said ROM73 storage; Except comprising the program of controlling usefulness; Also comprise following program etc.: detection data collection and treatment program (Fig. 7); Driving trace information when being used for obtaining vehicle 3 and going on the road that navigation map data 53 road networks at guider 4 do not comprise, and this driving trace information sent to map home-delivery center as detection data; The route guidance handling procedure is used for carrying out according to navigation map data 53 retrieval and the guiding in path; Map data update handling procedure (Figure 15) is used for carrying out according to the difference update data difference update of navigation map 53.And, can also use semiconductor memory, core memory (magnetic core) etc. as said RAM72, ROM73, flash memory 74 etc.In addition, also can wait replaced C PU71 and as calculation element and control device with MPU.
Then, utilize Fig. 6 that the basic procedure by the entire system of the above-mentioned map information generating systems that constitutes 1 is described.Fig. 6 is the key diagram of the basic procedure of this embodiment of expression map information generating systems 1.
At first; As shown in Figure 6; Guider 4 carries out map match according to the testing result of various sensors such as the navigation map data that is stored in cartographic information DB44 53 and GPS61, detects in the time of can't extracting match point the position coordinates (dimension and longitude) etc. of the vehicle 3 of when travels down (navigation map data 53 of vehicle 3 in guider 4 do not comprise).Then, detected position coordinates etc. is sent to map home-delivery center 2 as driving trace information.
On the other hand, map home-delivery center 2 receives the driving trace information from the guider of each vehicle 34, and collects received data, carries out data analysis.In data analysis, at first get rid of detected exceptional values such as mistake because of device.Then, get rid of to be predicted as and do not have vehicle 3 and go in the driving trace information of newly establishing on the road, thus the scope of minimize objects data.Then, the driving trace information of going on same road is divided into groups, newly establish road information what each group generated that relevant under its group newly establish road.Further, at the number that goes of newly establishing travels down of newly establishing road information priorities are set according to vehicle.
Then, map home-delivery center 2 newly establishes road information according to what set priority, generates map datum.In the generative process of map datum, at first will newly establish road information and be presented at notice with on the display 28 according to the priority of having set, map home-delivery center 2 sides notice is newly established road information.Then, map home-delivery center 2 is newly established road information, the actual relevant information of newly establishing road of on-site collection of going to reference to what show.Then, with the information of newly establishing road information and on-site collection that shows on the display 28, making comprises the redaction difference update data of newly establishing road according to notice.Then, to the guider that has version updating to require, according to newly establishing the priority dispensing difference update data that road information is set.
Relative therewith, the guider 4 that receives the difference update data is updated to the navigation map data of storing among the cartographic information DB44 53 map datum that comprises the redaction of newly establishing road.Then, guider 4 carries out map match once more according to the navigation map data that is upgraded 53, and same then repeating generates carries out the new generation of newly establishing road information and the transmission of difference update data.
Below, the detection data collection and treatment program of the server 20 of the navigation ECU45 of vehicle 3 in the map information generating systems 1 of this embodiment and map home-delivery center 2 being carried out according to Fig. 7 describes.Fig. 7 is the process flow diagram of the detection data collection and treatment program of this embodiment map information generating systems 1.Here; Driving trace information when detection data collection and treatment program is obtained vehicle 3 and gone on the road that in the road network of the navigation map 53 of guider 4, does not comprise; It is sent to map home-delivery center 2 as detection data, and the driving trace information of being sent by each vehicle 3 is collected by map home-delivery center 2 simultaneously.And the procedure stores shown in the process flow diagram perhaps is stored among RAM22 that server 20 possessed, the ROM23 in RAM72 that guider 4 is possessed, ROM73 among following Fig. 7, by CPU71 or CPU21 at regular intervals (for example, every) at a distance from 200ms carry out.
At first, according to Fig. 7 the performed detection data collection and treatment program of the CPU71 of guider 4 is described.In step (below, economize slightly S) 1, CPU71 detects the present position of vehicle through GPS61.Then in S2, CPU71 adopts the present position of detected vehicle among the said S1 and the navigation map data 53 that cartographic information DB44 is stored, and carries out map match, thereby confirms the position of the vehicle on the map datum.
Then, in S3, CPU71 judges whether the match point that is not extracted is arranged in the map match of said S2, judges whether that promptly row just sails on the road that in the road network of the navigation map data 53 of guider 4, does not comprise.Its result, (S3: " denying ") moves to S6 when judging on the road that in the road network of navigation map data 53, comprises that just goes.
