JP2008039698A - Sequential map-matching system, sequential map-matching method, and sequential map-matching program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a highly-accurate sequential map-matching system. <P>SOLUTION: The sequential map-matching system for determining a moving route sequentially, based on each positioning point of an automobile 10 taken sequentially in time series has: a route candidate presentation means 5 for presenting one or more route candidates of the moving route from the positioning point; and a moving route determination means 6 for determining the moving route from one or more route candidates, based on moving route information (a road kind, the number of right/left returns or the like) related to the determined moving route. When a plurality of route candidates exist, the route candidates are narrowed, based on the moving route information of prior routes. Namely, the moving route is determined based on the presumption that there is some correlation between a road being passed at present and a road passed already. Hereby, even when the plurality of candidates for the moving road exist, the moving road is determined accurately. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a sequential map matching system, a sequential map matching method, and a sequential map matching program that sequentially determine a moving path of a moving object.

  The probe car system that collects information using a car as a sensor transmits the speed of the vehicle, the operation status of wiper switches, ABS, air bags, etc. to the center using a communication module together with GPS position information. Then, the collected data is analyzed and used as various information.

  Since the probe car system can collect data in real time for the road in the range where the vehicle has moved, unlike the ultrasonic sensor and AVI sensor fixed on the road, the data collection range is not limited and is wide. It is possible to acquire detailed data across.

  Using the accumulated data, it is possible to grasp the traffic situation at each point due to changes in season, time, weather, etc. On the other hand, if the center can sequentially analyze the data sent from the vehicle in real time, the real-time traffic situation can be Feedback to the vehicle is also possible.

  However, while the probe car system has the above-mentioned advantages, the cost for data collection, that is, the installation cost of GPS and the data communication cost become a big problem, and there is a problem that it is difficult to continue the data collection. Therefore, in order to acquire data with as low a budget as possible, a data collection method that is different from the methods that have been tackled so far is necessary.

  For example, it is conceivable to limit communication costs by limiting the data to position information and time information, and increasing the data acquisition interval, that is, coarsening the position data acquisition to reduce the amount of data to be transmitted. It is done.

  Here, in the probe car system, in order to grasp the traffic situation, it is necessary to determine the movement route through which the vehicle has passed.

  When the amount of data is reduced, it becomes difficult to specify the movement route. Non-Patent Document 1 discloses a method for identifying a route through which a vehicle has passed from vehicle position data acquired in real time. Patent Document 1 proposes a method for specifying a probe movement path using a plurality of position data having a wide position data acquisition interval.

  However, the invention of Patent Document 1 is based on the premise that a movement route is specified using a large number of position data. If a movement route is specified using a small amount of position data, there is a problem that map matching errors increase. .

In addition, in order to identify the route, map matching is performed so that the cost is minimized based on the acquired position data, so there are more turns than necessary, and there are many unnaturally passing narrow streets. There is a drawback in that it is apt to specify an unrealistic moving route ignoring the route selection behavior of the vehicle driver, for example.
JP 2004-325083 A Online map matching algorithm based on probe person data (29th Civil Engineering Research and Lectures, Vol. 29, CD-ROM, 4 pages, June 2004)

  The present invention has been made in view of the above problems, and a sequential map matching system and a sequential map matching method capable of sequentially specifying a realistic moving path with high accuracy even when the position data acquisition interval is wide. Another object of the present invention is to provide a program for realizing the system on a computer.

  The sequential map matching system of the present invention is a combination of one or more links selected from map information that is a set of a plurality of links based on one or more positioning points sequentially acquired from a mobile object in time series. In a sequential map matching system that sequentially determines a moving path of the moving body, a trajectory point determining means that selects one or more from the positioning points as trajectory points, and selects one or more from the trajectory points as temporary link trajectory points. , A temporary link selection means for selecting one or more temporary links that are close to the temporary link locus point, a reference link that is one of the links for which map matching has been confirmed, the temporary link, Route candidate presenting means for presenting one or more route candidates of the moving route composed of a combination with one or more links connecting between the links, and before the reference link Wherein based on travel route information related to the movement path, characterized by having a a movement path determining means for determining the travel route from the one or more candidate paths.

  The sequential map matching system of the present invention is effective when there are a plurality of route candidates presented based on sequentially obtained positioning points (for example, positioning points obtained at regular intervals (time, distance)). System. Specifically, when the route candidate is sequentially presented as the travel route that the mobile body has moved, when there are a plurality of presented route candidates, based on the travel route information in the previous route, The travel route is narrowed down from the route candidates. That is, the travel route is determined based on the assumption that some relationship is recognized between the currently passing road and the road that has passed so far.

