Map data update system and non-transitory computer-readable storage medium

1. Technical Field

The present invention relates to a map data update system and a non-transitory computer readable storage medium storing a map data update program.

2. Related Art

There is known a technique for determining whether or not roads are the same as each other (see Japanese Unexamined Patent Application Publication No. H10-124674). In Japanese Unexamined Patent Application Publication No. H10-124674, similarity is derived based on the direction and length of a straight line connecting nodes and interpolation points on a road, and it is determined whether or not the roads are the same based on the similarity.

When map data is updated, whether or not a road indicated by new data is the same as a road indicated by existing data is determined by the method as disclosed in Japanese Patent Application Publication No. H10-124674. If the roads are the same, the existing data is used as it is. Consequently, since it is not necessary to update new data for all roads, a data amount of update data can be suppressed.

However, according to the method of Japanese Patent Application Laid-Open No. H10-124674, there is a problem that even if the direction of a straight line connecting nodes and interpolation points on a road is similar, a guidance content at an intersection to which the road connects changes. Here, since there is no choice but to travel along a road in a portion of the road where there is no intersection, there is a low possibility that some guidance is provided. On the other hand, there is a high possibility that guidance such as a traveling direction at an intersection on a road will be provided near the intersection on the road. Accordingly, in Japanese Unexamined Patent Application Publication No. H10-124674, there has been a problem that it is determined that a road as a whole is similar even though the shape of the road in the vicinity of an intersection where there is a high possibility of providing guidance is changed, and that inappropriate guidance is provided near the intersection.

A map data update system of the present invention updates map data on a link-by-link basis and includes a link acquisition portion that acquires an existing link which is a link indicated by existing map data and a new link which is a link indicated by new map data, and a link update portion that updates the existing link with the new link based on a shape of a portion of the existing link connected to an intersection and a shape of a portion of the new link corresponding to the existing link, the portion being connected to the intersection.

A map data update program of the present invention is a map data update program for causing a computer to function as a map data update system for updating map data on a link-by-link basis, and the map data update program causes the computer to function as a link acquisition portion that acquires an existing link which is a link indicated by existing map data and a new link which is a link indicated by new map data, and a link update portion that updates the existing link with the new link based on a shape of a portion of the existing link connected to an intersection and a shape of a portion of the new link corresponding to the existing link, the portion being connected to the intersection.

In the map data update system and the map data update program, the link update portion determines whether or not to update the existing link with the new link based on a shape of a portion of the existing link and the new link connected to the intersection. Thus, it is possible to determine whether or not to update the existing link with the new link, with emphasis on the shape of the portion connected to an intersection where there is a high possibility that some guidance will be provided. As a result, appropriate guidance can be provided near an intersection.

FIG. 1 is a block diagram of a map data update system;

FIG. 2 is a schematic diagram of a link;

FIG. 3A is a table showing a connection angle, FIG. 3B is a schematic diagram showing a relationship between a connection angle and a guidance direction; and

FIG. 4 is a flowchart of map data update processing.

Embodiments of the present invention will be described in the following order.

(1) Configuration of Map Data Update System:

(2) Map Data Update Processing:

(3) Other Embodiments:

(1) Configuration of Map Data Update System

FIG. 1 is a block diagram of a map data update system 10 according to an embodiment of the present invention. The map data update system 10 includes a controller 20 , a recording medium 30 , and a communication section 40 . The controller 20 includes a CPU, a RAM, a ROM, and the like, and executes a map data update program 21 stored in the recording medium 30 or the ROM. The communication section 40 is a wireless communication circuit for performing wireless communication with a route guidance system 100 installed in a vehicle.

The recording medium 30 records existing map data 30 a , new map data 30 b , and difference map data 30 c . Both the existing map data 30 a and the new map data 30 b include node data and link data. The node data mainly indicates information on intersections (including junctions and branch points). Specifically, the node data indicates the coordinates of a node and the shape of the node. A road section is a unit of a road separated by nodes continuous in the length direction, and nodes exist at both ends of the link. A node to which three or more links are connected corresponds to an intersection. The link data indicates a link shape, a section length, a travel time, a speed limit, a width, the number of lanes, and the like on a link-by-link basis. The link data includes shape interpolation point data indicating coordinates of a shape interpolation point set at a center position in a width direction of the link, and the shape of the link is indicated based on the shape interpolation point data.

