阅读说明：本技术 道路信息学习装置 (Road information learning device ) 是由 渡部高行 关根浩 泷口裕崇 原山拓士 望月裕 于 2018-03-30 设计创作，主要内容包括：道路信息学习装置(10)具备：弯道信息获取部(21),其对车辆的行驶弯道获取地图提取弯道以及实测弯道；同一弯道判定部(22),其判定地图提取弯道以及实测弯道是否是与同一行驶弯道对应的弯道；以及正式登记部(24),其在通过同一弯道判定部判定为地图提取弯道以及实测弯道是与同一行驶弯道对应的弯道的情况下满足规定的正式登记条件时,将实测弯道登记为正式登记弯道。(Road information learning device (10) has: bend information acquiring section (21), obtains map to the traveling bend of vehicle and extracts bend and actual measurement bend；Same bend determination unit (22) determines that map extracts whether bend and actual measurement bend are bends corresponding with same traveling bend；And formal registration portion (24), it is registered as formal registration bend when being determined as that map extracts formal registration condition as defined in satisfaction in the case that bend and actual measurement bend are bends corresponding with same traveling bend by same bend determination unit, by actual measurement bend.)

1. a kind of road information learning device, has:

Bend information acquiring section (21), for the traveling bend that vehicle has travelled, acquisition is mentioned from the map that map datum extracts The actual measurement bend for taking bend and being extracted from the driving trace of vehicle；

Same bend determination unit (22), determine the above-mentioned map obtained by above-mentioned bend information acquiring section extraction bend and Whether above-mentioned actual measurement bend is bend corresponding with same traveling bend；And

Formal registration portion (24) is being determined as that above-mentioned map extracts bend and above-mentioned reality by above-mentioned same bend determination unit Lateral bending road be meet in the case where bend corresponding with same traveling bend as defined in formal registration condition when, above-mentioned actual measurement is curved Road is registered as formal registration bend.

2. road information learning device according to claim 1, wherein

Temporary register (23) are also equipped with, which is determined as above-mentionedly by above-mentioned same bend determination unit In the case that figure extraction bend and above-mentioned actual measurement bend are bend corresponding with same traveling bend, also, in above-mentioned map In the case where extracting temporary registration condition as defined in bend and above-mentioned actual measurement bend satisfaction, above-mentioned actual measurement bend is registered as temporarily Bend is registered,

Above-mentioned formal registration portion (24) is in the case where vehicle has travelled above-mentioned traveling bend again, corresponding with the traveling bend Above-mentioned temporary registration bend with by above-mentioned bend information acquiring section be directed to the actual measurement bend that newly obtains of the traveling bend that is, In the case that new actual measurement bend meets above-mentioned formal registration condition, will to above-mentioned temporary registration bend and above-mentioned new actual measurement bend into The average bend of row is registered as above-mentioned formal registration bend.

3. road information learning device according to claim 1 or 2, wherein

Above-mentioned same bend determination unit gives up in the case where extracting bend there is no above-mentioned map corresponding with above-mentioned actual measurement bend Abandon the actual measurement bend.

4. road information learning device according to any one of claims 1 to 3, wherein

Above-mentioned same bend determination unit is in the feelings that there are multiple above-mentioned maps corresponding with an above-mentioned actual measurement bend and extract bends Under condition, selects an above-mentioned map to extract bend and establish corresponding relationship with above-mentioned actual measurement bend.

5. road information learning device described according to claim 1~any one of 4, wherein

Above-mentioned same bend determination unit is the case where relative to an above-mentioned map extraction bend, there are multiple above-mentioned actual measurement bends Under, whole above-mentioned actual measurement bends and above-mentioned map are extracted into bend and establish corresponding relationship.

6. the road information learning device according to any one of claim 2~5, wherein

Above-mentioned temporary register is in the case where vehicle has travelled above-mentioned traveling bend again, on corresponding with the traveling bend State temporarily registration bend and the actual measurement bend newly obtained by above-mentioned bend information acquiring section for the traveling bend that is, new real In the case that lateral bending road is unsatisfactory for above-mentioned formal registration condition, above-mentioned temporary registration bend is updated using above-mentioned new actual measurement bend.

Technical field

This disclosure relates to road information learning device.

Background technique

Such as the shape in the bend extracted from map datum is disclosed in patent document 1 and is mentioned with the driving trace from vehicle In the variform situation of the bend taken, the shape that road data is modified to two bends is same, to improve driving safety The technology of the reliability of the work of device.

Sharp document 1: No. 4327070 bulletins of Japanese Patent No.

However, vehicle is for example inferior the case where being travelled on bend with OUT-IN-OUT, it might not be according to road The bend shape on road is travelled.It is therefore also possible to cause to exist more relative to the bend shape extracted from map datum The case where a bend shape extracted according to driving trace.On the contrary, such as in the lower situation of the precision in map datum, It may cause the case where extracting multiple bend shapes from map datum relative to a bend.Furthermore it is possible to cause from vehicle Driving trace extract a bend shape or multiple bend shapes with from map datum extract multiple bend shapes Corresponding situation.That is, in the study of actual road, the bend shape extracted from map datum with from the driving trace of vehicle The bend shape of extraction is rarer with the corresponding situation of one-to-one relationship, in the technology of patent document 1, even if for It also carries out not carrying out any reply for correct road study under such circumstances.