  As a result, even when there are a plurality of candidates for a movement route due to an area with a high road density or a wide acquisition interval of positioning points, the movement route can be determined with high accuracy. Here, the information included in the positioning point in this specification includes time information when the moving body passes or stays in addition to the position information of the moving body.

  The travel route information used in the sequential map matching system of the present invention may include the number of lanes, one-way street, road type, highway usage rate, narrow street usage rate, or right / left turn number in the travel route before the reference link. preferable.

  The movement route determination means used in the sequential map matching system of the present invention preferably uses a route candidate having a high movement probability obtained from a fixed utility calculated by weighting movement route information for each route candidate.

  The movement probability indicates the probability that the moving body moves the route candidate, and the movement route determination means determines the route candidate having the highest probability as the movement route. The movement probability is obtained for each route candidate as a conditional probability when the route candidate is moved based on the movement route information of a movement route whose movement route has already been determined.

  The conditional probability is calculated by applying the logit model, which is a definite utility (route selection model) based on the expected utility maximization theory, and using data collected in the probe car system. As a result, it is easy to determine a moving route that is easy to determine by selecting the shortest route candidate, for example, a highway suddenly moving from an ordinary road that moves extremely narrow streets and has many right and left turns, or parallel to the expressway. It becomes difficult to determine an unrealistic moving route such as moving to a road.

  The moving route determining means used in the sequential map matching system of the present invention has route candidate narrowing means for excluding route candidates whose average speed calculated from the distance and moving time exceeds a predetermined value from a plurality of route candidates. Is preferred. This can reduce the amount of subsequent calculations by removing in advance a movement path that cannot be realized unless it moves at an insane speed that greatly exceeds the speed limit as a candidate of a movement path that the mobile body will have moved. In particular, since the amount of calculation for calculating the definite utility can be reduced, it is preferable that the route candidate narrowing means excludes unrealistic route candidates before calculating the definite utility for each route candidate.

  The trajectory point determining means used in the sequential map matching system of the present invention preferably determines the trajectory points so that the distance between the trajectory points is a predetermined distance or more in time series. In other words, even if the moving body is not moving and stays at a certain place, the position information indicated by the positioning point of the obtained moving body is not always the same, but due to the error of the equipment to be measured May vary. When the movement path is determined using such positioning points, it is considered that the moving body has moved although the moving body has not actually moved, and the correct moving path of the moving body cannot be determined.

  Therefore, by treating the moving object as moving only when the obtained positioning point change exceeds a predetermined distance, the influence of the error of the positioning point acquisition device can be minimized and the movement path can be determined accurately. It becomes possible to do well. Here, the predetermined distance that acts as a threshold for determining whether or not the moving body has moved is determined according to the required accuracy. Specifically, the larger the predetermined distance, the more reliably it can be determined that the moving body has moved, but it becomes difficult to detect the detailed movement of the moving body. It is desirable to make it appropriate according to the accuracy.

  The temporary link selection means used in the sequential map matching system of the present invention preferably uses only the last trajectory point in time series among the trajectory points as the temporary link trajectory point.

  The trajectory point determining means is a means for determining trajectory points until three or more trajectory points are gathered, and the movement path determining means is from the reference link to the link corresponding to the trajectory point immediately before the temporary link trajectory point. It is desirable to adopt a means for determining a movement route.

  According to the sequential map matching system, the sequential map matching method, and the sequential map matching program of the present invention, when the distance between positioning points is wide or an area with a high road density or the like, Even when there are a plurality of route candidates, the moving route with the highest probability of traveling can be determined from the plurality of route candidates by using the moving route information before the reference link.

  Hereinafter, the present invention will be specifically described with reference to examples.

(Example)
The sequential map matching system 1 of the present embodiment is realized by executing the sequential map matching program of the present embodiment on a computer, and is a system that performs map matching by the sequential map matching method of the present embodiment. is there. The computer has positioning point acquisition means for acquiring information on positioning points sent from an automobile (moving body). Further, map information is held in the storage means of the computer.

  A communication line is established between the computer positioning point acquisition means and the automobile, and the positioning points are sequentially sent from the automobile to the computer positioning point acquisition means. The number of computers is not limited to one, and a configuration in which a plurality of computers perform processing in parallel and distributed may be used. In that case, each computer is connected by some kind of communication line, and as long as the data can be freely exchanged, the installation location may be the same or completely different. An example of the positioning point acquisition means is a wireless communication device.