On the other hand; If judge (S3: " being ") on the road that in the road network of navigation map data 53, does not comprise that just goes; Then the detected present position coordinates of GPS61 is confirmed as a driving trace S that turns up the soil; This driving trace begins place S and is meant, the place of the road driving that does not comprise in existing road chain navigation map datum 53 road networks that vehicle begins from navigation map data 53, to comprise.And then according to detected present position coordinates of GPS61 and navigation map data 53, the road chain that driving trace is begun place S is confirmed as begin chain, thereby obtains begin chain number L S(S4).And said S4 is equivalent to the processing that begin chain is confirmed the unit.
Then, in S5, CPU71 through GPS61 and various sensor at regular intervals (for example, every) at a distance from 1sec obtain various parameters as driving trace information, and it is stored among the driving trace information D B42.At this, in 101 last times of Fig. 8 to be the expression vehicle ' do not comprise at the road network of navigation map data 53 road, obtained the example of driving trace information.
The expression vehicle gets into road 101 from existing road chain 102 among Fig. 8, gets back to the example that goes of road chain 103 then.When going on road shown in Figure 8, at the appointed time at interval (for example 1sec) pass through some P11～P15, through GPS61, gyrosensor 65, vehicle speed sensor 50 obtain moment t and position coordinates P (x, y) and working direction N and speed of a motor vehicle S.And then, when the engine that detects vehicle through ACC switch 51 stops, perhaps detect gear and be made as " R " when retreating through shift lever sensor 52, this situation and the position coordinates of this moment are also stored as driving trace information.
And then in S6, CPU71 judges whether vehicle is got back on the included existing road of the road network of navigation map data 53 of guider 4.Its result in the time of on being judged as the included road of the road network of getting back to navigation map data 53 (S6: " being "), moves to S7.Relative therewith, in the time of on being judged as the included road of the road network of not getting back to navigation map data 53 (S6: " denying "), then return S5, continue to obtain driving trace information.
In S7; CPU71 confirms as driving trace with the detected present position coordinates of GPS61 and finishes place E; This driving trace finishes place E and be meant that the road that vehicle does not comprise turns back to the place of the existing road chain that comprises in the navigation map data 53 from the road network of navigation map data 53.And then, according to detected present position coordinates of GPS61 and navigation map data 53, driving trace is finished the road chain of place E and confirm as the end chain, obtain and finish chain number L EAnd said S7 is equivalent to finish the processing that chain is confirmed the unit.
In S8, CPU71 judges whether it is the opportunity that the driving trace information (with reference to Fig. 3) that said S4 obtains is sent to map home-delivery center 2 as detection data.If judge it is the opportunity (S8: " being ") of sending, the driving trace information that then will be stored among the driving trace information D B42 sends (S9).Relative therewith, if be judged as the opportunity (S8: " denying ") that is not transmission, then do not send driving trace information, finish detection data collection and treatment program.
Next, according to Fig. 7 the detection data collection and treatment program of the CPU21 execution of map home-delivery center 2 is described.At first, CPU21 receives the driving trace information of being sent by guider 4 in S101.The driving trace information accumulation that in S102, will in said S101, receive then, stores among the driving trace information D B24 (with reference to Fig. 3).Then, utilize the driving trace information of storage, as after state such generation and newly establish road information and difference update data.Said S101 and S102 are equivalent to the processing of information collection unit.
Below, road information generates and the notifier processes program describes to newly establishing of carrying out of the server of map home-delivery center 2 in this embodiment map information generating systems 1 20 according to Fig. 9.Fig. 9 is the process flow diagram of newly establishing road information generation and notifier processes program of the map information generating systems 1 of this embodiment.At this; Newly establish road information generation and notifier processes program and carry out such processing: according to the driving trace information of 2 collections of map home-delivery center in the said detection data collection and treatment program (Fig. 7); Generate relevant newly establish road newly establish road information, and the road information of newly establishing that will generate notifies map home-delivery center 2 sides.And the program of representing in following Fig. 9 flow process is stored among the RAM22 or ROM23 of server 20, by CPU21 (for example every 200ms) execution at regular intervals.