Summary of the invention

Therefore, the disclosure provide can precisely by the bend shape extracted from map datum with from the traveling of vehicle The bend shape of trajectory extraction establishes corresponding relationship, is able to carry out the road for meeting the correct road study of actual driving condition Road information learning device.

Road information learning device involved in one mode of the disclosure has bend information acquiring section, same bend determines Portion and formal registration portion.Bend information acquiring section is directed to the traveling bend that vehicle has travelled, what acquisition was extracted from map datum The actual measurement bend that map extracts bend and extracts from the driving trace of vehicle.Same bend determination unit determines to pass through bend information The map that acquisition unit obtains extracts whether bend and actual measurement bend are bends corresponding with same traveling bend.Formal registration portion It is bend corresponding with same traveling bend being determined as that map extracts bend and actual measurement bend by same bend determination unit In the case where meet as defined in formal registration condition when, will actual measurement bend be registered as formal registration bend.

The road information learning device according to involved in the disclosure, determine the map that is extracted from map datum extract bend with Whether the actual measurement bend extracted from the driving trace of vehicle is bend corresponding with same traveling bend.Thereby, it is possible to will be from Bend shape that map datum extracts and from the bend shape that the driving trace of vehicle extracts establish on the basis of corresponding relationship into The study of trade road is able to carry out the correct road study for meeting actual driving condition.

Detailed description of the invention

Following detailed description by referring to accompanying drawing, the above-mentioned purpose of the disclosure and other purposes, feature, advantage It becomes more clear.

Fig. 1 is the block diagram for showing schematically the configuration example of road information learning device involved in present embodiment,

Fig. 2 is the figure for indicating an example of bend shape,

Fig. 3 is the figure (its 1) for indicating an example of same bend determination processing,

Fig. 4 is the figure (its 2) for indicating an example of same bend determination processing,

Fig. 5 is the figure (its 3) for indicating an example of same bend determination processing,

Fig. 6 is the figure (its 4) for indicating an example of same bend determination processing,

Fig. 7 is the transition graph for indicating an example of state transition for bend information,

Fig. 8 is the general chart for indicating an example of state transition for bend information,

Fig. 9 is the flow chart for indicating an example of temporary registration process,

Figure 10 is the flow chart for indicating an example of formal registration processing,

Figure 11 is the figure (its 1) for the study example for indicating bend information,

Figure 12 is the figure (its 2) for the study example for indicating bend information,

Figure 13 is the figure (its 3) for the study example for indicating bend information,

Figure 14 is the figure (its 4) for the study example for indicating bend information.

Specific embodiment

Hereinafter, being illustrated referring to an embodiment of the attached drawing to road information learning device.The letter of road illustrated by Fig. 1 Breath learning device 10 is for example installed on vehicle, has control unit 11, this truck position determining section 12, data storing unit 13, display unit 14, operation portion 15 and navigation feature portion 16 etc..Hereinafter, road information learning device 10 is known as " learning device 10 ".Control Portion 11 is constituted based on microcomputer (not shown), and the movement of Schistosomiasis control device 10 is whole.

This truck position determining section 12 has geomagnetic sensor (not shown), gyroscope, range sensor, location and is connect with electric wave Receive the various sensor classes of the position findings such as device.This truck position determining section 12 is based on the survey from building location system (not shown) Electric wave, detected value of various sensor classes of position satellite reception etc. measure the position of this vehicle.Moreover, this truck position determining section 12 export this truck position information for indicating the position determined to control unit 11.Control unit 11 can be based on true from this truck position This multiple truck position information for determining the input of portion 12, determine the driving trace of vehicle.

Data storing unit 13 is constituted such as the storage medium by hard disk drive, the various data such as storage map datum Class.Map datum includes road network data, which includes many relevant sections of node that road is included Point information, relevant route information of route of each node of connection etc..Nodal information includes the location information etc. of each node.In addition, Route information includes the information such as shape, the distance of each route.In addition, map datum is for example used comprising background data, map match Data etc. are in order to execute various data class required for the Route guiding of vehicle.In addition, map datum includes for determining bend Position, road shape etc. data class.

Display unit 14 is for example constituted by lcd monitors, etc., and based on the idsplay order signal from control unit 11, shows road The various pictures such as diameter guide picture, setting screen.Operation portion 15 by be set to the touch panel switch of display unit 14, be set to it is aobvious Show that the mechanical switch on the periphery in portion 14 etc. is constituted, the operation of various switches is exported operation signal to control unit according to user 11.Navigation feature portion 16 has path of navigation search process portion of the path of navigation of search vehicle etc., and is drawn based on what is searched out The Route guiding of the information such as guiding path, map datum, this truck position execution vehicle.

In addition, control unit 11 is hypothetically realized bend information acquiring section 21, same curved by software by executing control program Road determination unit 22, temporary register 23 and formal registration portion 24.In addition it is also possible to by these processing units of hardware realization, It can be realized by the combination of software and hardware.Bend information acquiring section 21 is directed to the traveling bend that has travelled of vehicle, obtain from The actual measurement bend that the map that map datum extracts extracts bend and extracted according to the actual driving trace of vehicle.Same bend Determination unit 22 determine by bend information acquiring section 21 obtain map extract bend and actual measurement bend whether with same traveling Bend is corresponding.