  The map information is electronic map data each composed of a set of links corresponding to roads. Road information is added to each link (route). A link corresponds to one section of map information. This system is a system that performs map matching to the map information on the moving route of the car based on the obtained positioning points.

  As shown in FIG. 1, the sequential map matching system 1 of this embodiment includes a positioning point acquisition unit 2, a locus point determination unit 3, a temporary link selection unit 4, a route candidate presentation unit 5, and a movement route determination unit 6. Have.

  The positioning point acquisition means 2 is means for sequentially acquiring positioning points including position information and time measured by the automobile 10 by GPS. The trajectory point determination means 3 sequentially determines as trajectory points each time it detects that the vehicle 10 has moved from the information on the positioning points acquired by the positioning point acquisition means 2, and the first plot, the second plot, It is a means to make a 3rd plot. Here, the determination as to whether or not the automobile 10 has moved is made assuming that the vehicle 10 has moved when the distance between the first to third plots is greater than or equal to a predetermined distance.

  The temporary link selection unit 4 is a unit that uses the third plot as a temporary link trajectory point and sets one or more links close to the temporary link trajectory point within a predetermined distance as a temporary link. The route candidate presenting means 5 is a means for searching for a route connecting the reference link, which is the last link for which the moving route of the vehicle is determined, and the temporary link, and presenting one or more route candidates combining them. is there. As the reference link, the last link that has determined the movement route can be adopted.

  The movement route determination means 6 is a means for determining the most appropriate movement route from one or more route candidates. The moving route determination means 6 has route candidate narrowing means (not shown) that excludes unrealistic route candidates for each route candidate presented by the route candidate presentation means 5. The route candidate narrowing means is a means for calculating the average speed of the moving body for a plurality of route candidates and excluding unrealistic route candidates that are estimated to be impossible from the average speed.

  Hereinafter, the operation of the sequential map matching program of this embodiment will be described with reference to a flowchart (FIG. 2). This program is executed after the sequential map matching system 1 is started.

  This program has a trajectory point determination step S1, a temporary link selection step S2, a route candidate presentation step S3, a movement route determination step S4, and steps S5 and S6 that determine whether or not to determine the next movement route.

  After the processing of this program is started, as shown in FIG. 3, in step S1, the first plot 71, the second plot 72, and the third plot 72 are picked up from the positioning point as the locus points.

  First, it is confirmed whether or not three plots are confirmed (S11). If even one is not confirmed, a positioning point is acquired by the positioning point acquisition means 2 (S12). The positioning point acquisition means 2 receives the position information of the automobile 10 and the time at that time as positioning point data. Positioning points are sequentially sent from the automobile 10.

  As shown in FIG. 4A, the first plot 71 is a positioning point corresponding to the reference link 81 for which map matching has been established (S13). In the second plot 72, if a positioning point that is more than a predetermined distance from the first plot 71 is received in step S12, the positioning point is set as the second plot 72 (S13). If a positioning point that is more than a predetermined distance away from the second plot 72 is received in step S12, the third plot 73 is designated as the third plot 73 (S13). In this embodiment, the predetermined distance is set to 30 m in consideration of GPS measurement errors.

  This predetermined distance is a distance that can be regarded as traveling when the vehicle 10 is not stopped, and is calculated experimentally based on data of an accurate travel route through which the vehicle 10 has passed. In the time series, the positioning point 74 between the first plot 71 and the second plot 72 is shorter than 30 m from the first plot 71, and the positioning point 75 between the second plot 72 and the third plot 73 is Since the distance from the second plot 72 is shorter than 30 m, it is not adopted as a trajectory point.

  Step S2 is a step of selecting one or more links as the temporary links 82 and 83 from the third plot 73 as shown in FIG. 4B. At this time, the selection of the temporary links 82 and 83 can also consider the movement route information before the reference link 81. Further, since the moving direction of the vehicle can be estimated by considering the positional relationship between the second plot 72 and the third plot 73, the preferable directions of the temporary links 82 and 83 are also estimated by considering the direction.

  Step S3 is a step of calculating the cost of each link based on the positioning points 74 and 75 excluding the first plot 71 and the third plot 73, that is, the positioning points other than the second plot 72 and the trajectory point. That is, the accuracy is improved by using the positioning points that are not employed as the locus points for the cost calculation.

