NAVIGATION APPARATUS

• US 20120232789A1
• Filed: 03/07/2012
• Published: 09/13/2012
• Est. Priority Date: 03/09/2011
• Status: Abandoned Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: NAKAMURA, Shuuji
• Application Number:
  US13/413,726
• Publication Number:
  US 20120232789A1
• Time in Patent Office: Days
• US Class Current: 701/430
• CPC Class Codes: G01C 21/3819 Road shape data, e.g. outline of a route
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation

Abstract

When a vehicle runs in a region other than existing roads stored as ready-made map data, learned road data is generated based on a traveling locus. Further, an existing road connected with the learned road is defined as a base link. The base link is copied and divided, to generate auxiliary link data to define a connection status between the learned road and the existing road in an auxiliary way. The learned road data and the auxiliary link data are recorded in association with each other. The auxiliary link data is used in navigation-related processing as a substitute for road data related to the existing road connected with the learned road. With this configuration, the existing road and the learned road are logically connected, to supplement consistency in a map containing the learned road without partially changing the ready-made map data.

Claims

1. A navigation apparatus which performs route guidance to a vehicle, the navigation apparatus comprising:

a ready-made road data storage portion that stores road data of existing roads in a ready-made map, the road data of the existing roads being used in route guidance;

a learned road data storage portion that stores road data of a learned road, and auxiliary link data connecting a link of the learned road and a link of an existing road, the road data of the learned road and the auxiliary link data being used in route guidance;

a learned road detection section that detects a detected learned road based on a traveling locus from a withdrawal-point where a running position of the vehicle withdraws from an existing road stored in the ready-made road data storage portion to a return-point where the running position of the vehicle returns to an existing road stored in the ready-made road data storage portion, the learned road detection section generating road data related to a link of the detected learned road and end nodes of the link of the detected learned road;

an auxiliary link data generation section that generates auxiliary link data based on road data of a base link that is defined as a link of the existing road connected with the detected learned road, the auxiliary link data relating to an auxiliary link, which connects one end of the base link and a connection point between the existing road and the detected learned road, and auxiliary end nodes of the auxiliary link, the auxiliary link data also relating to an other auxiliary link, which connects an other end of the base link and the connection point between the existing road and the detected learned road, and auxiliary end nodes of the other auxiliary link; and

a recording section that records (i) the road data of the detected learned road generated by the learned road detection section and (ii) the auxiliary link data generated with respect to the detected learned road by the auxiliary link data generation section in the learned road data storage portion.

2. The navigation apparatus according to claim 1,

wherein the auxiliary end nodes in the auxiliary link data, which is generated by the auxiliary link data generation section, have attribute information excerpted from attribute information of end nodes of the base link.

3. The navigation apparatus according to claim 1,

wherein the auxiliary link in the auxiliary link data, which is generated by the auxiliary link data generation section, has shape information or attribute information excerpted from shape information or attribute information of the base link.

4. The navigation apparatus according to claim 1,

wherein, when the detected learned road is directly connected with a link end of the existing road, the auxiliary link data generation section does not generate the auxiliary link and the other auxiliary link based on the road data of the existing road.

5. The navigation apparatus according to claim 1,

wherein, when the detected learned road withdraws from the link of the existing road at the withdrawal-point and returns to the same link of the existing road at the return-point, the auxiliary link data generation section generates auxiliary link data of the withdrawal-point on a withdrawal-point side, and generates auxiliary link data of the return-point on a return-point side,

wherein, the auxiliary link data of the withdrawal-point is generated based on the road data of the base link that is defined as the link of the existing road connected with the detected learned road,

the auxiliary link data of the withdrawal-point is related to

a withdrawal-point auxiliary link, which connects a first end of the base link and the withdrawal-point of the existing road, and auxiliary end nodes of the withdrawal-point auxiliary link, the first end being one of two ends of the base link and linking with the withdrawal-point without the return-point being intervening,

