JP2010223901A - Map data error inspection system, map data error inspecting terminal device, and map data error inspection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map data error inspection system, etc., accurately inspecting whether there exists an error in map data. <P>SOLUTION: When a car is determined to have deviated from a guide route, a main control part forms an error transmission data and sends it to a map data server. The map data server analyzes a picked-up image data in the error transmission data. Specifically, existence of difference is determined by comparing between current content of network DB or attribute DB and current road condition derived from the analysis result of the picked-up image. When there exists an difference, regulation information is determined to be erroneous. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a map data error inspection technique for inspecting whether there is an error in the prepared electronic map data.

  Electronic map data used for route search, map display, etc. in a navigation device or the like includes various regulatory information such as one-way traffic and right-turn prohibition in addition to road information. This regulation information is maintained by the operator creating a database on a computer based on the results of the survey conducted by the investigator. For this reason, incorrect regulation information may be input due to an input error. As a technique for correcting such an input error, for example, a technique described in Patent Document 1 is known. The technique described in Patent Document 1 automatically corrects the restriction information stored in the map database according to the actual driving situation.

JP 2004-257903 A

However, in the technique described in Patent Document 1, it is detected that the vehicle has entered an entry-prohibited road from an intersection, and actually travels with the restriction information (entrance prohibition information) given to the node corresponding to the intersection. If there is a discrepancy with the current driving situation, the regulation information in the map database is automatically corrected. For this reason, it is impossible to detect that there is an error in the restriction information when the restriction information attached to the node is actually passable even though the restriction information is allowed to pass. In other words, error detection and automatic correction cannot be performed with high accuracy.
The present invention has been made to solve such problems of the prior art. The purpose is to provide a map data error inspection system and the like that inspects whether or not there is an error in the map data based on the collected information on the road.

A map data error inspection system according to the present invention includes a map data storage unit that stores road network data representing road connection status and map data that includes restriction information related to traffic restrictions, an imaging unit that captures a forward direction of travel, A captured image storage unit that stores captured images captured during a certain period in the past, a route guide unit that guides a route to the destination based on the road network data and the regulation information, and a current position that represents the current position A current position acquisition unit for acquiring information, a deviation determination unit for determining whether or not the current position has deviated from the route, and the departure when it is determined that the current position has deviated from the route And deviation information acquisition unit for acquiring the captured image.
Note that the above-described features do not enumerate all the features of the present invention, and systems, methods, and the like that have these as essential parts can also be the invention.

  According to the map data error inspection system of the present invention, when it is determined that the current position has deviated from the route, deviation information and a captured image representing the deviation are acquired. The route is generally searched by reflecting regulatory information. Therefore, when deviating from the route, there is a high probability that there is an error in the regulation information at that point. Deviation information is acquired in such a situation. By analyzing the acquired information, it is possible to efficiently determine a location where the regulation information is incorrectly maintained or a location where guidance is difficult, and a highly accurate determination is possible.

Here, in the regulation information in the present invention, not only information logically regulated by road signs such as one-way traffic and right / left turn prohibition but also physical regulation such as car stops, median strips, poles, etc. Also included for things. Furthermore, factors that are temporarily restricted during construction, such as self and traffic control, may be included. In addition, in order to determine whether or not there is an error in the regulation information included in the map data by analyzing the photographed images photographed in the past certain period from the present, the past photographed images that have passed the certain period are stored. There is no need to keep it.
The present invention can be realized in various forms. For example, a map data error inspection system including a server device and a client device that can communicate with each other, a map data error inspection method using a server device and a client device that can communicate with each other, a computer program, a recording medium on which the computer program is recorded, and the like Can be realized.

Explanatory drawing which shows schematic structure of the map data error inspection system as an Example. The figure explaining the content of the database stored in the navigation apparatus and the map data server. The figure explaining operation | movement of the imaging device of a client apparatus. The conceptual diagram which shows an example of a picked-up image. The flowchart which shows the process step of the route guidance process of a client apparatus. The figure which shows an example in case it is judged that the motor vehicle is not located on a guidance route. The figure which shows the content of error transmission data notionally. The flowchart which shows the process step of an error transmission data related process. The figure which shows an example of the picked-up image which can judge the content of the error of map data. The flowchart which shows the process step of the present position display process of the client apparatus in 2nd Example. The figure which shows the example when it is judged that the motor vehicle is violating regulation information.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
A. First embodiment:
・ Configuration of map data error inspection system:
As shown in FIG. 1, a map data error inspection system 10 includes a map data server 100 as a map data error inspection device, a client device 200 as a map data error inspection terminal device, and a base station BS. . The map data server 100 and the base station BS are communicably connected via the Internet INT. The client device 200 can wirelessly communicate with the base station BS. As a result, the client device 200 can communicate with the map data server 100 via the base station BS.