  The cost is set so as to increase as the positioning point moves away from the link. For example, the distance from each positioning point 72, 74, 75 to the link excluding the reference link 81 and the temporary links 82, 83 is multiplied by the length of the link. Then, the link costs are totaled for each combination of one or more links connecting the reference link 81 and the temporary links 82 and 83. One or more link combinations having a small total link cost are selected. The combinations of links created by the selected combination of links, the reference link, and the temporary link are route candidates 84, 85, and 86 (FIG. 4C). That is, a route candidate is selected based on the link cost reflecting the distance between the positioning point and the link.

  The next step S4 may be performed so as not to be executed for the purpose of reducing the amount of calculation when a plurality of route candidates are not presented in step S3. Note that it is desirable that the route candidate narrowing-down step S41, which will be described later, is executed from the viewpoint of improving the accuracy of specifying the moving route even when a plurality of route candidates are not presented in step S3.

  In step S4, as shown in FIG. 5, first, unrealistic route candidates are excluded from route candidates (route candidate narrowing step S41). In the present embodiment, route candidates whose average speed calculated from the distance and travel time of the route candidates is equal to or greater than a predetermined value are excluded from the subsequent examination as unrealistic route candidates. The predetermined value is calculated based on the speed limit of the road section to which the link corresponds.

  For the route candidates narrowed down in step S41, the movement probability of moving the route candidate is obtained (S42). The movement probability of moving the route candidate k is

と表される。移動確率で用いられるＶ_ｋは、基準リンク以前の移動経路に関連する移動経路情報により重み付けを行った移動経路ｋに対する確定効用である。移動経路情報は、基準リンク以前のマップマッチングが確定した移動経路における車線数、一方通行かどうか、道路の種類（高速道路、幹線道路、細街路など）、高速道路利用率、細街路利用率、右左折数などである。Ｖ_ｋ’は、経路候補の集合をＫとした場合、集合Ｋに属する経路候補ｋ’における確定効用である。

It is expressed. V _k used in the movement probability is a definite utility for the movement path k weighted by movement path information related to the movement path before the reference link. The travel route information includes the number of lanes on the travel route for which the map matching before the reference link has been confirmed, whether it is one-way, the type of road (highway, highway, narrow street, etc.), highway usage rate, narrow street usage rate, For example, the number of turns. V _{k ′} is a definite utility in the route candidate k ′ belonging to the set K, where K is a set of route candidates.

  The fixed utility for the route candidate k indicates the utility that the driver will receive by traveling the route candidate k. The definite utility is a formula based on the expected utility maximization theory from the data collected in the probe car system. That is, the route selection behavior of the driver is modeled, and the subsequent travel route is predicted based on the previous travel route information. The definite utility Vk of the route candidate k is

と表される。式（２）においては、移動経路情報として、道路の種類、右左折数を明示的に示しているが、道路の車線数などのその他の情報を同様に式中に組み込むことができる。

It is expressed. In the equation (2), the road type and the number of left / right turns are explicitly shown as the travel route information, but other information such as the number of lanes of the road can be similarly incorporated in the equation.

β and δ are parameters that are adjusted and set so that the route traveled by the automobile can be reproduced as much as possible when formulating based on the data collected in the probe car system. For example, δ is an attribute of a travel route for which map matching has already been determined. For example, the δ _{trunk line} is 1 if the previous travel route is a trunk road, and is 0 otherwise.

  The trunk line distance k is the sum of the distances of links that are trunk roads among the links of the route candidate k. The number of right / left turns is the total number of right / left turns of the route candidate k. Finally, the route candidate with the highest movement probability is determined as the movement route (S43).

  At this time, if it is determined that the route candidate 85 is a moving route, the map matching of the second plot 72 and the positioning point 74 between the first plot 71 and the second plot 72 as shown in FIG. Map matching is performed. Subsequently, when determining a movement route based on a new positioning point, the second plot 72 becomes a new first plot, and the third plot 73 becomes a new second plot, which are executed from step S1. .

  The travel route information used in the present embodiment may be calculated by averaging data for a predetermined length or a predetermined time of a travel route determined before the reference link, or by performing greater weighting as the reference link is approached. it can. The predetermined weight is a weight that increases as the reference link is approached.

