JP4433977B2 - Navigation device and map data updating method - Google Patents

Description

  The present invention relates to a navigation device and a map data update method.

  Conventionally, in navigation devices, the position of the vehicle is calculated by a positioning method that receives a radio wave from a GPS satellite and calculates a position, and an autonomous navigation that calculates a position by a vehicle speed sensor, a direction sensor, or the like provided in the vehicle. It was. In addition, the vehicle position calculated in this way may deviate from the actual position due to accumulated errors such as errors of various sensors and errors of GPS. Therefore, in the navigation device, the vehicle position is compared while comparing the road shape and the like based on the calculated vehicle position and the map data for the purpose of correcting the error and displaying the vehicle position superimposed on the map. Map matching processing was performed to position the vehicle on the appropriate road.

However, when the vehicle travels on a road that is not stored in the map data, such as a newly opened road, not only map matching but also route guidance including that road cannot be performed appropriately. In order to solve this problem, Patent Document 1 describes that map data stored in a storage medium such as a CD-RW is updated when the vehicle position cannot be specified on an appropriate road by the map matching process. Yes. In this navigation device, when the map matching cannot be performed, the reception status from the GPS satellite is determined, the map data is updated based on the traveling locus when the reception status is good, and the map data is updated when the reception status is bad. It was supposed not to update.
JP 2002-48559 A

  However, since an error of about 30 m at maximum may occur in the GPS, a situation where the vehicle is positioned on a road different from the actual road depending on the traveling situation, the road situation, and the like is also assumed. Therefore, when map matching cannot be performed, it is difficult to store only newly opened roads in the map data. In addition, according to the above method, when a vehicle travels on a private land without a road, a parking lot, or the like, the travel locus may be added to the map data as a road.

  The present invention has been made in view of the above problems, and its purpose is to add only the road to the map data with high probability when the vehicle travels on the road not stored in the map data. An object of the present invention is to provide a navigation device and a map data update method that can be used.

  In order to solve the above problems, the invention according to claim 1 is a navigation device that is mounted on a vehicle and displays a map on display means, and calculates the position of the vehicle based on data transmitted from position detection means. A position determination means for performing a map matching process for positioning the vehicle position on the road of the map data based on the map data and the vehicle position stored in the map data storage means; Based on the map data, a judging means for judging the presence or absence of a road in a predetermined area centered on a traveling locus of a vehicle for which map matching cannot be performed, and the judgment means judges that there is no road in the predetermined area. In this case, a creation means for creating road data based on the traveling locus of the vehicle, and the data created by the creation means are stored in the map data. And gist that a updating means.

According to a second aspect of the present invention, in the navigation device according to the first aspect, the determining means determines whether or not link data or node data is included in the map data corresponding to the predetermined area. The gist is to do.

  According to a third aspect of the present invention, in the navigation device according to the first aspect, the determination means includes data for drawing an unopened area where a road is not opened in the map data corresponding to the predetermined area. The gist is to determine whether or not they are associated.

  According to a fourth aspect of the present invention, there is provided a navigation device mounted on a vehicle and displaying a map on a display means, a calculation means for calculating the vehicle position based on data transmitted from the position detection means, and a map data storage means. Based on the map data stored in the vehicle and the vehicle position, position determining means for performing map matching processing for positioning the vehicle position on the road of the map data, and recognizing a state where the vehicle is on the road When road matching means cannot perform map matching and the road recognition means recognizes that the vehicle is on the road, it creates road data based on the travel locus of the vehicle The gist of the present invention is that it includes a creating unit that performs the above processing and an updating unit that stores the data created by the creating unit in the map data.

  According to a fifth aspect of the present invention, in the navigation device according to the fourth aspect of the present invention, the navigation device further comprises receiving means for receiving road identification data transmitted from a transmitting device disposed on the road, and the road recognizing means is configured to receive the reception. Based on the road identification data received by the means, it is determined whether the road is unregistered in the map data, and if the road recognition means determines that the road is an unregistered road, The gist is that the creating means creates road data based on the traveling locus of the vehicle.