Here, an example of the determination processing of same bend determination unit 22 is illustrated.In addition, as illustrated in fig. 2 As, although correctly saying that actual bend is in curved shape, in the present embodiment, for convenience of explanation, so that Bend is that linear state is showed.

Same bend determination unit 22 is the case where map extracts bend and actual measurement bend for example all meets condition below Under, being determined as that these maps extract bend and actual measurement bend is bend corresponding with same traveling bend.

Same bend decision condition:

Condition 1: actual measurement bend is consistent with the map extraction direction of travel of bend.

Condition 2: actual measurement bend is consistent with the map extraction bend polarity of bend.

Condition 3: meet any one condition below.

Condition 3a: the section that map extracts bend is contained in the section of actual measurement bend.

Condition 3b: the section for surveying bend is contained in map and extracts bend.

Condition 3c: map extract bend and survey the entrance error of bend the section that map extracts bend it is long for example ± Within 20%.

Condition 3d: map extract bend and survey bend outlet error map extract bend section length for example ± Within 20%.

In addition, bend polarity is to indicate the curved direction of bend, that is, the bend is right bend or left bend Parameter.Entrance error is to indicate that map extracts the parameter of the offset of the entry position of bend and the entry position of actual measurement bend.Out Slip of the tongue difference is to indicate that map extracts the parameter of the offset of the outlet port of bend and the outlet port of actual measurement bend.In addition, conduct Same bend decision condition, such as can also add and not built with others actual measurement bends as the map extraction bend of determine object Vertical corresponding relationship does not extract bend with other maps and establishes corresponding relationship and mentioning as the actual measurement bend of determine object Take out the conditions such as control of the traveling such as not carrying out anti-lock braking system control in the traveling bend section of actual measurement bend.

Map is shown in Fig. 3 and extracts bend and the judgement example in the actual measurement one-to-one situation of bend.That is, in the pattern of Fig. 3 In Pa, be determined as entrance error D1 meet same bend decision condition map extract bend Ca and survey bend Cb be with it is same Travel the corresponding bend of bend.In addition, being judged to exporting error D2 in the pattern P b of Fig. 3 and meeting same bend decision condition Map extract bend Ca and survey bend Cb be bend corresponding with same traveling bend.

In addition, in the pattern P c of Fig. 3, be judged to surveying bend Cb and be contained in actual measurement bend Cb map extract it is curved Road Ca is bend corresponding with same traveling bend.In addition, being determined as that map extracts bend Ca and packet in the pattern P d of Fig. 3 The actual measurement bend Cb that bend Ca is extracted contained in the map is bend corresponding with same traveling bend.

The judgement example surveyed in the case that bend extracts bend there are multiple maps relative to one is shown in Fig. 4.That is, In In the pattern P a of Fig. 4, it is determined as that entrance error D1a meets the map extraction bend Ca1 of same bend decision condition and surveys curved Road Cb is bend corresponding with same traveling bend.In addition, at this point, entrance error D1b is unsatisfactory for same bend decision condition Map extracts bend Ca2 and actual measurement bend Cb is not judged as bend corresponding with same traveling bend.

In addition, being judged to exporting the map extraction that error D2a meets same bend decision condition in the pattern P b of Fig. 4 Bend Ca2 and actual measurement bend Cb is bend corresponding with same traveling bend.In addition, at this point, outlet error D2b be unsatisfactory for it is same The map of bend decision condition extracts bend Ca1 and actual measurement bend Cb is not judged as bend corresponding with same traveling bend.

In addition, there are the entrance error D1 maps for meeting same bend decision condition to extract bend in the pattern P c of Fig. 4 The map that the group and outlet error D2 of Ca1 and actual measurement bend Cb meets same bend decision condition extracts bend Ca2 and actual measurement is curved The group of road Cb.In this case, the biggish map extraction of the overlap length of the same selection of bend determination unit 22 and actual measurement bend Cb is curved Map is extracted into bend Ca2 and actual measurement bend Cb is determined as and same traveling in this case, selection map extracts bend Ca2 in road The corresponding bend of bend.In addition, same bend determination unit 22 can also be set as multiple maps extracting bend Ca1, Ca2 and one A actual measurement bend Cb establishes corresponding relationship.In addition, overlap length indicates the length in the section that multiple bends overlap.

In addition, there are multiple maps identical with the actual measurement overlap length of bend Cb in the pattern P d of Fig. 4 and extract bend Ca1,Ca2.In this case, the preferential nearby side of same bend determination unit 22, that is, the map of entrance side of actual measurement bend Cb mentions Bend Ca1 is taken, is determined as bend corresponding with same traveling bend.In addition, same bend determination unit 22 can also be set as by Multiple maps extract bend Ca1, Ca2 and an actual measurement bend Cb establishes corresponding relationship.

It is shown in Fig. 5 and extracts bend relative to map there are judgement examples in the case where multiple actual measurement bends.That is, In In the pattern P a of Fig. 5, it is determined as that entrance error D1 meets the map extraction bend Ca and actual measurement bend of same bend decision condition Cb1 is bend corresponding with same traveling bend.At this point, same bend determination unit 22 will also connect with the outlet of actual measurement bend Cb1 Continuous actual measurement bend Cb2 and map extracts bend Ca and establishes corresponding relationship.