The new map data 30 b is a newer version of the map data than the existing map data 30 a . A road section indicated by the new map data 30 b is expressed as a new link, and a road section prescribed by the existing map data 30 a is expressed as an existing link. The difference map data 30 c includes node data and link data on intersections and road sections that are changed between the existing map data 30 a and the new map data 30 b . Accordingly, the difference map data 30 c does not include node data and link data on intersections and road sections that are not changed between the existing map data 30 a and the new map data 30 b . The intersections and the road sections that are changed between the existing map data 30 a and the new map data 30 b include new intersections and road sections that are not indicated by the existing map data 30 a but indicated by the new map data 30 b.

Although not shown, the existing map data 30 a is recorded in the route guidance system 100 . The map data update system 10 transmits the difference map data 30 c to the route guidance system 100 . The route guidance system 100 updates the existing map data 30 a with the difference map data 30 c and uses the updated existing map data 30 a for display of a map, a route search, and the like.

The map data update program 21 includes a link acquisition module 21 a and a link update module 21 b . The link acquisition module 21 a and the link update module 21 b are program modules that cause the controller 20 as a computer to function as a link acquisition portion and a link update portion, respectively.

The function of the link acquisition module 21 a causes the controller 20 to acquire the existing link which is a link indicated by the existing map data 30 a and the new link which is a link indicated by the new map data 30 b . In the present embodiment, it is assumed that the link data of the existing map data 30 a and the link data of the new map data 30 b are given a unique link ID on a link-by-link basis, and the existing link and the new link corresponding to the same road section are given the same link ID. The function of the link acquisition module 21 a causes the controller 20 to acquire the existing link and the new link given the same link ID.

FIG. 2 is a schematic diagram showing existing links O 1 to O 4 and new links N 1 to N 4 . In FIG. 2 , the existing links O 1 to O 4 are indicated by broken lines, and the new links N 1 to N 4 are indicated by solid lines. For the sake of simplicity of explanation, it is assumed that there is no change in coordinates of nodes X 1 to X 4 to which the existing links O 1 to O 4 and the new links N 1 to N 4 are connected. The existing link O 1 and the new link N 1 connecting the nodes X 0 and X 1 correspond to the same road section. The existing link O 2 and the new link N 2 connecting the nodes X 0 and X 2 correspond to the same road section. Further, the existing link O 3 and the new link N 3 connecting the nodes X 0 and X 3 correspond to the same road section. Further, the existing link O 4 and the new link N 4 connecting the nodes X 0 and X 4 correspond to the same road section.

It is assumed that the new links N 1 and N 2 are straight roads in an east-west direction, and the existing links O 3 and O 4 and the new links N 3 and N 4 are straight roads in a north-south direction. The existing links O 1 and O 2 are generally east-west direction roads, but the road shape curves near the node X 0 . It is assumed that the existing link O 1 and the new link N 1 are one-way roads allowing travel only toward the node X 0 .

The function of the link update module 21 b causes the controller 20 to update the existing links O 1 to O 4 with the new links N 1 to N 4 based on a shape of a portion of the existing links O 1 to O 4 connected to an intersection and a shape of a portion of the new links N 1 to N 4 corresponding to the existing links O 1 to O 4 , the portion being connected to the intersection. In the present embodiment, the shape of the portion connected to the intersection means a shape of a portion within a predetermined proximity distance (for example, 30 m) from the nodes X 0 to X 4 . That is, in the existing links O 1 to O 4 , the controller 20 extracts a shape interpolation point whose straight-line distance from the nodes X 0 to X 4 is closest to the proximity distance, and acquires a direction of a line segment connecting the nodes X 0 to X 4 and the shape interpolation point as a direction of a portion of the existing links O 1 to O 4 connected to an intersection. Likewise, in the new links N 1 to N 4 , the controller 20 extracts the shape interpolation point whose straight-line distance from the nodes X 0 to X 4 is closest to the proximity distance, and acquires the direction of the line segment connecting the nodes X 0 to X 4 and the shape interpolation point as a direction of a portion of the new links N 1 to N 4 connected to an intersection.