an other withdrawal-point auxiliary link, which connects the withdrawal-point of the existing road and a second end of the base link, and auxiliary end nodes of the other withdrawal-point auxiliary link, the second end being an other of the two ends of the base link and linking with the withdrawal-point with the return-point being intervening,

wherein, the auxiliary link data of the return-point is generated based on road data of an auxiliary base link which is defined as the other withdrawal-point auxiliary link,

the auxiliary link data of the return-point is related to

a return-point auxiliary link, which connects one end of the auxiliary base link and the return-point of the existing road, and auxiliary end nodes of the return-point auxiliary link, and

an other return-point auxiliary link, which connects the return-point of the existing road and an other end of the auxiliary base link, and auxiliary end nodes of the other return-point auxiliary link.

6. The navigation apparatus according to claim 1,

wherein, when (i) the detected learned road is connected with an existing road via a connection point placed on the existing road and (ii) auxiliary link data generated based on road data of the existing road already exists in the learned road data storage portion as first auxiliary link data, the auxiliary link data generation section generates second auxiliary link data based on road data of a connection-side auxiliary base link that is defined as an auxiliary link, which is included in the first auxiliary link data and passes through the connection point between the existing road and the detected learned road,

wherein the second auxiliary link data is related to

a second auxiliary link, which connects one end of the connection-side auxiliary base link with the connection point between the existing road and the detected learned road, and auxiliary end nodes of the second auxiliary link, and

an other second auxiliary link, which connects the connection point between the existing road and the detected learned road and an other end of the connection-side auxiliary base link, and auxiliary end nodes of the other second auxiliary link, and

wherein the recording section records the road data of the detected learned road and the second auxiliary link data generated with respect to the detected learned road in the learned road data storage portion.

7. The navigation apparatus according to claim 1, wherein:

the learned road detection section further

utilizes a learned road already stored in the learned road data storage portion as a detection target from which a new learned road is detected, and

generates road data of the new learned road based on the traveling locus when the running position of the vehicle withdraws from or returns to the learned road already stored in the learned road data storage portion; and

the auxiliary link data generation section generates auxiliary link data corresponding to the new learned road based on road data of the learned road already stored in the learned road data storage portion when the existing road connected with the new learned road corresponds to the learned road already stored in the learned road data storage portion.

8. The navigation apparatus according to claim 1, further comprising:

a setting section that sets attribute information which defines validity or invalidity of the road data of the learned road and/or the auxiliary link data stored in the learned road data storage portion.

9. A program product stored in a non-transitory computer readable storage medium comprising instructions for execution by a computer, the instructions including a computer-implemented method for a navigation apparatus providing route guidance to a vehicle using road data indicating links and end nodes of the links relative to roads,

the navigation apparatus including

(i) a ready-made road data storage portion in which existing road data relative to existing roads on a ready-made map is stored, and

(ii) a learned road data storage portion in which road data relative to learned roads is stored,

the instructions for implementing:

a step of detecting a new learned road, which is not stored in the ready-made road data storage portion, based on a traveling locus from a withdrawal-point where a running position of the vehicle withdraws from a withdrawal existing link of a withdrawal existing road stored in the ready-made road data storage portion to a return-point where the running position of the vehicle returns to a return existing link of a return existing road stored in the ready-made road data storage portion;

a step of generating learned road data of the new learned road, the learned road data indicating (i) a learned link of the new learned road and (ii) first and second learned end nodes of the learned link of the new learned road;

a step of defining each of the withdrawal existing link and the return existing link as a base link while defining each of the withdrawal-point and the return-point as a connection point;

a step of generating, based on road data relative to the base link stored in the ready-made road data storage portion, auxiliary link data with respect to each connection point of the base link, the auxiliary link data indicating

(i) a first auxiliary link, which connects the each connection point with one of two end nodes of the base link, and two auxiliary end nodes of the first auxiliary link and

(ii) a second auxiliary link, which connects the each connection point with an other of the two end nodes of the base link, and two auxiliary end nodes of the second auxiliary link; and

a step of recording, with respect to the new learned road, the learned road data and the auxiliary link data in association with each other in the learned road data storage portion.