  The client device 200 according to the present embodiment can be mounted on a car 300 as a moving body, and has a map display function for displaying a map based on map data and a route guidance function for guiding a route. The client device 200 includes a navigation device 210 and an imaging device 220 as an imaging unit. The imaging device 220 can generate digital or analog image data at predetermined time intervals.

The navigation device 210 includes a GPS receiver 211 as a current position acquisition unit, a display panel 212, an audio output unit 214, a key input unit 215, a wireless communication unit 216, an external storage unit 217, a route guide unit, And a main control unit 218 as a departure determination unit.
The GPS receiver 211 has a function of receiving radio waves transmitted from a plurality of GPSs (Global Positioning System / Global Positioning System).
The display panel 212 displays information about maps and routes. The voice output unit 214 includes a speaker for outputting voice during route guidance, a circuit for driving the speaker, and the like.

The key input unit 215 includes a group of keys such as operation keys for receiving a request for the navigation device 210 from the user.
The radio communication unit 216 has a function of performing data communication with the base station BS.
The external storage unit 217 can be configured with a hard disk, a flash memory, a memory card, and the like. The external storage unit 217 stores an image database (DB) 21, a network database (DB) 22, and an attribute database (DB) 23, which will be described later, as map data.

  The main control unit 218 includes a central processing circuit (CPU) (not shown) and an internal storage device such as a ROM and a RAM, and controls the above-described units 211 to 217. The main control unit 218 has a captured image storage unit 218M for storing an image (captured image) or the like captured by the imaging device 220 as data. The captured image storage unit 218M stores a navigation program for map display and route guidance. This program may be distributed via the Internet INT and the base station BS, for example, by an operator operating the map data server 100. The main control unit 218 implements processing / function described later by executing this program.

  The map data server 100 includes a communication unit 102, a control unit 104 as an error determination unit and an error correction unit for determination, and a map data storage unit 105. The control unit 104 controls the communication unit 102 and the map data storage unit 105. The communication unit 102 can communicate with the navigation devices 210 of the plurality of client devices 200 via the Internet INT and the base station BS. The map data storage unit 105 stores an image database (DB) 31, a network database (DB) 32, and an attribute database (DB) 33, which will be described later, as map data.

  The control unit 104 includes a CPU (not shown) and an internal storage device such as a ROM or a RAM. The internal storage device of the control unit 104 stores a program that handles map data. The control unit 104 implements various processes / functions described later by executing these programs. In this embodiment, the map data server 100 is configured by one computer, but may be configured by a plurality of computers.

  Next, the contents of the database stored in the external storage unit 217 of the navigation device 210 and the map data storage unit 105 of the map data server 100 will be described. Each of the DBs 21 to 23 stored in the external storage unit 217 is a copy of each of the DBs 31 to 33 stored in the map data storage unit 105 at a predetermined time and in the latest state. Therefore, as shown in FIG. 2, the DBs 21 to 23 stored in the external storage unit 217 and the DBs 31 to 33 stored in the map data storage unit 105 are basically the same database. Each DB 31-33 stored in the map data storage unit 105 may be maintained at any time according to the current or future road conditions.

  In the image DBs 21 and 31, data representing map images (map image data) is stored in a vector data format. The map image data may be stored in a raster data format such as a bitmap format or a JPEG data format instead of the vector data format. The map image data includes data representing the shape of topography, buildings, roads, and the like.

  The network DBs 22 and 32 store network data related to traffic routes existing in an area corresponding to the map image represented by the map image data. The network data is data representing a network indicating the arrangement of traffic routes on the ground surface. The network data includes node data representing element points ND (referred to as nodes) in the traffic route and link data representing line segments LK (referred to as links) connecting the nodes. The node ND represents, for example, an intersection, a branch point, an end point, a start point, a boarding / exiting position such as a station. The link LK represents a traffic route such as a roadway, a track, and a pedestrian road.