Further, the function of the link update module 21 b causes the controller 20 to update the existing links O 1 to O 4 with the new links N 1 to N 4 based on an existing angle as a connection angle at which the two existing links O 1 to O 4 are connected at an intersection and a new angle as a connection angle at which the two new links N 1 to N 4 corresponding to the two existing links O 1 to O 4 are connected at the intersection. Hereinafter, in FIG. 2 , a processing of determining whether or not to update the existing link O 1 with the new link N 1 will be described.

The function of the link update module 21 b causes the controller 20 to calculate an existing angle which is a connection angle θ in the case of exiting to each of the existing links O 2 to O 4 as exit links from the existing link O 1 as an entry link at the node X 0 . Likewise, the function of the link update module 21 b causes the controller 20 to calculate a new angle which is the connection angle θ in the case of exiting to each of the new links N 2 to N 4 as exit links from the new link N 1 as an entry link at the node X 0 . The connection angle θ is an angle indicating an amount of change in the traveling direction with reference to a direction of a portion of the existing link O 1 and the new link N 1 as the entry links connected to an intersection (0°). The fact that the connection angle θ is positive means that the traveling direction changes leftward, and the fact that the connection angle θ is negative means that the traveling direction changes rightward.

Further, as shown in FIG. 2 , a direction of a portion of the existing link O 1 connected to the node X 0 is a direction inclined by α in the counterclockwise direction from the east-west direction, and a direction of a portion of the existing link O 2 connected to the node X 0 is a direction inclined by α in the counterclockwise direction from the east-west direction In the present embodiment, α is assumed to be 30°.

FIG. 3A is a table of the connection angle θ. As shown in FIG. 3A , the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 2 is 0°, the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 3 is (90−α)°, and the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 4 is −(90+α)°. On the other hand, the connection angle θ in the case of exiting from the new link N 1 to the new link N 2 is 0°, the connection angle θ in the case of exiting from the new link N 1 to the new link N 3 is 90°, and the connection angle θ in the case of exiting from the new link N 1 to the new link N 4 is −90°.

The function of the link update module 21 b causes the controller 20 to update the existing link O 1 with the new link N 1 when a guidance direction in which the route guidance system 100 guides a change in the traveling direction corresponding to the existing angle differs from a guidance direction in which the route guidance system 100 guides a change in the traveling direction corresponding to the new angle. FIG. 3B is an explanatory diagram showing a guidance direction guided by the route guidance system 100 . As shown by a broken line in FIG. 3B , a section with a connection angle θ of 45 degree break divided radially into eight equal sections around the node X is defined, and the guidance direction corresponding to a section to which the connection angle θ belongs is guided by the route guidance system 100 .

The function of the link update module 21 b causes the controller 20 to acquire a guidance direction corresponding to the existing angle which is the connection angle θ in the case of exiting to each of the existing links O 2 to O 4 from the existing link O 1 and a guidance direction corresponding to the new angle which is the connection angle θ in the case of exiting to each of the new links N 2 to N 4 from the new link N 1 , and determines whether or not these guidance directions differ from each other. The existing angle which is the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 2 is 0°, and the guidance direction is “forward”. The new angle which is the connection angle θ in the case of exiting from the new link N 1 to the new link N 2 is 0°, and the guidance direction is “forward”. Accordingly, the guidance directions do not differ between the case of exiting from the existing link O 1 to the existing link O 2 and the case of exiting from the new link N 1 to the new link N 2 .