  The invention according to claim 6 is the navigation device according to claim 5, wherein the receiving means for receiving the road identification data receives data transmitted from an automobile information communication system.

  The invention according to claim 7 is the navigation device according to claim 4, wherein the road recognition means receives imaging data from an imaging means that is mounted on the vehicle and images a traffic display means disposed on the road. Then, the gist of analyzing the imaged data and determining that the vehicle is on the road when the traffic display means is recognized.

  According to an eighth aspect of the present invention, there is provided a navigation device that is mounted on a vehicle and displays a map on a display unit, a calculation unit that calculates the vehicle position based on data transmitted from the position detection unit, and a map data storage unit Position determining means for performing map matching processing for positioning the vehicle position on the road of the map data based on the map data and the vehicle position stored in the vehicle, and traveling of the vehicle based on the map data A determination means for determining the presence or absence of a road in a predetermined area centered on a trajectory; a road recognition means for recognizing a state where the vehicle is on the road; and a case where map matching cannot be performed, wherein the determination means When it is determined that there is no road in the predetermined area or when the vehicle is recognized as being on the road by the road recognition means, Creation means for creating data of Zui road, and summarized in that the data created by the creation means includes an update means for storing the map data.

The invention according to claim 9 is the map data update method for updating the map data stored in the map data storage means, using a navigation device mounted on a vehicle and provided with a display means for displaying a map. The navigation device calculates the vehicle position based on the data transmitted from the position detection means, and positions the vehicle position on the road of the map data based on the vehicle position and the map data. Performing map matching, determining whether or not there is a road in a predetermined area centered on a travel locus based on the map data when map matching cannot be performed, and predetermined map data When it is determined that there is no road in the area, a step of creating road data based on a travel locus of the vehicle, and the created road data is And summarized in that a step of storing the data.

  The invention according to claim 10 is the map data update method for updating the map data stored in the map data storage means by using a navigation device mounted on a vehicle and provided with a display means for displaying a map. The navigation device calculates the vehicle position based on the data transmitted from the position detection means, and positions the vehicle position on the road of the map data based on the vehicle position and the map data. Performing map matching, determining whether road recognition has been performed by road recognition means when map matching cannot be performed, and determining that the vehicle is on the road And a step of creating road data based on a travel locus of the vehicle, and a step of storing the created road data in the map data. And effect.

  According to the first aspect of the present invention, when the position determination means cannot perform the map matching for positioning the vehicle position on the road of the map data, the navigation means determines the travel locus based on the map data. It is determined whether or not there is a road in a predetermined area as a center. Then, if it is determined that there is no road in the predetermined area, it is assumed that the vehicle has traveled on a new road that is not stored in the map data. Data was stored as map data. Therefore, only roads that are not stored in the map data can be added to the map data. Therefore, the reliability of the navigation device can be improved.

According to the second aspect of the present invention, since it is determined whether or not the link data or the node data is included in the map data corresponding to the predetermined area, it is possible to reliably determine whether or not there is a road.
According to the invention described in claim 3, since it is determined whether or not the data for drawing the unopened area is associated with the map data corresponding to the predetermined area, it is possible to determine whether or not there is a road with a simple process. .

  According to the invention described in claim 4, the navigation device recognizes that the vehicle is on the road by the road recognizing unit when the position determining unit cannot perform the map matching that positions the vehicle position on the road of the map data. If the vehicle has traveled on a new road that is not stored in the map data, the creation means creates road data based on the travel locus, and the update means stores the data in the map data. . Therefore, only roads that are not stored in the map data can be added to the map data. Therefore, the reliability of the navigation device can be improved.

  According to the fifth aspect of the present invention, the navigation device includes receiving means for receiving road identification data transmitted from a transmission device disposed on the road. Then, the road recognition means determines whether or not the road is unregistered (stored) in the map data based on the road identification data received by the receiving means. If the road has not been registered (if not stored), the creation means creates road data. For this reason, it is possible to reliably determine a road that is not stored in the map data and update only the data of the road.