  The attribute DBs 23 and 33 store attribute data. The attribute data is information associated with the node ND or the link LK and indicating the attribute. The attribute data includes various data related to the node ND and the link LK. For example, the attribute data associated with the link LK includes the name of the link LK (for example, the name of the road), the type of the link LK (for example, a highway), the restriction information of the link LK (for example, one-way traffic), and other information ( For example, if it is an expressway, it may include a section fee). The attribute data associated with the node ND is associated with the name of the intersection corresponding to the node ND, the restriction information of the intersection corresponding to the node ND (for example, left turn is possible, right turn is not allowed, straight travel is allowed, etc., as viewed from a certain direction), Image data representing an image related to the node ND (for example, a schematic diagram showing a branching state of the node ND (for example, an intersection or a station) or an image showing a guide board) may be included. One or more attribute data may be associated with one node ND or link LK. Further, the attribute DBs 23 and 33 do not have to be a single database. For example, attribute data related to a highway, attribute data related to a property such as a store or a station, and attribute data related to regulatory information may be separate databases. good.

  Next, the operation of the imaging device 220 in the client device 200 will be described. The imaging device 220 always takes images over time at predetermined intervals Δt while the navigation device 210 is activated. In FIG. 3, an image f (−n) (n is a natural number) shows images taken at time t (−n) in the past in time series. In FIG. 3, an image f (0) indicates an image taken at the current time t (0). In FIG. 3, an image f (n) (n is a natural number) shows images scheduled to be taken at a time t (n) in the future in a time series.

  FIG. 3 also shows an image (stored captured image) stored in the captured image storage unit 218M at the current time t (0). In the captured image storage unit 218M, all the captured images f (−k) to f captured between the past predetermined time t (−k) (k is a predetermined natural number) and the current time t (0). (0) is stored as data. When the time advances and changes from t (0) to t (1), an image f (1) newly captured at time t (1) is stored in the captured image storage unit 218M by the FIFO (first in first out) method. At the same time, among the stored captured images stored in the captured image storage unit 218M, the oldest captured image f (−k) is deleted. As a result, when the time advances and changes from t (0) to t (1), the captured image storage unit 218M takes a picture from the past predetermined time t (−k + 1) to the current time t (1). All the captured images f (−k + 1) to f (1) are stored as data. That is, the captured image storage unit 218M always stores a captured image captured from the current time to a past predetermined time (Δt × k). The predetermined time (Δt × k) can be arbitrarily set, and is set to about 3 to 15 seconds, for example.

  An image f (a) at a certain time t (a) is an image obtained by photographing the front from the automobile 300. As shown in FIG. 4, for example, the image f (a) may include a road 41 through which the automobile 300 passes, an intersection 42 ahead of the road, and a road sign 43 installed at the intersection. is there.

The operation of the client device 200:
The route guidance process is a process executed by the navigation device 210 in the client device 200. In the client device 200, in parallel with the route guidance process, the above-described shooting process by the imaging device 220 and the stored process of the shot image in the captured image storage unit 218M are always performed. The route guidance process is started when the user operates the navigation device 210 to set a destination and instruct the start of route guidance.

  As shown in FIG. 5, when the route guidance process is started, the main control unit 218 of the navigation device 210 generates a guidance route (route) (step S110). The generation of the guidance route is well known and will not be described in detail, but the route from the current position acquired by the GPS receiver 211 to the destination set by the user is specified by searching the network DB 22 and the attribute DB 23. It is done by making it a guide route. The guide route is represented by data arranged in time series in the order of the nodes ND that should be routed from the current position to the destination. The guidance route may be generated by the map data server 100 or another server, and the generated data regarding the guidance route may be transmitted to the client device 200.

  When the guide route is generated, the main control unit 218 controls the GPS receiver 211 to acquire current position data (step S120). The current position data is, for example, coordinate data on the ground surface including at least latitude and longitude. The current position data may also include altitude. The acquired current position data is stored in the captured image storage unit 218M in association with the current time.