Here, the new angle which is the connection angle θ in the case of exiting from the new link N 1 to the new link N 3 is 90°, and the guidance direction is “left direction”. On the other hand, the existing angle which is the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 3 is (90−α)°, and α is 30°; therefore, the guidance direction is “diagonally front left”. Accordingly, the guidance directions differ between the case of exiting from the existing link O 1 to the existing link O 2 and the case of exiting from the new link N 1 to the new link N 2 .

The new angle which is the connection angle θ in the case of exiting from the new link N 1 to the new link N 4 is −90°, and the guidance direction is “right direction”. On the other hand, the existing angle which is the connection angle θ in the case of exiting from the existing link O 1 to the existing link O 4 is −(90+α)°, and α is 30°; therefore, the guidance direction is “diagonally rear right”. Accordingly, the guidance directions differ between the case of exiting from the existing link O 1 to the existing link O 2 and the case of exiting from the new link N 1 to the new link N 2 .

When the guidance direction changes in the case of exiting to any one of the links connected to the node X 0 , the controller 20 updates the existing link O 1 with the new link N 1 . On the other hand, when the guidance direction does not change even in the case of exiting to any one of the links connected to the node X 0 , the controller 20 does not update the existing link O 1 with the new link N 1 . For example, in FIG. 2 , when a is less than 22.5°, the guidance direction in the case of exiting from the existing link O 1 to the existing link O 3 and the guidance direction in the case of exiting from the new link N 1 to the new link N 3 are both “left direction”, and the guidance direction in the case of exiting from the existing link O 1 to the existing link O 4 and the guidance direction in the case of exiting from the new link N 1 to the new link N 4 are both “right direction”. Accordingly, in FIG. 2 , when α is less than 22.5°, the controller 20 does not update the existing link O 1 with the new link N 1 .

When the existing link O 1 and the new link N 1 are not one-way road sections allowing travel only toward the node X 0 but are roads allowing travel bidirectionally, the controller 20 updates the existing link O 1 with the new link N 1 based on a shape of a portion connected to not only the node X 0 but also the node X 1 . That is, the controller 20 calculates the existing angle and the new angle for the node X 1 and updates the existing link O 1 with the new link N 1 based on the existing angle and the new angle. The controller 20 updates the existing link O 1 with the new link N 1 when the guidance direction changes in the case of existing to at least one link connected to the node X 0 and the node X 1 . On the other hand, when the guidance direction does not change even in the case of exiting to any one of the links connected to the nodes X 0 and X 1 , the controller 20 does not update the existing link O 1 with the new link N 1 .

When a distance between the existing link O 1 and the new link N 1 is larger than a threshold value, the function of the link update module 21 b causes the controller 20 to update the existing link O 1 with the new link N 1 regardless of the shape of the portion of the existing link O 1 connected to an intersection and the shape of the portion of the new link N 1 corresponding to the existing link O 1 , the portion being connected to the intersection. On the other hand, when the distance between the existing link O 1 and the new link N 1 is not larger than the threshold value, the function of the link update module 21 b causes the controller 20 to update the existing link O 1 with the new link N 1 based on the shape of the portion of the existing link O 1 connected to an intersection and the shape of the portion of the new link N 1 corresponding to the existing link O 1 , the portion being connected to the intersection.

As shown in FIG. 2 , in the present embodiment, the distance between the existing link O 1 and the new link N 1 means a maximum value D of the distance between the existing link O 1 and the new link N 1 . When the maximum value D of the distance between the existing link O 1 and the new link N 1 is larger than a threshold value (for example, 10 m), the controller 20 updates the existing link O 1 with the new link N 1 regardless of the connection angle θ at an intersection. On the other hand, when the maximum value D is not larger than the threshold value, the controller 20 determines whether or not to update the existing link O 1 with the new link N 1 based on the connection angle θ at the intersection. The distance between the existing link O 1 and the new link N 1 may be a distance between two points where a perpendicular of the existing link O 1 or the new link N 1 intersects the existing link O 1 and the new link N 1 .

The function of the link update module 21 b causes the controller 20 to extract link data of the new link N to be updated from the new map data 30 b , and creates difference map data 30 c including the link data.