  According to the invention described in claim 6, since the receiving means and the receiving device for receiving the road identification data receive the data transmitted from the vehicle information communication system (VICS), the navigation device The position, road name, etc. can be determined by using this signal effectively. Therefore, the accuracy of the update data can be improved.

  According to the seventh aspect of the present invention, the road recognizing means receives the imaging data from the imaging means for imaging the traffic display means arranged on the road. The road recognizing means analyzes the image data generated by the camera and determines that the vehicle is on the road when the traffic display means is recognized. Therefore, since the road can be recognized even on a road where no transmission device is provided, the road recognition rate by the road recognition means can be improved.

  According to the invention described in claim 8, the navigation device is a case where map matching cannot be performed, and when the determination unit determines that there is no road in the predetermined area, or when the vehicle is on the road by the road recognition unit. When it is recognized that the data is in the road, the creating means creates road data based on the travel locus, and the updating means stores the data in the map data. Therefore, only roads that are not stored in the map data can be added to the map data. Therefore, the reliability of the navigation device can be improved.

  According to the ninth aspect of the present invention, when the map matching for positioning the vehicle position on the road of the map data is not possible, the navigation device is based on the map data, and the road is within a predetermined area centered on the travel locus. Judge whether there is. Then, if there is no road around the road, it is assumed that the vehicle has traveled on a new road that is not stored in the map data, and road data is created based on the travel locus and stored in the map data. For this reason, for example, a place that is not actually a road such as a private land / parking lot is prevented from being updated as a road, and only a road that is not stored in the map data can be added. Therefore, the reliability of the navigation device can be improved.

  According to the invention described in claim 10, the navigation device is in a case where the map matching for positioning the own vehicle position on the road of the map data is not possible and the vehicle is recognized as being on the road by the road recognition means. Assuming that the vehicle travels on a new road that is not stored in the map data, road data is created based on the travel locus and stored in the map data. For this reason, for example, a place that is not actually a road such as a private land / parking lot is prevented from being updated as a road, and only a road that is not stored in the map data can be added. Therefore, the reliability of the navigation device can be improved.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments embodying the present invention will be described with reference to FIGS. FIG. 1 is a block diagram illustrating an electrical configuration of a navigation device (hereinafter referred to as a navigation device).
As shown in FIG. 1, the navigation apparatus 1 includes a control unit 2 including a CPU, a RAM, and the like. The control unit 2 receives data from a GPS receiving unit 4 serving as a position detection unit via an interface (I / F) 3. The GPS receiver 4 is provided in the navigation device 1 and receives radio waves from GPS satellites. And the control part 2 calculates positioning data, such as the latitude of the own vehicle position, the longitude, and an altitude, based on this data. The control unit 2 constitutes a calculation unit, a position determination unit, a determination unit, a creation unit, an update unit, a road recognition unit, a reception unit, and an analysis unit in the scope of claims.

  Further, the control unit 2 receives data (road identification data) including traffic information and the like from a VICS (Vehicle Information and Communication System) receiving unit 5 as a receiving unit via the interface 3. This VICS receiving unit 5 is a device that receives data from a beacon 50 (optical beacon, radio wave beacon, FM multiple beacon, etc.) that constitutes a transmitting device and an automobile information communication system disposed on a road, and is a navigation device. 1 is disposed. In the data received by the VICS receiving unit 5 from the beacon 50, location information where the beacon 50 is installed, road information such as a road name, traffic information such as traffic jam information, estimated time required to reach a main point, and the like are stored. Has been.

  Further, the control unit 2 receives detection data from the vehicle speed sensor 7 and the direction sensor 8 as position detection means via the sensor input interface 6. Based on these detection data, the control unit 2 calculates autonomous navigation data such as a relative distance from the reference position and a traveling direction. Further, the control unit 2 calculates the position of the vehicle based on the positioning data based on the acquired data from the GPS and the autonomous navigation data calculated by the vehicle speed sensor 7 and the direction sensor 8.

  Further, the navigation device 1 includes a display unit 9 including a display 9a and a switch 9b as display means. On the display 9a, a menu screen and the calculated vehicle position and the surrounding map are displayed in an overlapping manner. The display 9a is a touch panel display, for example, and various modes can be selected.