In addition, in the pattern P b of Fig. 5, be judged to exporting error D2 meet same bend decision condition map extract it is curved Road Ca and actual measurement bend Cb2 is bend corresponding with same traveling bend.At this point, same bend determination unit 22 also will be curved with actual measurement The entrance of road Cb2 continuously surveys bend Cb1 and map extracts bend Ca and establishes corresponding relationship.

In addition, in the pattern P c of Fig. 5, be determined as entrance error D1 meet same bend decision condition map extract it is curved Road Ca and actual measurement bend Cb1 is bend corresponding with same traveling bend.At this point, same bend determination unit 22 also will be curved with actual measurement Bend Cb2 is continuously surveyed in the outlet of road Cb1 and map extracts bend Ca and establishes corresponding relationship.In addition, in this case, map mentions Bend Ca and the outlet error D2 of actual measurement bend Cb2 is taken also to meet same bend decision condition.Therefore, same bend determination unit 22 It can also carry out extracting map into bend Ca and actual measurement bend Cb2 is determined as bend corresponding with same traveling bend, and Bend Cb1 will be continuously surveyed with the entrance of actual measurement bend Cb2 and map extracts bend Ca and establishes judgement as corresponding relationship Processing.

In the pattern P d of Fig. 5, actual measurement bend Cb1 is contained in map and extracts bend Ca.At this point, same bend determination unit 22 Actual measurement bend Cb1 and map are extracted into bend Ca and are determined as bend corresponding with same traveling bend, and also will be curved with actual measurement Bend Cb2 is continuously surveyed in the outlet of road Cb1 and map extracts bend Ca and establishes corresponding relationship.In addition, in this case, actual measurement is curved Road Cb2 is also contained in map and extracts bend Ca.Therefore, same bend determination unit 22 can also carry out that bend Cb2 and ground will be surveyed Figure extracts bend Ca and is determined as bend corresponding with same traveling bend, and also will be continuous with the entrance of actual measurement bend Cb2 Actual measurement bend Cb1 and map extract bend Ca and establish determination processing as corresponding relationship.

Fig. 6 show relative to multiple maps extract bend there are it is multiple actual measurement bend in the case where judgement example.The feelings Judgement example under condition is combined with above-mentioned judgement example.That is, it is same curved to be determined as that entrance error D1 meets in the pattern P a of Fig. 6 It is bend corresponding with same traveling bend that the map of road decision condition, which extracts bend Ca1 and actual measurement bend Cb1,.In addition, determining Bend Ca2 is extracted for the outlet error D2 map for meeting same bend decision condition and actual measurement bend Cb2 is curved with same traveling The corresponding bend in road.

In the pattern P b of Fig. 6, it is determined as that entrance error D1 meets the map extraction bend Ca1 of same bend decision condition It is bend corresponding with same traveling bend with actual measurement bend Cb1.In addition, also that the outlet with actual measurement bend Cb1 is continuously real Lateral bending road Cb2 and map extract bend Ca1 and establish corresponding relationship.In addition, any actual measurement bend Cb1, Cb2 and map are not mentioned Bend Ca2 is taken to establish corresponding relationship.

In the pattern P c of Fig. 6, it is determined as that entrance error D1a meets the map extraction bend of same bend decision condition Ca1 and actual measurement bend Cb1 is bend corresponding with same traveling bend.In addition, being determined as that entrance error D1b meets same bend It is bend corresponding with same traveling bend that the map of decision condition, which extracts bend Ca2 and actual measurement bend Cb2,.In addition, will not appoint What actual measurement bend Cb1, Cb2 and map extracts bend Ca3 and establishes corresponding relationship.

In the pattern P d of Fig. 6, it is determined as that entrance error D1 meets the map extraction bend Ca1 of same bend decision condition It is bend corresponding with same traveling bend with actual measurement bend Cb1.In addition, also that the outlet with actual measurement bend Cb1 is continuously real Lateral bending road Cb2 and map extract bend Ca1 and establish corresponding relationship.Determine in addition, being judged to exporting error D2 and meeting same bend It is bend corresponding with same traveling bend that the map of condition, which extracts bend Ca2 and actual measurement bend Cb3,.

Temporary register 23 by same bend determination unit 22 be determined as map extract bend and actual measurement bend be with In the case where the corresponding bend of same traveling bend, also, bend is extracted in map and actual measurement bend meets and defined temporarily steps on In the case where note condition, it is registered as actual measurement bend temporarily to register bend.

In this case, temporarily registration condition is, for example, condition below.That is, in the feelings for meeting any one condition below Under condition, actual measurement bend is temporarily registered.In temporary registration condition below, R indicates that the radius of bend, θ indicate bend Depth, ABS indicate solve bracket in operation result absolute value function.

Temporary registration condition:

Temporary registration condition 1: the R < 0.90 or 1.10 < maps of the R ÷ actual measurement bend of map extraction bend extract curved The R of the R ÷ actual measurement bend in road

Temporary registration condition 2: the θ < 0.90 or 1.10 < maps of the θ ÷ actual measurement bend of map extraction bend extract curved The θ of the θ ÷ actual measurement bend in road

Temporary registration condition 3: map extracts (the entrance position of map extraction bend 10% < ABS of the section length of bend Set-survey the entry position of bend)

Temporary registration condition 4: map extracts (the outlet position of map extraction bend 10% < ABS of the section length of bend Set-survey the outlet port of bend)

Formal registration portion 24 is in the case where vehicle has travelled bend again, corresponding with the traveling bend temporary Registration bend and the actual measurement bend that the traveling bend is newly obtained by bend information acquiring section that is, new actual measurement bend meets rule In the case where fixed formal registration condition, temporary registration bend and new actual measurement bend will be carried out average bend and be registered as formally Register bend.