According to the present embodiment described above, the controller 20 determines whether or not to update the existing link O 1 with the new link N 1 based on a shape of a portion of each of the existing link O 1 and the new link N 1 connected to the node X 0 . Thus, it is possible to determine whether or not to update the existing link O 1 with the new link N 1 , with emphasis on the shape of the portion connected to the node X 0 where there is a high possibility that some guidance will be provided. As a result, appropriate guidance can be provided near the node X 0 .

Here, in the case of traveling on two links (the entry link and the exit link) at the node X 0 , the traveling direction changes by the connection angle θ at which the two links are connected. Thus, it is possible to determine whether or not there is a change in the travelling direction at the node X 0 based on an existing angle as the connection angle θ at which two existing links O 1 are connected at the node X 0 and a new angle as the connection angle θ at which two new links N 1 corresponding to the two existing links O 1 are connected at the node X 0 , and when there is a change in the travelling direction at the node X 0 , the existing link O 1 can be updated by the new link N 1 . Specifically, when the guidance direction in the traveling direction at the node X 0 changes due to a difference between the existing angle and the new angle, since the existing link O 1 is updated by the new link N 1 , it is possible to reduce the possibility that the traveling direction at the node X 0 is improperly guided.

Here, even when a difference from a direction of the portion connected to the node X 0 is small, if the distance between the existing link O 1 and the new link N 1 is too large, it is preferable to update the existing link O 1 with the new link N 1 . Thus, when the maximum value D of the distance between the existing link O 1 and the new link N 1 is larger than the threshold value, the controller 20 updates the existing link O 1 with the new link N 1 regardless of the shape of the portion of the existing link O 1 connected to the node X 0 and the shape of the portion of the new link N 1 corresponding to the existing link O 1 , the portion being connected to the node X 0 .

(2) Map Data Update Processing

FIG. 4 is a flowchart of map data update processing. The map data update processing is a processing executed by the map data update system 10 , for example when the new map data 30 b is newly created. First, the function of the link acquisition module 21 a causes the controller 20 to acquire the existing link O 1 and the new link N 1 (step S 100 ). That is, the controller 20 acquires the existing link O 1 and the new link N 1 to be processed with which common links ID are associated from the existing map data 30 a and the new map data 30 b . Here, the case where the existing link O 1 and the new link N 1 of a one-way road are to be processed will be described below. The controller 20 acquires the existing link O 1 and the new link N 1 and acquires the existing links O 1 to O 4 and the new links N 1 to N 4 connected to the existing link O 1 and the new link N 1 at the node X 0 on the existing link O 1 and the new link N 1 .

Then, the function of the link update module 21 b causes the controller 20 to determine whether or not the distance between the existing link O 1 and the new link N 1 is not larger than a threshold value (step S 110 ). That is, the controller 20 determines whether or not the maximum value D of the distance between the existing link O 1 and the new link N 1 is not larger than the threshold value.

When it is determined that the maximum value D of the distance between the existing link O 1 and the new link N 1 is not larger than the threshold value (step S 110 : Y), the function of the link update module 21 b causes the controller 20 to calculate the existing angle and the new angle (step S 120 ). When the existing link O 1 and the new link N 1 are roads allowing travel bidirectionally, the controller 20 acquires an existing angle representing a change in the traveling direction in the case of exiting from the existing link O 1 to the existing links O 2 to O 4 connected to the node X 0 and a new angle representing a change in the traveling direction in the case of exiting from the new link N 1 to the new links N 0 to N 4 connected to the node X 0 based on the shape of each link.

Then, the function of the link update module 21 b causes the controller 20 to determine whether or not a guidance content is changed by changing from the existing angle to the new angle (step S 130 ). That is, the controller 20 determines whether or not the existing link O 1 is required to be updated by the new link N 1 based on an existing angle which is the shape of the portion of the existing link O 1 connected to the node X 0 and a new angle which is the shape of the portion of the new link N 1 corresponding to the existing link O 1 , the portion being connected to an intersection. Specifically, the controller 20 acquires the guidance direction corresponding to the existing angle and the guidance direction corresponding to the new angle, and determines whether these guidance directions differ.