  The control unit 2 receives various commands when an operation unit including the switch 9b, a touch panel, and the like is operated. For example, when the destination is input by operating the switch 9b and the touch panel and the “route guidance mode” is selected, the control unit 2 searches for the optimum route to the destination and displays the route on the display 9a. To display.

  Further, the navigation device 1 includes a route data storage unit 10 and a drawing data storage unit 11 as map data storage means. In the present embodiment, the route data storage unit 10 and the drawing data storage unit 11 are hard disks built in the navigation device 1. However, the route data storage unit 10 and the drawing data storage unit 11 are externally inserted into the navigation device 1 so as to be removable and can be read and written. It may be a storage medium.

  The route data storage unit 10 stores route data as map data for performing route search. The route data stores node data, link data, and the like, and is divided into areas partitioned based on latitude and longitude, and is further divided into each level from data indicating a wide range of map to narrow range data. When performing the route guidance process, the control unit 2 calculates the distance to the destination based on these data and determines the optimum route.

  In the drawing data storage unit 11, unit data (map data) is stored for each area partitioned based on latitude and longitude. Similar to the route data, these unit data are composed of unit drawing data 11a in each layer such as wide range drawing data, medium range drawing data, narrow range drawing data for displaying a map from a wide range to a narrow range. Yes. Each unit drawing data 11a is further divided into units. Each drawing data 20 as unitized map data will be described with reference to FIG.

  As shown in FIG. 2, the drawing data 20 includes a header 21, character data 22, background data 23, road data 24, and attribute information 25. The header 21 is identification data for identifying each drawing data 20. The character data 22 is data for displaying place names, road names and the like displayed on the map. The background data 23 is data for drawing roads, facilities, seas, rivers, tracks, and the like, and is configured to be able to identify data types such as “sea”, for example.

  The road data 24 stores data such as latitude / longitude, node number, link number, road type and the like corresponding to the road displayed by the drawing data 20. This road data 24 is used for map matching processing. At the time of map matching, the control unit 2 calculates the own vehicle position as described above, collates the own vehicle position, the travel locus, and the road data 24, and positions the own vehicle position on an appropriate road. . Then, the background data 23 for displaying the road and the position mark indicating the vehicle position are superimposed and output to the display unit 9 to display which road the vehicle is traveling on. The attribute information 25 includes various other data to be displayed on the map.

  Next, the processing procedure of the navigation device 1 will be described with reference to FIG. First, the control unit 2 of the navigation device 1 calculates the vehicle position based on the data transmitted from the GPS receiving unit 4, the vehicle speed sensor 7, and the direction sensor 8. Further, the control unit 2 determines whether or not the route guidance is selected by operating the switch 9b or the touch panel of the display unit 9. If the route guidance is selected, the control unit 2 stores the route guidance in the route data storage unit 10. The optimum route from the current location to the destination is searched based on the obtained route data.

  Moreover, the control part 2 performs a map matching process (step S1-1). Then, the control unit 2 determines whether map matching is possible (step S1-2). If map matching is not completed and the vehicle position cannot be positioned on an appropriate road (NO in step S1-2), the process proceeds to step S1-3.

  In such a case, when the map matching cannot be performed appropriately due to the driving situation even though the road stored in the drawing data 20 is being traveled, the drawing data is displayed as the road is newly opened. A case where the vehicle is traveling on an unregistered road that is not stored in the vehicle 20 is assumed. In order to correspond to the case where this unregistered road is stored in the drawing data 20 or the like, in step S1-3, the control unit 2 is based on signals from the GPS receiving unit 4, the vehicle speed sensor 7, the direction sensor 8, and the like. Vehicle travel data (travel track) is created and recorded in a storage unit (not shown).

  Next, the control unit 2 determines whether there is a wrong road in the predetermined area (step S1-4). Specifically, the control unit 2 refers to the background data 23, the road data 24, and the like in the drawing data 20 to link data to a predetermined area (for example, within 30 m) centered on the own vehicle position or travel locus. It is determined whether node data is stored and whether road data is associated.