At first, in S11, CPU21 gets rid of the detected exceptional values such as mistake because of device from driving trace information, and this driving trace information is newly to collect and be stored in the information the driving trace information D B24 from each vehicle 3.Specifically, in the position coordinates that should be the vehicle 3 obtained continuously,, then get rid of the data that this position coordinates is correlated with midway if having only the coordinate of its a certain point different fully with other position coordinateses.
Then, in S12, CPU21 carries out improper information and gets rid of and handle, and said improper information gets rid of that to handle be from the driving trace information of new collection, to get rid of to estimate not have vehicle 3 and go in the driving trace information processing of newly establishing on the road.This is because even vehicle is just going in the map datum of vehicle navigation apparatus on the non-existent road, this road also is not necessarily newly to establish road.For example, even vehicle is in route deviation is sailed parking lot or facility into the time,, then can thinks and go in map datum on the non-existent road if only with reference to the result of map match.As a result, just might generate originally non-existent relevant newly establish road newly establish road information.So, specifically, in this embodiment as long as judge driving trace information satisfy below any one condition in the condition of (1)～(5), then this driving trace information will be excluded.
(1) gets back to the relevant driving trace information of driving trace of same chain.
(2) the relevant driving trace information of the driving trace during the engine Halfway Stopping.
(3) the relevant driving trace information of the driving trace of vehicle rollback in the way.
(4) driving trace begins the driving trace information of being correlated with less than the driving trace of predetermined distance (for example 10m) in the interval between place S and the driving trace end place E.
The relevant driving trace information of driving trace of (5) in the included road network of base map data that map home-delivery center 2 has 30, going.
For example, Figure 10 is the figure of driving trace 105 that the driving trace information of said (1) condition is satisfied in expression.Driving trace 105 shown in Figure 10 is through some P from existing road chain 106 11～P 14, return identical road chain 106.This driving trace is to sail the possibility of the driving trace in the main facilitieses such as parking lot or shopping center into than higher, be go extremely low in the possibility of newly establishing on the road.So be judged as the driving trace information that is not to go newly establishing on the road, and get rid of.
Figure 11 is the figure of driving trace 107 that the driving trace information of said (4) condition is satisfied in expression.Driving trace 107 shown in Figure 11 is that the driving trace from existing road chain 108 begins the driving trace that place S sails road chain 109 into and finishes place E, and driving trace begin place S to driving trace finish place E apart from n deficiency 10m.This driving trace is that the possibility of the driving trace through the parking lot in order to take a short cut is high, and it is extremely low in the possibility of newly establishing road to go.Do not establish the driving trace information of road newly so being judged as is to go, and get rid of.
Equally, the driving trace that satisfies the driving trace information of said (2), (3) condition also is to sail the possibility of the driving trace in the main facilitieses such as parking lot or shopping center into than higher, and it is extremely low in the possibility of newly establishing on the road to go.Do not establish the driving trace information of road newly so being judged as is to go, and get rid of.
Satisfying the driving trace of the driving trace information of said (5) condition, is the driving trace when going on the road of in map home-delivery center 2, having grasped as existing road.So this driving trace is the driving trace on this road of going, this road is meant, owing to guider 4 is not updated to the existing road that the cartographic information of redaction leads to errors and collects.Therefore, be judged as the driving trace information that is not to go newly establishing on the road, and get rid of.In addition, get rid of in the processing in the improper information of said S12, eliminating is judged as the driving trace information that satisfies any one condition of said (1)～(5), but also can get rid of the driving trace information that satisfies a plurality of conditions in said (1)～(5) that is judged as.
Next, in S13, CPU21 is divided into identical group to the driving trace information of new collection with the driving trace information of going on same road, thereby carries out the information block of driving trace information block is handled.Specifically, in this embodiment, the driving trace information that will satisfy following (1), (2), (3) full terms is divided into same group.
The driving trace information of the driving trace that (1) begin chain of driving trace is identical with finishing chain.
(2) the driving trace information of the driving trace of apart in predetermined distance (for example 30m).
At this, come the determination methods of eligible to judging whether (2) to describe with the object lesson of Figure 12.Figure 12 representes two driving trace information.Driving trace information is that the driving trace from the existing road chain 111 begins place S 1The driving trace that drives on the existing road chain 112 finishes place E 1The driving trace information of driving trace.In addition, driving trace line 113 is that the coordinate that passes through a little according to vehicle makes the driving trace of driving trace information be similar to the line of straight line.