When it is not determined that the guidance content is changed by changing from the existing angle to the new angle (step S 130 : N), the function of the link update module 21 b causes the controller 20 not to set the existing link as a link to be updated (step S 150 ). That is, the controller 20 performs setting such that the existing link O 1 to be processed is not updated by the new link N 1 . On the other hand, when it is determined that the guidance content is changed by changing from the existing angle to the new angle (step S 130 : Y), the function of the link update module 21 b causes the controller 20 to set the existing link as a link to be updated (step S 160 ). That is, the controller 20 performs setting such that the existing link O 1 to be processed is updated by the new link N 1 .

Also, when it is not determined that the maximum value D of the distance between the existing link O 1 and the new link N 1 is not larger than the threshold value (step S 110 : N), the function of the link update module 21 b causes the controller 20 to set the existing link as a link to be updated (step S 160 ).

Then, the function of the link acquisition module 21 a causes the controller 20 to determine whether or not all links have been acquired as links to be processed (step S 160 ). That is, the controller 20 determines whether or not the processing of determining whether or not to perform updating has been completed for all links. When it is not determined that all links have been acquired as links to be processed (step S 160 : N), the controller 20 returns to step S 100 . In other words, the next link is acquired as a link to be processed, and processing of setting the link to be processed as a link to be updated is executed.

On the other hand, when it is determined that all links have been acquired as links to be processed (step S 160 : Y), the function of the link update module 21 b causes the controller 20 to create the difference map data 30 c (step S 170 ). That is, the controller 20 extracts the link data of the new link to be updated from the new map data 30 b , and creates the difference map data 30 c including the link data.

There may be cases in which a link exiting from a link to be processed has already been set as a link to be updated. For example, in FIG. 2 , when the existing link O 1 and the new link N 1 are to be processed, there may be a case where the existing link O 2 has already been set to be updated by the new link N 2 . In this case, the controller 20 may calculate the connection angle θ between the existing link O 1 and the new link N 2 as an existing angle and calculate the connection angle θ between the new link N 1 and the new link N 2 as a new angle.

(3) Other Embodiments

In the above embodiment, although it is described that there is no change in the position of the node X 0 , the new map data 30 b in which the node X 0 is updated from an existing node to a new node may be provided. In this case, in step S 120 , the controller 20 may acquire an existing angle representing a change in the traveling direction in the case of entering an existing node from the existing link O 1 to be processed and exiting to any one of the links and may acquire a new angle representing a change in the traveling direction in the case of entering a new node from the new link N 1 to be processed and exiting to any one of the links. Then, similarly to the above-described embodiment, the controller 20 may execute the processing after step S 130 . When a distance between the existing node and the new node is not less than a threshold value, the controller 20 may update all links, assuming that in the links connected to the existing node and the new node, a shape of a portion connected to an intersection greatly changes. The processing of determining a distance between the existing link O 1 and the new link N 1 (step S 110 ) may not necessarily be executed, and may be omitted.

The processing of determining the distance between the existing link O 1 and the new link N 1 (step S 110 ) and the processing of determining a shape of a portion of the existing link O 1 and the new link N 1 connected to an intersection (step S 130 ) may be performed by a single processing. For example, the controller 20 may weight so as to become larger as it becomes closer to the node X 0 , calculate a weighted average of the distance between the existing link O 1 and the new link N 1 , and update the existing link O 1 with the new link N 1 when the weighted average is not less than the threshold value. According to this constitution, it is possible to simultaneously determine the distance between the existing link O 1 and the new link N 1 and the shape of the portion connected to the intersection.

The controller 20 may update the existing link O 1 with the new link N 1 , for example when a difference between the existing angle and the new angle is not less than the threshold value. That is, it is not necessary to consider whether or not a guidance direction changes.