  For example, when the vehicle passes through an unregistered bridge or the like, as shown in FIG. 4, the road 100, the road 101, and the river 102 are displayed on the map displayed on the display 9a to indicate the position of the vehicle. The position mark M is positioned on the river 102. The roads 100 and 101 are associated with nodes N1 and N2 of the road data 24 and a link L that connects the other nodes. The nodes N1 and N2 and the link L are schematically shown and are not displayed on the actual map.

  At this time, the background data 23 indicating the “river” is associated with a predetermined area centered on the vehicle position or the traveling locus, and the node data and the link data are not stored in the road data 24. In such a case, the control unit 2 determines that there is no wrong road in the predetermined area (NO in step S1-4), and proceeds to step 1-5. That is, data of a place where the road such as “river”, “sea”, “track”, etc. is not clearly opened (unopened area) is associated with a predetermined area centered on the vehicle position or the traveling locus, In addition, when link data or the like is not stored in the road data 24, the control unit 2 determines that there is no wrong road, and proceeds to step S1-5.

  In step S1-5, the control unit 2 turns on the map update flag. The map update flag is a flag indicating that the drawing data 20 needs to be updated, and the control unit 2 performs update thereafter based on this flag. When step S1-5 ends, the process returns to step S1-1.

On the other hand, for example, when there is an adjacent road 111 within a predetermined region of the travel locus as in the map shown in FIG. 6, the drawing data 20 for drawing the road 111 includes the road data 24 regarding the link L and the node N4. , Background data 23 indicating “road” is stored. in this way,
If data indicating a place where a road such as “city” can be opened or data indicating “road” is supported in the predetermined area, or if link data etc. is stored, it may be incorrect in the predetermined area. It is determined that there is a clear road (YES in step S1-4), and it is determined whether there is reception from the information transmission device (step S1-6). In the present embodiment, whether or not there is reception from the information transmission device is determined based on whether or not a VICS signal is received from the beacon 50.

  When VICS receiving unit 5 receives a signal from beacon 50 (YES in step S1-6), control unit 2 is stored in drawing data 20 or the like based on data (road identification data) received from beacon 50. It is determined whether or not the data is an unregistered road (step S1-7). Specifically, the road name data included in the received data is searched to determine whether the road name data is already stored in the drawing data 20 of the drawing data storage unit 11 or the like. . If the road is an unregistered road (YES in step S1-7), the map update flag is turned ON (step S1-5).

  If there is no reception from the beacon 50 (NO in step S1-6) and if the received data includes stored road identification data (NO in step S1-7), the process returns to step S1-1. Repeat the above process. That is, a road already stored in the drawing data 20 or the like cannot be stored in the drawing data 20 again by mistake.

  When the map matching is completed (YES in step S1-1), the control unit 2 displays the route guidance on the display 9a while superimposing the vehicle position on the road, and provides route guidance when the route guidance is selected. Do. Further, the control unit 2 determines whether or not the map update flag is ON (step 1-8). If the map update flag is OFF (NO in step S1-8), the process returns to step S1-1 and the above-described processing is repeated.

  If the map update flag is ON (YES in step S1-8), control unit 2 adds drawing data (step S1-9). Specifically, the control unit 2 uses the travel data recorded in step S1-3 and the position information (latitude, longitude, etc.) included in the data received from the beacon 50 to connect the nodes that are not connected. The road data 24 is newly created by connecting the nodes (nodes N1 and N2 in FIG. 4) with nodes and links. In addition, the background data 23 is updated from data indicating “river” or the like to data for drawing “road”. Further, if the data received from the beacon 50 in step S1-6 includes data such as road name, road type, etc., the character data 22, background data 23, road, etc. are used for those data. Data 24 etc. are updated.

  Furthermore, the control unit 2 adds route data (step S1-10). That is, the control unit 2 newly creates node data and link data and stores them in the route data storage unit 10. When the drawing data and route data are updated, the control unit 2 turns off the map update flag (step S1-11). If the navigation device 1 is in the ON state or if the vehicle position display or route guidance is selected, the process returns to step S1-1 and the above-described processing is repeated.