In this case, formal registration condition is, for example, condition below.That is, the case where meeting whole conditions below Under, formal registration temporarily registers bend as the average value with new actual measurement bend.In following formal registration conditions, R is indicated The radius of bend, θ indicate the depth of bend, and ABS indicates to solve the function of the absolute value of the operation result in bracket.

Formal registration condition:

Formal registration condition 1: temporarily the number of registration bend is consistent with the new actual measurement number of bend.

Formal registration condition 2:0.90≤temporary registration bend R ÷ newly surveys R≤1.10 of bend

Formal registration condition 3:0.90≤temporary registration bend θ ÷ newly surveys θ≤1.10 of bend

Formal registration condition 4:ABS (the temporarily entry position that bend is newly surveyed in the entry position-of registration bend)≤temporarily Register such as the 10% of the section length of bend

Formal registration condition 5:ABS (the temporarily outlet port that bend is newly surveyed in the outlet port-of registration bend)≤temporarily Register such as the 10% of the section length of bend

In addition, even if meeting the useless item of study illustrated below in the case where meeting above-mentioned formal registration condition In the case where the whole of part, also without temporarily registering the upgrading to formal registration bend of bend.It is useless in following study In condition, R indicates that the radius of bend, θ indicate the depth of bend, and ABS indicates to solve the absolute value of the operation result in bracket Function.

Learn useless condition:

Learn useless condition 1:0.90≤map extraction bend R ÷ and temporarily registers the R's of the bend and R of new actual measurement bend Average value≤1.10

Learn useless condition 2:0.90≤map extraction bend θ ÷ and temporarily registers the θ's of the bend and θ of new actual measurement bend Average value≤1.10

Learning useless condition 3:ABS, (map extracts the entry position-of the bend temporarily entry position of registration bend and new Survey the mean place of the entry position of bend)≤map extract bend section it is long such as 10%

Learning useless condition 4:ABS, (map extracts the outlet port-of the bend temporarily outlet port of registration bend and new Survey the mean place of the outlet port of bend)≤map extract bend section it is long such as 10%

In addition, learning device 10 be configured to in the relationship of the new actual measurement bend newly obtained thereafter meet as defined in " just In the case where formula registration+temporarily registration " condition, the study bend for having carried out formal registration for the time being is made to move to " formal registration+temporary Registration " state.In this case, " formal registration+temporarily registration " condition is, for example, condition below.That is, for example below meeting Any one condition in the case where, the study bend of formal registration moves to " formal registration+temporarily register bend ".Following In " formal registration+temporarily registration " condition, R indicates that the radius of bend, θ indicate the depth of bend, and ABS indicates to solve in bracket The function of the absolute value of operation result.

" formal registration+temporarily registration " condition:

" formal registration+temporarily registration " condition 1: the R ÷ of the study bend in formal registration newly surveys the R < 0.90 of bend Or, the R ÷ of the study bend in 1.10 < formal registrations newly surveys the R of bend

" formal registration+temporarily registration " condition 2: the θ ÷ of the study bend in formal registration newly surveys the θ < 0.90 of bend Or, the θ ÷ of the study bend in 1.10 < formal registrations newly surveys the θ of bend

" formal registration+temporarily registration " condition 3: the long such as 10% < ABS in the section of the study bend in formal registration (newly surveying the entry position of bend in the entry position-of the study bend in formal registration)

" formal registration+temporarily registration " condition 4: the long such as 10% < ABS in the section of the study bend in formal registration (newly surveying the outlet port of bend in the outlet port-of the study bend in formal registration)

In addition, learning device 10 is obtained in the bend for making it move to " formal registration+temporarily registration " state with new thereafter New actual measurement bend relationship in meet above-mentioned formal registration condition in the case where, again to the bend and new actual measurement bend Average bend carries out formal registration.In addition, in this case, in the case where meeting the useless condition of above-mentioned study, also not into Upgrading of the row to formal registration.

Learning device 10 makes the bend information obtained in multiple ranks by temporary register 23 and formal registration portion 24 Promote study while Duan Yihang.As illustrated by Fig. 7 and Fig. 8, the bend that learning device 10 is constructed so that is believed It ceases multiple in " non-learning state ", " temporary enrollment status ", " formal registration state ", " formal registration+temporary enrollment status " etc. It is dynamically migrated between state.That is, learning device 10 is in the case where obtained bend information meets temporary registration condition, such as arrow Shown in S1, the bend information is made to move to temporary enrollment status.In addition, learning device 10 is unsatisfactory for temporarily in obtained bend information In the case where registration condition, as shown by the arrow s2, which is remained into non-learning state.

In addition, learning device 10 meets formal registration condition in the relationship of the bend information temporarily registered and new actual measurement bend In the case where, as shown in arrow S3, the bend information is made to move to formal registration state.In addition, learning device 10 is registered temporarily Bend information and new actual measurement bend relationship be unsatisfactory for formal registration condition in the case where, as shown in arrow S4, it is curved to update this The temporary enrollment status of road information.At this point, learning device 10 updates the bend information temporarily registered by newly actual measurement bend. In addition, learning device 10 as shown in arrow S5, is released in the case where the bend information temporarily registered meets the useless condition of study The temporary enrollment status of the bend information, makes it move to non-learning state.