  When the current position information is acquired, the main control unit 218 determines whether the automobile 300 is located on the guidance route based on the current position information and the guidance route data (step S130). Specifically, when it is determined that the current position of the automobile 300 specified by the current position information is on the link LK included in the guidance route, the main control unit 218 places the automobile 300 on the guidance route. Judge that it is located. In addition, the main control unit 218 determines that the current position of the automobile 300 specified by the current position information deviates from the guidance route or cannot determine which link LK is on the guidance route. Judge that it is not located.

  Assume that a guidance route NR that turns right is set at an intersection 61 in FIG. During the route guidance process, the automobile 300 traveling at the current position PP is traveling on the guidance route NR according to the guidance route NR (FIG. 6A), and when the driver approaches the intersection 61, the driver actually reaches the intersection 61. Assume that a right turn prohibition sign 62 is witnessed (FIG. 6B). In this case, it is considered that the driver cannot drive the automobile 300 in accordance with the guide route NR and goes straight or turns left after departing from the guide route NR (FIG. 6C). Therefore, when the automobile 300 is located on the route represented by the link LK that is not included in the guidance route NR, the main control unit 218 determines that the automobile 300 has deviated from the guidance route.

  On the other hand, when it is determined that the automobile 300 is located on the guidance route (step S130: YES), the main control unit 218 performs predetermined route guidance (step S140). Next, the main control unit 218 determines whether or not the route guidance is finished (step S150). When the main control unit 218 determines that the route guidance has ended (step S150: YES), the main control unit 218 ends the route guidance process. On the other hand, when the main control unit 218 determines that the guidance has not ended (step S150: NO), the main control unit 218 returns to step S120 and continues the route guidance process. When it is determined that the car 300 has deviated from the guidance route (step S130: NO), the main control unit 218 generates error transmission data MD and transmits it to the map data server 100 (step S160). More specifically, as shown in FIG. 6C, the main control unit 218 generates error transmission data MD when it is determined that the vehicle has deviated straight from the route at an intersection 61 that changes the traveling direction. To do.

  As illustrated in FIG. 7, the error transmission data MD includes data of the stored captured images f (−k) to f (0) stored in the captured image storage unit 218M at the time of generating the error transmission data MD, and guidance. Route data. Each stored captured image data is associated with shooting time t and position information (NS (latitude), WE (longitude)) indicating the position where the automobile 300 was present at the shooting time. It can be said that the position information (NS, WE) is actual travel route data representing a locus on which the automobile 300 actually traveled. The guide route data is data indicating the guide route NR generated in step S110. The guide route data included in the error transmission data MD is not necessarily data indicating all the guide routes NR, and may be data indicating a part of the guide routes NR. In this case, the guide route data included in the error transmission data MD includes a guide route including at least a point on the guide route NR where the vehicle 300 was traveling immediately before it is determined that the vehicle 300 is not located on the guide route NR. It is preferably part of NR.

  After transmitting the error transmission data MD, the main control unit 218 next executes a reroute process (step S170). The reroute process is a process of generating a new guide route by specifying a route from the current location of the automobile 300 to the set destination by searching the network DB 22 and the attribute DB 23. When the reroute processing ends, the main control unit 218 returns to step S120 and continues the guidance processing based on the newly generated guidance route NR. Note that the reroute processing may also be executed by the map data server 100 or other servers.

The operation of the map data server 100:
Next, error transmission data related processing in the map data server 100 will be described. The error transmission data related process is started when the above-described error transmission data MD is received (acquired) from the client device 200 (step S210). As shown in FIG. 8, when the error transmission data MD is received, the control unit 104 of the map data server 100 analyzes the captured image data included in the received error transmission data MD (step S220). Specifically, the main control unit 218 analyzes the captured images f (−k) to f (0) using a well-known image recognition technique, thereby causing an error in the map data stored in the map data storage unit 105. Determine the contents of

  A captured image f (a) illustrated in FIG. 9 is a captured image when the automobile 300 is located in front of the intersection 61 in FIG. 6. The photographed image f (a) includes a regulation sign 62 indicating regulation information. The control unit 104 recognizes the presence and content of the restriction marker 62 using image recognition techniques such as pattern matching, classification based on pixel values (luminance, saturation, hue), and edge extraction. In addition, since the control unit 104 can estimate the position and moving direction of the automobile 300 from the actual travel route data included in the error transmission data MD, it can estimate the shooting position and shooting direction of the shot image. Thereby, recognition of a picked-up image can be performed more accurately. Further, the restriction mark 62 can estimate the shooting position and shooting direction of the shot image with higher accuracy by referring to the guide route data included in the error transmission data MD. In addition to the restriction sign 62, it is preferable that recognition of road surface display drawn on the road, recognition of the presence of the median strip, recognition of the number of lanes, and the like are simultaneously performed.