  Then, after updating the drawing data 20 and the like, when the vehicle passes through the road again, the updated drawing data 20 is read and read as shown in FIGS. Based on the rendered data 20, new roads 105 and 112 are displayed. Further, since the route data is also updated, the control unit 2 can also perform route guidance to the destination including the new roads 105 and 112.

According to the above embodiment, the following effects can be obtained.
(1) In the above embodiment, when the map matching cannot be performed, the navigation device 1 is based on the drawing data 20 stored in the drawing data storage unit 11, and whether there is a road in a predetermined area centered on the travel locus. Judged whether or not. For example, the travel locus is positioned in the drawing data 20 in a region where the road such as the sea, river, or track is not clear, and link data and node data are stored in the road data 24 in the drawing data 20. If not, the drawing data 20 and the route data are newly created and updated based on the travel locus. For this reason, for example, a place that is not actually a road such as a private land / parking lot is prevented from being updated as a road, and only an actual road can be updated as road data. In addition, since data is updated when there are no roads in the vicinity, it is possible to prevent erroneously determining that an adjacent road is a road that is not stored in the drawing data 20 and updating the data. Therefore, the reliability of the navigation device 1 can be improved.

  (2) In the above embodiment, the navigation device 1 determines whether there is reception from the beacon 50 by the VICS receiver 5 when map matching is not possible. Further, based on the road identification data received from the beacon 50, it is determined whether or not the road is already stored in the drawing data 20 of the drawing data storage unit 11. When it is determined that the vehicle has traveled on an unregistered road that is not stored in the rendering data 20, the rendering data 20 is newly created and updated based on the traveling locus of the vehicle. For this reason, for example, a place that is not actually a road, such as private land or a parking lot, is prevented from being updated as a road, and only an unregistered actual road can be updated as road data. Further, since the navigation apparatus 1 can acquire data such as location information and road names by receiving the VICS signal, an unregistered road is appropriately selected even when an unregistered road is adjacent to another road. And can be added to the drawing data 20. For this reason, it is possible to improve the accuracy of the determination of unregistered roads and update data by effectively using the reception data of the VICS receiver 5, and to add additional information such as road names to the drawing data 20. Can do.

  (3) In the above embodiment, when map matching is not possible, the road rendering data 20 is determined based on the process (step S1-4) for determining whether there is a wrong road around and the data received from the beacon 50. The process (steps S1-6, S1-7) for confirming the storage status is stored. For this reason, when map matching cannot be performed, it is possible to recognize only unregistered roads with a higher probability and perform accurate data update.

In addition, you may change this embodiment as follows.
The configuration of the drawing data is not limited to the configuration shown in FIG. 2, and at least includes drawing data and identification data such as “road”, “river”, “sea”, etc. . In step S1-4, the presence or absence of a surrounding road is determined based on the road data 24 of the drawing data 20. However, the route data in the route data storage unit 10 may be used.

  -Step S1-7 of the above embodiment may be omitted, and it may be determined that the vehicle is traveling on the road when reception from the beacon 50 in step S1-6 is confirmed. If it does in this way, a process will be simplified and the load of the navigation apparatus 1 can be reduced.

  -Step S1-4 in the above embodiment is replaced with steps S1-6 and S1-7, and after determining whether or not there is reception from the beacon 50, it is determined whether there is a wrong road around. May be. Moreover, you may make it perform the process which abbreviate | omitted step S1-4 or step S1-6, S1-7.

In step S1-4, the control unit 2 searches the drawing data 20 in the predetermined area, and the background data 23 is associated with data of a place where a road such as “the sea” is not opened. (First condition) Since link data or node data is not stored in the road data 24 (second condition), it is determined that there is no wrong road around. If the control unit 2 matches either one of the first and second conditions, it may be determined that there is no wrong road around.

  The data update process from step S1-8 to step S1-11 may be performed in parallel with the map matching process and the route guidance process, or when each process is completed, when designated by the user, etc. May be.