In addition, learning device 10 is the case where the bend information of formal registration meets " formal registration+temporarily registration " condition Under, as shown in arrow S6, the bend information is made to move to " formal registration+temporary enrollment status ".In addition, learning device 10 is formal In the case that the bend information of registration is unsatisfactory for " formal registration+temporarily registration " condition, as shown in arrow S7, bend letter is updated The formal registration state of breath.

In addition, learning device 10 presets the upper limit of the number for the bend information that can be kept under formal registration state Value.Therefore, in the case where the number of the bend information of formal registration state is more than upper limit value, as shown in arrow S8, such as from Old bend information, which starts successively to release formal registration state, makes it move to non-learning state.At this point, learning device 10 exists In the case where so that it is moved to multiple bend information of formal registration state simultaneously, move to these multiple bend information intensively not Learning state.Alternatively, it is also possible to learning device 10 there are duplicate bend information, also by the bend information Move to non-learning state or deletion.

In addition, learning device 10 meets just again in the bend information for making it move to " formal registration+temporary enrollment status " In the case where formula registration condition, as shown in arrow S9, the bend information is made to move to formal registration state.In addition, learning device 10 In the case where making it move to the number of the bend information of " formal registration+temporary enrollment status " more than specified value, such as arrow S10 It is shown, such as so that it is moved to temporary enrollment status since old bend information.In addition, learning device 10 moves to it In the case that the bend information of " formal registration+temporary enrollment status " meets the useless condition of study, as shown in arrow S11, by this Bend information moves to non-learning state or deletion.In addition, learning device 10 makes it move to " formal registration+temporarily register shape The bend information of state " be unsatisfactory for it is any migrate condition in the case where, as shown in arrow S12, which is remained " just Formula registration+temporary enrollment status ".

As described above, in the case where the temporarily registration condition as defined in obtained measured data meets of learning device 10, The actual measurement bend is registered as temporarily to register bend.Actual measurement bend becomes temporary enrollment status as a result,.Then, learning device 10 In the case where vehicle has travelled bend again, in temporary registration bend corresponding with the traveling bend and it is directed to the traveling In the case that the new actual measurement bend that bend newly obtains meets defined formal registration condition, temporary registration bend will be surveyed with new Bend carries out average bend and is registered as formal registration bend.As a result, with the corresponding actual measurement bend of traveling bend via temporarily stepping on Note state becomes formal registration state as the average value with new actual measurement bend.Learning device 10 is at the Route guiding of next time When reason, path of navigation is exported using the road information of formal registration.

Next, being illustrated to the action example of the road study processing of learning device 10.In addition, road study processing is Therefore the processing carried out to the traveling bend of vehicle actual travel carries out after vehicle has passed through the traveling bend.In addition, Road study processing is handled comprising temporary registration process and formal registration.

Temporary registration process

As illustrated in Figure 9 like that, curved to the traveling of vehicle driving if learning device 10 starts temporary registration process Road obtains the map extracted from map datum and extracts bend (A1).Then, the acquisition of learning device 10 is mentioned from the driving trace of vehicle The actual measurement bend (A2) taken.In addition, step A2 can also be executed before step S1, can also be performed simultaneously with step S1.

Then, learning device 10 determine obtain map extract bend and actual measurement bend whether be and same traveling bend Corresponding bend (A3).It is bend corresponding with same traveling bend that learning device 10, which extracts bend and actual measurement bend in map, In the case where (A3: yes), determine map extract bend and actual measurement bend whether meet as defined in temporarily registration condition (A4).Study Actual measurement bend is registered as temporarily registering curved by device 10 in the case where two bend information meet temporary registration condition (A4: yes) Road (A5), and terminate the temporary registration process.In addition, learning device 10 is not corresponding with same traveling bend in two bend information Bend in the case where (A3: no), alternatively, in the case where two bend information are unsatisfactory for temporary registration condition (A4: no), not into The temporary registration of row actual measurement bend, and terminate the temporary registration process.

Formal registration processing

As illustrated in Figure 10 like that, learning device 10 has travelled the traveling for temporarily registering actual measurement bend in vehicle again In the case where bend, the actual measurement bend (B1) extracted according to the driving trace of current vehicle when driving is obtained.Then, learn The actual measurement that device 10 determines the temporary registration bend accordingly temporarily registered with the traveling bend and newly obtained by step B1 is curved Whether the i.e. new actual measurement bend in road meets defined formal registration condition (B2).Learning device 10 meets formal registration item in two bends In the case where part (B2: yes), by average bend is carried out to temporary registration bend and new actual measurement bend, to be registered as formal registration curved Road (B3), and terminate formal registration processing.In addition, learning device 10 is unsatisfactory for the feelings of formal registration condition in two bend information Under condition (B2: no), do not make temporarily to register bend and move to formal registration bend, and terminates formal registration processing.

Next, being illustrated to the study example of the bend information of learning device 10.In addition, shown in dotted line in the figure The bend information of temporary enrollment status.Illustrated by Figure 11 study example 1 in, first time when driving, extract map extract Bend 100,101 and actual measurement bend 102.Moreover, in the case where meeting temporary registration condition, temporarily registration actual measurement bend 102.Then, it is secondary when driving, obtain newly surveying bend 103.Moreover, in the actual measurement bend 102 temporarily registered and newly In the case that actual measurement bend 103 meets formal registration condition, temporary registration bend 102 will be carried out with new actual measurement bend 103 flat Equal bend is registered as formal registration bend 104.