The map data update system does not update all links and thereby updates the map data on a link-by-link basis in order to suppress the data amount to be updated. The map data update system may be provided with means for updating the map data, and may be provided with means for delivering the updated map data to another device such as a map display system or a navigation system. Obviously, the map data update system may be provided with means for recording updated map data on a recording medium readable by another device such as a map display system or a navigation system. The map data update system may be further provided with means for displaying a map. The map data update system may be a device that receives distribution of the map data and may request map data about the new link to be updated to a map provider or the like.

The new map data may be a newer version of map data than the existing map data or may be map data having a higher reliability than the existing map data. The new link corresponding to the existing link means a new link corresponding to a road to which the existing link corresponds. When a road is repaired, the existing link may correspond to the road before the repair, and the new link may correspond to the road after the repair. However, the road to which the existing link and the new link correspond may not be the repaired road, and the new link may be created based on results obtained by measurement by a method with higher reliability and accuracy than when creating the existing link.

The portion of the existing link connected to an intersection may be a portion within a certain distance from the intersection or may be a portion up to a shape interpolation point closest to the intersection. Likewise, the portion of the new link connected to an intersection may be a portion within a certain distance from the intersection or may be a portion up to a shape interpolation point closest to the intersection. A link update portion may update the existing link with the new link when the shape of a portion connected to an intersection is not similar between the existing link and the new link. On the other hand, the link update portion may prevent the existing link from being updated by the new link when the shape of a portion connected to an intersection is similar between the existing link and the new link. The shape of the portion connected to the intersection may be a curved shape of the link, a shape such as a width of the link, or a lane structure.

The link update portion may determine whether or not to update the existing link with the new link by considering only the shape of the portion connected to the intersection. Further, the link update portion may determine whether or not to update the existing link with the new link, with emphasis on the shape of the portion connected to the intersection as compared with other portions.

Further, the link update portion may update the existing link with the new link based on an existing angle as a connection angle at which two existing links are connected at an intersection and a new angle as a connection angle at which the two new links corresponding to the two existing links are connected at the intersection. Here, in the case of traveling on two links (entry link and exit link) at the intersection, the traveling direction changes by a connection angle at which the two links are connected. Thus, it is possible to determine whether or not there is a change in the travelling direction at the intersection based on the existing angle as the connection angle at which the two existing links are connected at the intersection and the new angle as the connection angle at which the two new links corresponding to the two existing links are connected at the intersection, and when there is a change in the travelling direction at the intersection, the existing link can be updated by the new link.

Furthermore, the link update portion may update the existing link with the new link when a guidance direction in which a route guidance system guides a change in the traveling direction corresponding to the existing angle differs from a guidance direction in which the route guidance system guides a change in the traveling direction corresponding to the new angle. That is, when the guidance direction in the traveling direction at the intersection changes due to the difference between the existing angle and the new angle, the existing link may be updated by the new link. Consequently, it is possible to reduce the possibility that the traveling direction at the intersection is improperly guided.

Here, even when a difference from a direction of the portion connected to the intersection is small, if the distance between the existing link and the new link is too large, it is preferable to update the existing link with the new link. Thus, when the distance between the existing link and the new link is larger than a threshold value, the link update portion may update the existing link with the new link regardless of the shape of the portion of the existing link connected to the intersection and the shape of the portion of the new link corresponding to the existing link, the portion being connected to the intersection. The distance between the existing link and the new link may be an average value of the distance between the existing link and the new link, the maximum value, or the median value.

As in the present invention, the method of updating a link based on the shape of a portion connected to an intersection may be applied as a program or a method. The system, program, or method as described above may be achieved as a single device or may be achieved using parts common to respective units provided in the vehicle, and thus include various aspects. For example, it is possible to provide a navigation system, a map data update system, a method, and a program including the apparatus as described above. Further, the present invention may be modified appropriately, for example, a part is designed to be software and a part is designed to be hardware. Furthermore, the present invention is also effective as a recording medium of a program controlling the apparatus. Obviously, the recording medium of software may be either a magnetic recording medium or a magneto-optical recording medium, and any recording medium which will be developed in the future can be considered in exactly the same way.