In addition, another driving information is that driving trace from the same existing road chain 111 begins the driving trace that place S2 drives on the existing road chain 112 and finishes place E 2The driving trace information of driving trace.In addition, driving trace line 114 is that the coordinate that passes through a little according to vehicle makes the driving trace of driving trace information be similar to the line of straight line.
In this embodiment, begin place S from driving trace 1, S 2Beginning, every mean value at a distance from the standoff distance between the position coordinates of predetermined distance be in predetermined distance (for example 30m) time, thinks the condition that satisfies said (2).
Specifically, shown in figure 12, the driving trace from driving trace line 113 begins place S 1The radius that draws is the round C of r 11, calculate circle C 11Intersection point T with driving trace line 113 11Coordinate.In addition, the driving trace from the driving trace line 114 begins place S 2Draw a round C that radius is r 21, calculate circle C 21Intersection point T with driving trace line 114 21Coordinate.
Then, from the intersection point T of driving trace line 113 11The radius that draws is the round C of r 12, calculate round C 12Intersection point T with driving trace line 113 12Coordinate.In addition, from the intersection point T of driving trace line 114 21The radius that draws is the round C of r 22, calculate round C 22Intersection point T with driving trace line 114 22Coordinate.Calculate intersection point T with same method below 13～T 16, intersection point T 23～T 26Coordinate.Then, calculate intersection point T respectively 11And T 21Between distance, intersection point T 12And T 22Between distance, intersection point T 13And T 23Between distance, intersection point T 14And T 24Between distance, intersection point T 15And T 25Between distance, intersection point T 16And T 26Distance, if its mean value in predetermined distance (for example 30m), then is judged as two driving trace information shown in Figure 12 the driving trace information of the driving trace of standoff distance in predetermined distance (for example 30m), and they are divided into one group.
In addition, shown in figure 13 when the driving trace information more than 3 is carried out the judgement of said condition (2), for example, antinode T 11～T 1N, intersection point T 21～T 2N, intersection point T 31～T 3N... select representative point respectively; If the range averaging between intersection point and the representative point is in predetermined distance (for example 30m); Then this driving trace information is judged as the driving trace information of the driving trace of standoff distance in predetermined distance (for example 30m), and they are divided into one group.
In addition, also can utilize standard deviation to judge.In this case, with the range averaging between intersection point and the representative point at ± σ with interior driving trace information, be judged as the driving trace information of the driving trace of standoff distance in predetermined distance, and they be divided into one group.And said S13 is equivalent to the processing of information block unit and metrics calculation unit.In addition, in the information block of said S13 was handled, the driving trace information that will be judged as satisfied (1), (2) two conditions was divided into groups, but also can satisfied with being judged as (1), the driving trace information of a condition in (2) divides into groups.
Then, in S14, CPU21 newly establishes road information and generate to handle, that is, to each group of dividing into groups among the said S13, generate of confirming by the driving trace information that belongs to each group newly establish road relevant newly establish road information.Specifically, as shown in Figure 4, to the driving trace information of dividing into groups, calculate the begin chain number L of each group AS, finish chain number L AE, and calculate every mean place coordinate P at a distance from predetermined distance (for example 10m) from the beginning place to the driving trace that belongs to each group A(X Y), generates according to its combination and newly to establish road information.And, when having a plurality of groups, generate the same number of road information of newly establishing of number and group.But, generate the group that the driving trace information of collecting again after processing finishes is classified for last time newly establishing road information, regeneration is not newly established road information.In addition, said S14 is equivalent to newly establish the processing of road information generation unit.
And then in S15, CPU21 calculates vehicle and newly establishes the number that goes of newly establishing travels down in the road information what said S14 generated.Specifically, as the number of the driving trace information in same group of the basis of newly establishing road information that is generated, be exactly that vehicle is newly established the number that goes of travels down at this.
In addition, in S16, CPU21 is several to newly establishing road information setting priority according to going of calculating among the said S15.Specifically, newly establish road relevant newly the establish road informations many from the number that goes begin, and set priority successively.
Then, in S17,, utilize notice newly to establish road information to map home-delivery center 2 sides notice with display 28 according to the priority that said S16 sets.At this, Figure 14 is that the expression notice is newly established the figure of the notice of road information with the display frame 120 of display 28.