In addition, third time when driving, further obtain newly surveying bend 105.Moreover, meeting temporary registration condition In the case where, temporarily registration actual measurement bend 105.Then, when driving at the 4th time, further obtain newly surveying bend 106.And And in the case where the actual measurement bend 105 temporarily registered and new actual measurement bend 106 meet formal registration condition, register to temporary Registration bend 105 and new actual measurement bend 106 carry out average bend as formal registration bend 107.At this point, deleting formal registration Bend 104.That is, becoming in such a way that formal registration bend 107 rewrites formal registration bend 104.

Illustrated by Figure 12 study example 2 in, first time when driving, extract map extract bend 200,201 and Survey bend 202,203.Moreover, in the case where meeting temporary registration condition, temporarily registration actual measurement bend 202,203.Then, It is secondary when driving, obtain newly surveying bend 204,205.Moreover, the actual measurement bend 202 temporarily registered with newly survey it is curved In the case that road 204 meets formal registration condition, registration carries out temporary registration bend 202 and new actual measurement bend 204 average Bend is as formal registration bend 206.It is formally stepped in addition, meeting in the actual measurement bend 203 temporarily registered with new actual measurement bend 205 In the case where note condition, registration carries out average bend as formal registration to temporary registration bend 203 and new actual measurement bend 205 Bend 207.

In addition, third time when driving, further obtain newly surveying bend 208,209.Moreover, meeting temporarily registration In the case where condition, temporarily registration actual measurement bend 208,209.Then, when driving at the 4th time, further newly surveyed curved Road 210,211.Moreover, the case where the actual measurement bend 208 temporarily registered and new actual measurement bend 210 meet formal registration condition Under, registration carries out average bend as formal registration bend 212 to temporary registration bend 208 and new actual measurement bend 210.This When, delete formal registration bend 206.That is, becoming in such a way that formal registration bend 212 rewrites formal registration bend 206.Separately Outside, it in the case where the actual measurement bend 209 temporarily registered and new actual measurement bend 211 meet formal registration condition, registers to temporary Registration bend 209 and new actual measurement bend 211 carry out average bend as formal registration bend 213.At this point, deleting formal registration Bend 207.That is, becoming in such a way that formal registration bend 213 rewrites formal registration bend 207.

Illustrated by Figure 13 study example 3 in, first time when driving, extract map extract bend 300,301,302 And actual measurement bend 303,304.Moreover, in the case where meeting temporary registration condition, temporarily registration actual measurement bend 303,304. Then, it is secondary when driving, obtain newly surveying bend 305,306.Moreover, in the actual measurement bend 303 temporarily registered and newly In the case that actual measurement bend 305 meets formal registration condition, registration carries out temporary registration bend 303 and new actual measurement bend 305 Average bend is as formal registration bend 307.In addition, meeting in the actual measurement bend 304 temporarily registered and new actual measurement bend 306 In the case where formal registration condition, registers and average bend is carried out as just to temporary registration bend 304 and new actual measurement bend 306 Formula registers bend 308.

In addition, third time when driving, further obtain newly surveying bend 309,310.Moreover, meeting temporarily registration In the case where condition, temporarily registration actual measurement bend 309,310.In addition, in this case, actual measurement bend 309 can not be mentioned with map Any one for taking bend 300,301 establishes corresponding relationship.Therefore, actual measurement bend 309 is discarded.

Then, when driving at the 4th time, further obtain newly surveying bend 311,312,313.Moreover, being registered temporarily Actual measurement bend 310 and in the case that new actual measurement bend 313 meets formal registration condition, registration to temporary registration bend 310 with New actual measurement bend 313 carries out average bend as formal registration bend 314.At this point, deleting formal registration bend 307,308. That is, becoming in such a way that formal registration bend 314 rewrites formal registration bend 307,308.In addition, new actual measurement bend 311, 312 are temporarily registered in the case where meeting temporary registration condition.Then, it further obtains newly surveying bend 315, thereafter, Judge whether to meet formal registration condition according to the relationship with temporary registration bend 311 or temporary registration bend 312.

Illustrated by Figure 14 study example 4 in, first time when driving, extract map extract bend 400,401 and Survey bend 402,403,404.Moreover, in the case where meeting temporary registration condition, temporarily registration actual measurement bend 402,403, 404.Then, it is secondary when driving, obtain newly surveying bend 405,406,407.Moreover, in the actual measurement bend temporarily registered In the case that 402 meet formal registration condition with new actual measurement bend 405, registration is to temporary registration bend 402 and new actual measurement bend 405 carry out average bend as formal registration bend 408.In addition, in the actual measurement bend 403 temporarily registered and new actual measurement bend In the case that 406 meet formal registration condition, register to temporary registration bend 403 and newly survey bend 406 carry out it is average curved Road is as formal registration bend 409.In addition, meeting formal registration in the actual measurement bend 404 temporarily registered and new actual measurement bend 407 In the case where condition, it is curved as formal registration that registration carries out average bend with new actual measurement bend 407 to temporary registration bend 404 Road 410.