  The sequential map matching system 1 using the sequential map matching program of the present embodiment has the information on the movement path before the reference link even when the distance between the positioning points is wide and there are a plurality of movement path candidates on which the moving body has moved. By using, it is possible to determine a travel route having the highest probability of traveling from a plurality of route candidates. In addition, it is possible to determine a moving route with high accuracy even in an area with a high road density.

  Further, the route candidates are summed up by multiplying the distance between the positioning point and the link by the link length, and a plurality of route candidates are picked up from the smallest one. In the shortest distance path search that selects the minimum of the total link length, only the link length of the link connecting the reference link and the temporary link is considered. In this embodiment, the distance between the positioning point and the link is considered. Therefore, the link close to the positioning point is likely to rise as a route candidate, and the accuracy of determining the moving route can be improved.

  Furthermore, if the travel route can be determined sequentially with high accuracy, the traffic route information can be fed back to the vehicle by collating the travel route with the data stored in the center, thereby avoiding the traffic jam. Become.

(test)
In this test, experiments were performed on the sequential map matching system 1 using the sequential map matching program of the present embodiment and the algorithm (base) of Non-Patent Document 1, and the path determination accuracy was compared. 6 and 7 are graphs comparing the route determination accuracy.

<How to obtain positioning points>
The data used in this test is data collected by an experiment (Nagoya Demonstration Experiment) conducted by the "Internet ITS Project" (main entity: Ministry of Economy, Trade and Industry). In this experiment, with the cooperation of 32 taxi operators with sales offices in the vicinity of Nagoya City, a probe car was constructed by installing GPS on-board units in 1570 taxis, and data was collected.

  Probe car data was collected from January 2002 to March 2002, from October 2002 to March 2003, and from October 2003 to June 2004. In this study, the data was collected from October 2002 to 2003. Use data from experiments conducted over March. This is because the data collected during the same period includes high-frequency data, and it is possible to specify an accurate movement path and create arbitrary collected data.

  In the experiment, three types of probe equipment are used. Among them, the equipment obtained from a vehicle equipped with Type 2 equipment with high data acquisition accuracy is used. The Type 2 probe equipment is equipped with a car navigation system linked to the Type 2 probe equipment, and is of a type in which position correction is performed by the car navigation system. Even when vehicle position measurement by GPS fails, there is an advantage that data loss is small because the vehicle position estimated by the self-contained navigation system mounted on the car navigation system is transmitted.

  In addition, some set values are assigned to each vehicle for the data acquisition interval, and among them, data acquired at intervals of 50 m and 5 seconds were extracted and used for a total of about 30 hours. Based on this data, an accurate movement route (correct route) of the car was created. The low-frequency data was created by extracting the data from the high-frequency data by extending the distance interval and time interval.

  In this test, as shown in FIG. 6, the data interval is expanded to 50 m, 100 m, 150 m, 200 m, 250 m, 300 m, 350 m, 400 m, 450 m, and 500 m, and the route determination accuracy is increased at each data interval. For comparison, the route matching rate and the route detour rate were calculated and compared.

  Similarly, as shown in FIG. 7, the data interval is 5 seconds, 10 seconds, 15 seconds, 20 seconds, 25 seconds, 30 seconds, 35 seconds, 40 seconds, 45 seconds, and 60 seconds, 75 seconds, 90 seconds. And expanded and compared the route match rate and route detour rate.

  The map information used in this test includes DRM (Digital RoadMap) of the Digital Road Map Association, basic road network ver. 1500 (published in 2003). This is digital data of basic roads (all main roads and roads with a width of 5.5 m or more).

  The route matching rate and the route detour rate adopted as indexes for comparing route determination accuracy in this test are as follows.

(Route match rate) = (Correctly specified route length / Total correct route length)
× 100 (%) (3)
(Route bypass rate) = (Path length specified incorrectly / Route length specified)
× 100 (%) (4)
The closer the path match rate is to 100% and the closer the route detour rate is to 0%, the better.

  The method (base) used as a comparative example in this test does not include the temporary link selection step S2 and the movement route determination step S4 of the program in the present embodiment, but searches for the shortest distance route in the route candidate presentation step S3 ( This is determined by a method in which a route candidate having a minimum distance is used as a moving route.

  That is, the shortest distance path search is performed using the three trajectory points acquired in time series, the first plot, the second plot, and the third plot, and the movement path from the first plot to the second plot is determined. .

  In this test, as shown in FIGS. 6 and 7, it can be seen that both the route matching rate and the route detour rate are greatly improved in this example compared to the base. That is, the sequential map matching system 1 of the present embodiment can determine the movement route with high accuracy.