-The control unit 2 is an ETC (Electronic Toll Collection System) in-vehicle device, other D
A road may be recognized by data from a narrow area communication device such as an SRC (Dedicated Short Range Communication) receiver. Further, the road may be recognized by data from a camera that is connected to the sensor for recognizing the road and the navigation apparatus 1 so that data can be transmitted and received. For example, as shown in FIG. 8, the navigation apparatus 1 is connected to the camera 30 via the interface 3 so that various data can be transmitted and received. When the map matching cannot be performed, the camera 30 captures the traffic light 40 as the traffic display means provided on the road and the road sign 41 as the traffic display means provided beside the road, and the captured data is sent to the control unit 2. Send. Then, in step S1-6, the control unit 2 analyzes the received imaging data to determine whether or not an object indicating a road such as the traffic light 40 and the road sign 41 can be recognized. Alternatively, a road sign on which a road name is displayed may be imaged, and the storage status of the road in the drawing data 20 or the like may be searched. If it does in this way, since it can recognize also on the road where transmission devices, such as beacon 50, are not provided, the recognition rate of a road can be improved.

  Moreover, as shown in FIG. 8, the navigation apparatus 1 may be connected to an ETC in-vehicle apparatus 31 that receives data from an ETC transmission apparatus as an information transmission apparatus so that data can be transmitted and received. At this time, in step S1-6, when data is received from the ETC in-vehicle device 31 via the interface 3 as a receiving means, it is determined that the vehicle is traveling on the road. Furthermore, the navigation device 1 receives a road recognition data from a sensor for recognizing a state where the vehicle is on the road, such as a stop line displayed on the road, a vehicle ahead, etc., and the vehicle travels on the road. You may judge that you are doing. Further, these road recognition means may be used in combination. In this way, the road recognition rate can be further improved.

  In the above embodiment, even when the control unit 2 determines that the map update flag is ON, the audio output unit 32 shown in FIG. 8 outputs a sound for confirming whether the map can be updated. Good. In addition, a display for confirming whether or not the map can be updated may be output on the display 9 a of the display unit 9. Further, the map may be updated only when the map update mode is selected with the switch 9b provided in the navigation device 1 or a touch panel.

  The navigation device 1 may be a navigation device including any one or a plurality of devices among the vehicle speed sensor 7, the direction sensor 8, the camera 30, and the ETC in-vehicle device 31. Further, the GPS receiving unit 4 and the VICS receiving unit 5 may be provided separately from the navigation device 1.

  The navigation apparatus 1 may transmit the updated drawing data 20 to the server. By centrally managing the data transmitted from each navigation device 1, this server can acquire newly opened road data more quickly and reliably.

The block diagram explaining the electric constitution of a navigation apparatus. Explanatory drawing of the data structure of drawing data. Explanatory drawing of the process sequence of this invention. Explanatory drawing of the map displayed on the navigation apparatus. Explanatory drawing of the map displayed on the navigation apparatus. Explanatory drawing of the map displayed on the navigation apparatus. Explanatory drawing of the map displayed on the navigation apparatus. The block diagram explaining the electric constitution of the navigation apparatus of another example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Calculation means, Position determination means, Determination means, Creation means, Update means, Control part as road recognition means, 3 ... Interface as reception means, 4 ... GPS reception part as position detection means, DESCRIPTION OF SYMBOLS 5 ... VICS receiving part which comprises receiving means, 7 ... Vehicle speed sensor as position detection means, 8 ... Direction sensor as position detection means, 9a ... Display as display means, 10 ... Route data storage as map data storage means 11, a drawing data storage unit as a map data storage unit, 11 a, unit drawing data constituting map data, 20, drawing data constituting map data, 30, a camera as imaging means, 31, as receiving means ETC in-vehicle device, 40 ... traffic light as traffic display means, 41 ... sign as traffic display means, 50 ... transmission device Beacon, 100,101,105,110,111,112 ... road.