Shown in figure 14, display frame 120 constitutes by comprising the peripheral map picture of newly establishing road 121 and newly establishing road tabulation 122.At this, newly to establish road tabulation 122 and will represent that the address of newly establishing site of road illustrates with the form of tabulating, the priority of setting leans on the last road of newly establishing in tabulation, to lean on more more.And, when the user selects newly to establish road from newly establishing road tabulation 122, selected newly establish road and can be presented at notice with on the display 28 with its peripheral map.For example, in Figure 14, that in newly establishing road tabulation 122, has selected priority the highest " liking county magistrate zero * city △ zero street " newly establishes road, and newly establishing road 121 with it accordingly can be presented on the map.Thereby, preferentially notify priority high newly establish road information.
Next, the map data update handling procedure of according to Figure 15 the server 20 of the navigation ECU45 of vehicle 3 in the map information generating systems 1 of this embodiment and map home-delivery center 2 being carried out describes.Figure 15 is the process flow diagram of the map data update handling procedure of this embodiment.At this, the map data update handling procedure is the difference update data of the new dispensing of home-delivery center 2 according to the map, and the appointed area of the navigation map data 53 of guider 4 is updated to the redaction map datum.And, among the RAM22 in RAM72, ROM73 or the server 20 of the following procedure stores shown in the process flow diagram in Fig. 7 in guider 4, the ROM23, every at a distance from stipulated time (for example, every) execution at a distance from 200ms by CPU71 or CPU21.
At first, according to Figure 15 the map data update handling procedure of the CPU71 execution of guider 4 is described.At first in S21, CPU71 judges whether to satisfy the condition that map upgrades beginning, specifically, certain condition in judging whether to meet the following conditions, these conditions are: attached lock is changed to ON; Utilize operating portion 46 to carry out registration (comprising change) from residence; Utilize operating portion 46 to be provided with the destination of route search.Then, when judging when not satisfying any one condition (S21: " denying ") the end process program; When judging when satisfying certain condition (S21: " being "), move to S22.
In S22, CPU71 sends to map home-delivery center 2 and is used to carry out the navigation information that map upgrades.The information of sending as navigation information here, comprises: confirm guider 4 identification id, registration from the coordinate of residence and the coordinate that is provided with the destination under the situation of destination.
Then, in S23, CPU71 receives the difference update data 31 of being sent by map home-delivery center 2 through communication module 5.And, comprise the version information of the version that is used for confirming difference update data 31 in the difference update data 31 that receive.Further in S24, utilize the navigation map data of storing among 31 pairs of map information D of the difference update data B44 that receives among the said S23 53 to carry out difference update and handle.Its result is updated to and comprises the new map datum of newly establishing road.
Below, the map data update handling procedure performed to the CPU21 of map home-delivery center 2 describes.At first, in S121, CPU21 receives from guider 4 and is used to carry out the navigation information that map upgrades.Here, when connecting the power supply of guider 4, or when the registration that exists from residence, or when having set the destination, send navigation informations from guider 4.
Then, in S122, CPU21 obtains the version of the navigation map data of storing among the cartographic information DB44 of present guider 4 53.Specifically; With reference to version management DB27,, confirm guider 4 as upgating object according to the identification id that receives as navigation information among the said S121; For each zone, from version management DB27, extract the version information of the navigation map data 53 of determined guider 4.
Then; In S123; CPU21 handles as follows: in the upgating object zone of the guider that sends navigation information 4; The version of the map datum that present guider 4 is had and the latest edition of the map datum that map home-delivery center 2 has compare, and judge whether the zone (S124) that exists needs to upgrade.And the upgating object zone is because of guider 4 begins the condition of the difference update processing of map datums, the destination locations difference difference from residence position and setting of registration.
Then, if be judged as the zone (S124: " being ") that existence need be upgraded, then from central side cartographic information DB26, extract and upgrade the required whole difference update data 31 (S125) in its zone.Then, the difference update data of extracting 31 are distributed to guider 4 (S126).At this, special in the map information generating systems 1 of this embodiment, when sending the difference update data, the high high priority data of the priority of newly establishing road information that newly appends is distributed to guider 4.
On the other hand, do not have the zone (S124: " denying ") that needs renewal if be judged as, then navigation device 4 is not sent difference update data 31, and end process.