In addition, third time when driving, further obtain newly surveying bend 411,412.Moreover, meeting temporarily registration In the case where condition, temporarily registration actual measurement bend 411,412.In addition, in this case, actual measurement bend 412 can not be mentioned with map Bend 401 is taken to establish corresponding relationship.Therefore, actual measurement bend 412 is discarded.

Then, when driving at the 4th time, further obtain newly surveying bend 413,414.Moreover, in the reality temporarily registered In the case that lateral bending road 411 and new actual measurement bend 413 meet formal registration condition, registration is to temporary registration bend 411 and new real Lateral bending road 413 carries out average bend as formal registration bend 415.At this point, deleting formal registration bend 408,409,410. That is, becoming in such a way that formal registration bend 415 rewrites formal registration bend 408,409,410.In addition, newly surveying bend 414 are temporarily registered in the case where meeting temporary registration condition.If obtaining newly surveying bend thereafter, according to temporarily registration Bend 414 and this it is new actual measurement bend relationship judge whether to meet formal registration condition.

According to the present embodiment, determine that the map extracted from map datum extracts bend and extracts with from the driving trace of vehicle Actual measurement bend whether be bend corresponding with same traveling bend.Thereby, it is possible in the bend shape that will be extracted from map datum Shape is established with the bend shape extracted from the driving trace of vehicle and carries out road study on the basis of corresponding relationship, and symbol is able to carry out Close the correct road study of actual driving condition.

In addition, according to the present embodiment, the registration actual measurement bend conduct in the case where meeting defined temporarily registration condition Temporarily registration bend, thereafter, when meeting defined formal registration condition in the case where vehicle has travelled identical bend again Temporary registration bend is upgraded into formal registration bend.That is, according to the present embodiment, via the registration process in two stages to curved Road shape is learnt, so being able to carry out more accurate road study.

In addition, according to the present embodiment, by the case where extracting bend there is no map corresponding with actual measurement bend The actual measurement bend is discarded, can remove from learning object can not extract the actual measurement bend that bend establishes corresponding relationship with map. Road study is carried out based on the actual measurement bend for terrifically extracting bend far from map that is, can be avoided.

In addition, according to the present embodiment, by accordingly there are multiple maps extraction bends with an actual measurement bend In the case of, it selects a map to extract bend and survey bend and establishes corresponding relationship, it is corresponding most can will to extract bend with map An actual measurement bend as learning object, the precision that can be realized road study improves.

In addition, according to the present embodiment, by the way that extracting bend relative to a map, there are the feelings of multiple actual measurement bends Under condition, whole actual measurement bend and map are extracted into bend and establish corresponding relationship, it is related can will to extract bend to a map As learning object, the precision that can be realized road study improves whole actual measurement bends of connection.

In addition, according to the present embodiment, in the case where vehicle has travelled bend again, with the traveling bend pair In the case that the temporary registration bend answered and the new actual measurement bend newly obtained for the traveling bend are unsatisfactory for formal registration condition, Temporarily registration bend is updated by newly surveying bend.That is, formally being stepped on even if being moved in the bend information for not making temporary enrollment status In the case where note state, temporarily registration bend is updated at any time also by new actual measurement bend, so can be realized the essence of road study Degree improves.

In addition, the disclosure is not limited to above-mentioned embodiment, can be applied within the scope of its spirit Various embodiments.For example, can suitably change same bend decision condition, temporary registration condition, formal registration condition, learn The various contents for migrating condition such as useless condition, " formal registration+temporarily registration " condition are practised to be implemented.In addition, road information Learning device 10 is also configured to being determined as that map extracts bend and actual measurement bend be corresponding with same traveling bend It, also can be to meet defined formal registration condition as condition, not via temporary registration, and directly by actual measurement in the case where bend Bend is registered as formal registration bend.

Alternatively, it is also possible to, there are in the case where multiple temporary registration bends, deposited relative to a map extraction bend Meet to formal registration state the temporary registration bend for migrating condition, meet temporary enrollment status update condition it is temporary In the case where registering bend and meeting the temporarily temporary registration bend of the deletion condition of registration bend, make the temporary of these wholes Shi Dengji bend moves to formal registration state.That is, feelings that can also be different in the state transition condition of each temporary registration bend Under condition, according to the migrating of formal registration state, the sequence additional priority of the update of temporary enrollment status, the deletion of bend information Sequentially, and identically as the temporary registration bend of the highest condition of priority whole temporary registration bends is handled.

The processing of flow chart or flow chart documented by the disclosure is made of multiple (or referred to as steps), each portion Such as show as A1.Also, each portion can be divided into multiple sub-portions, on the other hand, multiple portions can also be merged into a portion. Also, each portion constituted in this way can be used as circuit, equipment, module, method and refer to.

In addition, each or combination in above-mentioned multiple portions can not only be as (i) and hardware cell (for example, computer) The portion of combined software realizes, can be used as the portion of (ii) hardware (for example, integrated circuit, wired logic circuitry), with comprising The function of relevant device or the mode not included are realized.Also, it also can be in the Inner Constitution hardware of microcomputer Portion.

The disclosure is described according to embodiment, but it is understood that the disclosure is not limited to the embodiment, structure.This Disclosure is also comprising the deformation in various modifications example, equivalents.In addition to this, various combinations, mode and in them include Only an element, its above or its other combination below, mode are also in the scope of the disclosure, thought range.