Claims (10)

In a navigation device mounted on a vehicle and displaying a map on a display means,
Calculation means for calculating the vehicle position based on the data transmitted from the position detection means;
Position determining means for performing map matching processing for positioning the vehicle position on the road of the map data based on the map data stored in the map data storage means and the vehicle position;
Based on the map data, a determination means for determining the presence or absence of a road in a predetermined area centered on a traveling locus of a vehicle that cannot perform map matching;
Creating means for creating road data based on a traveling locus of the vehicle when the judging means judges that there is no road in the predetermined area;
A navigation apparatus comprising: update means for storing the data created by the creating means in the map data. The navigation device according to claim 1, wherein
The navigation device according to claim 1, wherein the determination unit determines whether link data or node data is included in the map data corresponding to the predetermined area. The navigation device according to claim 1, wherein
The navigation device according to claim 1, wherein the determination unit determines whether or not data for drawing an unopened area where a road is not opened is associated with the map data corresponding to the predetermined area. In a navigation device mounted on a vehicle and displaying a map on a display means,
Calculation means for calculating the vehicle position based on the data transmitted from the position detection means;
Position determining means for performing map matching processing for positioning the vehicle position on the road of the map data based on the map data stored in the map data storage means and the vehicle position;
Road recognition means for recognizing a state where the vehicle is on the road;
Creating means for creating road data based on a travel locus of the vehicle when map matching cannot be performed and the road recognition unit recognizes that the vehicle is on the road;
A navigation apparatus comprising: update means for storing the data created by the creating means in the map data. The navigation device according to claim 4, wherein
Comprising receiving means for receiving road identification data transmitted from a transmission device disposed on the road;
The road recognition means determines whether the road is unregistered in the map data based on the road identification data received by the receiving means,
The navigation apparatus according to claim 1, wherein when the road recognition unit determines that the road is an unregistered road, the creation unit creates road data based on a travel locus of the vehicle. The navigation device according to claim 5, wherein
The navigation device according to claim 1, wherein the receiving means for receiving the road identification data receives data transmitted from an automobile information communication system. The navigation device according to claim 4, wherein
The road recognition means
The imaging data received from the imaging means for imaging the traffic display means installed in the vehicle and disposed on the road, the imaging data is analyzed, and when the traffic display means is recognized, the vehicle is A navigation device characterized by being determined to be above. In a navigation device mounted on a vehicle and displaying a map on a display means,
Calculation means for calculating the vehicle position based on the data transmitted from the position detection means;
Position determining means for performing map matching processing for positioning the vehicle position on the road of the map data based on the map data and the vehicle position stored in the map data storage means;
A determination means for determining the presence or absence of a road in a predetermined area centered on a travel locus of the vehicle based on the map data;
Road recognition means for recognizing a state where the vehicle is on the road;
When the map matching cannot be performed, and when the determination unit determines that there is no road in the predetermined area or when the road recognition unit recognizes that the vehicle is on the road, the vehicle Creating means for creating road data based on the driving locus of
A navigation apparatus comprising: update means for storing the data created by the creating means in the map data. In a map data update method for updating map data stored in map data storage means using a navigation device mounted on a vehicle and provided with display means for displaying a map,
The navigation device is
A step of calculating the vehicle position based on the data transmitted from the position detection means;
Based on the vehicle position and the map data, positioning the vehicle position on the road of the map data and performing map matching;
When map matching cannot be performed, based on the map data, determining the presence or absence of a road in a predetermined area centered on the travel locus; and
When it is determined that there is no road in a predetermined area of the map data, creating road data based on the travel locus of the vehicle;
A map data updating method comprising: storing the created road data in the map data. In a map data update method for updating map data stored in map data storage means using a navigation device mounted on a vehicle and provided with display means for displaying a map,
The navigation device is
A step of calculating the vehicle position based on the data transmitted from the position detection means;
Based on the vehicle position and the map data, positioning the vehicle position on the road of the map data and performing map matching;
Determining whether or not road recognition has been performed by road recognition means when map matching cannot be performed;
When determining that the vehicle is on a road, creating road data based on a travel locus of the vehicle;
A map data updating method comprising: storing the created road data in the map data.

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