By above-mentioned detailed description; In this embodiment map information generating systems 1; Driving trace information in the time of will going the road that in the navigation map data 53 of guider 4, does not comprise as the vehicle 3 of detection vehicle is sent to map home-delivery center 2 (S7) as detection data, on the other hand; Map home-delivery center 2 receives the driving trace information of sending from the guider 4 of each vehicle 3, and collects the data that receive.Then; Get rid of estimating not have vehicle 3 goes in the driving trace information of newly establishing on the road; Thereby the scope of minimize objects data (S12); Further to the driving trace information on same road of going divide into groups (S13), then to each group generate one newly establish road relevant newly establish road information (S14).Like this, generating according to the driving trace of vehicle when newly establishing road information, in fact correct eliminating does not have vehicle 3 and goes at the driving trace of newly establishing on the road, in addition, can prevent same road is generated a plurality of road informations of newly establishing.Therefore, can be rapidly and correct generation newly establish road information.
In addition; Begin the identical driving trace information of road chain of road chain with the driving trace end place E of place S for driving trace; Supposition is not newly being established on the road its eliminating for vehicle goes; Thus, can prevent to generate and newly establish road information according to the driving trace in main facilitieses such as parking lot or shopping center of going.Further, the road chain that driving trace is begun place S divides into groups with the identical driving trace information of road chain that driving trace finishes place E, thereby can be according to the connection of chain and the correct differentiation driving trace on same road that goes.
In addition; Driving trace information, the vehicle that in the way of going, stops for the engine of vehicle 3 going, and driving trace information, the driving trace retreated in the way begin place S and driving trace finishes the driving trace information of distance within predetermined distance between the E of place, do not infer for vehicle 3 goes and are newly establishing on the road its eliminating.Therefore, can prevent to generate and newly establish road information according to driving trace or the driving trace when cutting across the parking lot in main facilitieses such as parking lot or shopping center of going.
And then; Driving trace for a plurality of driving trace information of collecting; Calculate every mean value, the mean value of the standoff distance that calculates is divided into groups with the relevant driving trace information of interior driving trace at predetermined distance, thus at a distance from the standoff distance between the position coordinates of predetermined distance; Generating according to the driving trace of vehicle when newly establishing road information, can be according to the configuration of driving trace and the correct differentiation driving trace on same road that goes.
The present invention is not defined in the said embodiment, in the scope that does not break away from spirit of the present invention, can carry out various improvement certainly, distortion.
In this embodiment, by the driving trace information (S5) of guider 4 registration of vehicle 3, confirm begin chain or finish chain (S4, S7); By map home-delivery center 2 from each vehicle 3 collect driving trace information (S102), get rid of improper data (S11, S12), grouping information (S13), generate and newly establish road information (S14), set priority (S16).But, said processing by in guider 4 and the map home-delivery center 2 any one carry out can.
For example, as other embodiments, can be by the driving trace information (S5) of guider 4 registration of vehicle 3, confirm begin chain or finish chain (S4; S7); (S11 S12), collects driving trace information (S102), the grouping information (S13) of having got rid of improper data by map home-delivery center 2 from each vehicle 3 to get rid of improper data; Generate and newly establish road information (S14), set priority (S16).
As other embodiments, can be all by guider 4 confirm begin chains or finish chain (S4, S7), get rid of improper data (S11, S12), grouping information (S13), generate and newly establish road information (S14) and set priority (S16).In this case, can not consider the driving trace of other vehicles and generate and newly establish road information, newly establish road information and then need not through map home-delivery center 2 but generate.Therefore, map home-delivery center 2 sides need not to carry out the actual road investigation of newly establishing, and just can upgrade navigation map data 53.Can reduce communication cost like this, and updating map data rapidly.
And then, as other embodiments, the driving trace information (S5) that guider 4 can a registration of vehicle 3; (S4 S7), gets rid of improper data (S11 and collected driving trace information (S102), confirm begin chain or finish chain from each vehicle 3 by map home-delivery center 2; S12); Grouping information (S13) generates and newly establishes road information (S14), sets priority (S16).
In addition, in this embodiment, newly establish the notice and the dispensing of road information according to the priority of setting, and also can carry out according to priority for the renewal of navigation map data 53.For example, can preferentially comprise the difference update updating data of newly establishing road information that priority is high.