It is a block diagram of the sequential map matching system of a present Example. It is a flowchart of the sequential map matching method of a present Example. It is a flowchart of the locus | trajectory point determination step of the sequential type map matching method of a present Example. It is a figure which shows the example of map matching by the sequential map matching method of a present Example. It is a flowchart of the movement path | route determination step of the sequential map matching method of a present Example. It is the graph which changed the positioning point acquisition space | interval with the distance about the route determination precision of this comparative example, and compared. It is the graph which changed the positioning point acquisition space | interval with time about the route determination precision of this comparative example, and compared.

Explanation of symbols

1: Sequential map matching system 2: Positioning point acquisition means 3: Trajectory point determination means 4: Temporary link selection means 5: Route candidate presentation means 6: Travel route determination means 10: Automobile 71: First plot 72: Second plot 73: Third plot 74, 75: Positioning point 81: Reference link 82, 83: Temporary link 84, 85, 86: Path candidate

Claims (9)

Based on one or more positioning points sequentially acquired from a moving object in time series, a moving path of the moving object that is a combination of one or more links selected from map information that is a set of a plurality of links is sequentially determined. In the sequential map matching system,
A trajectory point determining means for selecting one or more of the positioning points as trajectory points;
Temporary link selection means for selecting one or more temporary links as the temporary link locus points and selecting one or more temporary links that are close to the temporary link locus points;
Present at least one route candidate of the moving route comprising a combination of a reference link that is one of the links for which map matching has been established, the temporary link, and one or more links that connect the links. Route candidate presentation means;
A sequential map matching system, comprising: a moving route determining means for determining a moving route from the one or more route candidates based on moving route information related to the moving route before the reference link.   2. The sequential map matching system according to claim 1, wherein the travel route information includes a lane number, a one-way street, a road type, or a left / right turn number on the travel route before the reference link.   3. The route candidate according to claim 1, wherein the travel route determination unit sets the route candidate having a high travel probability obtained from a fixed utility calculated by weighting the travel route information for each route candidate. 4. Sequential map matching system.   The sequential map matching system according to claim 3, wherein the moving route determination unit includes a route candidate narrowing unit that excludes the route candidates whose average speed calculated from the distance and the moving time of the route candidate is a predetermined value or more.   5. The sequential map matching system according to claim 1, wherein the trajectory point determining unit determines the trajectory points so that a distance between the trajectory points is a predetermined distance or more in time series.   The sequential map matching system according to any one of claims 1 to 5, wherein the temporary link selection unit uses only the last trajectory point in time series among the trajectory points as the temporary link trajectory point. The locus point determining means is means for determining the locus point until three or more locus points are obtained.
The said movement path | route determination means is a means to determine the said movement path | route from the said reference | standard link to this link corresponding to this locus point immediately before the temporary link locus point. Sequential map matching system. Based on one or more positioning points sequentially acquired from a moving object in time series, a moving path of the moving object that is a combination of one or more links selected from map information that is a set of a plurality of links is sequentially determined. In the sequential map matching method,
A trajectory point determination step of selecting one or more from the positioning points and using it as a trajectory point;
Temporary link selection step of selecting one or more temporary links as the temporary link trajectory points by selecting one or more from the trajectory points, and selecting one or more temporary links that are close to the temporary link trajectory points;
Present one or more route candidates for the moving route, which is a combination of a reference link that is one of the links for which map matching has been established, the temporary link, and one or more of the links that connect the links. A route candidate presentation step;
A sequential map matching method, comprising: a movement route determination step for determining a movement route from the one or more route candidates based on movement route information related to the movement route before the reference link. Based on one or more positioning points sequentially acquired from a moving object in time series, a moving path of the moving object that is a combination of one or more links selected from map information that is a set of a plurality of links is sequentially determined. In the sequential map matching program,
Trajectory point determination means for selecting one or more from the positioning points and using it as a trajectory point;
Temporary link selection means for selecting one or more temporary links as the temporary link trajectory points by selecting one or more from the trajectory points, and selecting one or more temporary links that are close to the temporary link trajectory points;
Present at least one route candidate of the moving route comprising a combination of a reference link that is one of the links for which map matching has been established, the temporary link, and one or more links that connect the links. Route candidate presentation means,
A travel route determination means for determining the travel route from the one or more route candidates based on travel route information related to the travel route before the reference link;
As a sequential map matching program to make the computer function as

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