In addition, in this embodiment, the notice that has by map home-delivery center 2 with display 28 notify generated newly establish road information, but the PC that also can be had by the user of guider 4 notifies.That is, in the said S16 of Fig. 9, priority is set after, be distributed to user PC through will newly establishing road information, thereby the user can confirm newly to establish road information through PC.And for to user PC distribution information, preferably that priority is the high road information of newly establishing preferentially sends.

Claims (7)

1. map information generating systems; Comprise information collection unit and newly establish the road information generation unit; This information collection unit collect with the road that in the road network of cartographic information, does not comprise that goes on the relevant driving trace information of driving trace of vehicle, this newly establishes the road information generation unit driving trace information collected according to said information collection unit, generation with newly establish road relevant newly establish road information; This map information generating systems is characterised in that
Comprise the information block unit, this information block unit divides into groups to the driving trace information of going on same road in the collected driving trace information of said information collection unit respectively,
The said road information generation unit of newly establishing is according to by the driving trace information of said information block unit packet, to each group generate one with newly establish road relevant newly establish road information,
Comprise metrics calculation unit, this metrics calculation unit is calculated the standoff distance between each driving trace to the driving trace of the collected a plurality of driving trace information of said information collection unit,
Said information block unit pair divides into groups with the relevant driving trace information of interior driving trace at first predetermined distance with the standoff distance that said metrics calculation unit calculates, and said first predetermined distance is as the distance between driving trace,
Said metrics calculation unit is to the driving trace of a plurality of driving trace information; Calculate the mean value of every standoff distance between the position coordinates of second predetermined distance and as the standoff distance between the driving trace, said second predetermined distance is as the distance between position coordinates.
2. map information generating systems according to claim 1 is characterized in that,
Comprise that begin chain confirms the unit and finish chain and confirm the unit,
This begin chain confirms that the unit is used for confirming that driving trace begins the road chain in place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise
This end chain confirms that the unit is used for confirming that driving trace finishes the road chain in place; This driving trace finishes the place and is meant; Place when the road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information
Said information block unit begins the place to said driving trace road chain divides into groups with the identical relevant driving trace information of driving trace of road chain that said driving trace finishes the place.
3. map information generating systems according to claim 1 is characterized in that,
Comprise the information rejected unit, this information rejected unit is got rid of in the collected driving trace information of said information collection unit and is inferred for not having vehicle ' in the driving trace information of newly establishing on the road,
Said information block unit divides into groups to following driving trace information, and this driving trace information is meant, the driving trace information except the driving trace information that said information rejected unit is got rid of.
4. map information generating systems according to claim 3 is characterized in that,
Comprise that begin chain confirms the unit and finish chain and confirm the unit,
This begin chain confirms that the unit is used for confirming that driving trace begins the road chain in place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise
This end chain confirms that the unit is used for confirming that driving trace finishes the road chain in place; This driving trace finishes the place and is meant; Place when the road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information
Said information rejected unit is got rid of said driving trace and is begun the road chain in place and the identical driving trace information of road chain in said driving trace end place.
5. according to claim 3 or 4 described map information generating systems, it is characterized in that,
Comprise that engine stops detecting unit, this engine stops detecting unit and is used to detect vehicle motor and stops,
Said information rejected unit is got rid of said engine and is stopped the driving trace information that the detected middle engine that goes of detecting unit stops.
6. according to claim 3 or 4 described map information generating systems, it is characterized in that,
Comprise and retreat detecting unit, this is retreated detecting unit and is used to detect vehicle rollback,
Said information rejected unit get rid of said retreat detecting unit detected go in the driving trace information retreated.
7. map information generating systems according to claim 3 is characterized in that,
Comprise beginning place detecting unit and finish the place detecting unit,
This begins the place detecting unit and is used to detect driving trace and begins the place; This driving trace begins the place and is meant; Place during road driving that vehicle included existing road chain from said cartographic information begins in the road network of said cartographic information, not comprise
This end place detecting unit is used to detect driving trace and finishes the place, and this driving trace finishes the place and is meant, the place the when road that vehicle does not comprise from the road network of said cartographic information turns back to existing road chain included in the said cartographic information,
Said information rejected unit get rid of said driving trace begin place and said driving trace finish between the place distance at the 3rd predetermined distance with interior driving trace information, said the 3rd predetermined distance is as the distance of the intersite on the driving trace.
CN2007101995623A 2006-12-27 2007-12-13 Map information generating systems Expired - Fee Related CN101210825B (en)

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