  When the analysis of the captured image is completed, the control unit 104 determines whether or not there is an error in the contents of the map data stored in the map data storage unit 105 (step S230). Specifically, the control unit 104 compares the current contents of the network DB 32 and the attribute DB 33 with the current road situation derived from the analysis result of the captured image, and compares the network DB 32 and the attribute DB 33 with the current road situation. It is judged whether there is a difference from the above. In FIG. 6, it is determined that the restriction information is incorrect among the attribute information associated with the node ND corresponding to the intersection 61 in FIG.

  On the other hand, if the control part 104 judges that there is no error in map data (step S230: NO), it will complete | finish an error transmission data related process. If control unit 104 determines that it is impossible to determine whether or not there is an error in the map data (step S230: determination is impossible), it is determined whether or not there is an error in the map data for the point captured in the captured image. It is recorded that it cannot be determined (step S250). For example, in FIG. 6, when the restriction sign 62 cannot be recognized by analyzing the captured image, it is determined that it is impossible to determine whether or not there is an error in the map data.

  When determining that there is an error in the map data (step S230: YES), the control unit 104 performs a map data correction process for correcting the map data (step S240). The map data correction process is, for example, a process of correcting the restriction information included in the attribute data recorded in the attribute DB 33 to restriction information in the actual road situation (restriction information recognized from the captured image). For example, in FIG. 6, it is considered that the attribute information associated with the intersection 61 does not include the restriction sign 62 indicating that right turn is prohibited in the attribute DB 33, but the restriction 62 in the actual road condition is Since only a left turn and a straight turn are possible and a right turn is prohibited, the attribute sign 62 recorded in the attribute DB 33 is updated to an actual road condition.

  According to the first embodiment described above, the captured road image transmitted from the client device 200 is analyzed to recognize the actual road condition, so that the actual road condition can be recognized with high accuracy. Furthermore, as a result, when it is determined that there is an error in the map data in the map data server 100, the map data is corrected, so that the map data can be easily updated to an actual road condition. Furthermore, since the client device 200 transmits the error transmission data MD including the captured image data when the vehicle 300 deviates from the guidance route NR, the client device 200 suppresses transmission of useless error transmission data MD to the map data server 100. can do. That is, it can be said that the determination by the client device 200 as to whether or not the car 300 has deviated from the guidance route NR is a tentative determination as to whether or not there is an error in the map data stored in the external storage unit 217.

  More specifically, the client device 200 transmits the error transmission data MD to the map data server 100 when it is determined that the vehicle has deviated from the route at an intersection or the like that changes the traveling direction. Deviations from routes on straight roads that do not require a change in direction of travel are not usually due to deviations from road regulations, such as a stop at a gas station or a stop for a break. is there. The error transmission data MD is generated only when it is determined that the vehicle has deviated from the route at an intersection or the like that changes the traveling direction while excluding such “deviation from the route at a place where the traveling direction does not need to be changed”. By doing so, transmission of useless error transmission data MD can be further suppressed.

B. Second embodiment:
Next, a second embodiment will be described.
The current position display process shown in FIG. 10 is a process that is always performed when the navigation device 210 is not performing the route guidance process in the first embodiment. The current position display process is a process of displaying the current position of the automobile 300 together with a map image on the display panel 212. The current position display process is started when the navigation device 210 is activated. In the client device 200, in parallel with the current position display processing, it is assumed that the imaging processing by the imaging device 220 described in the first embodiment and the storage processing of the captured image in the captured image storage unit 218M are always performed.

  When the current position display process is started, the main control unit 218 acquires current position information (step S310). The processing in this step is the same as step S120 (FIG. 5) in the first embodiment. Next, the main control unit 218 performs an actual travel route display process (step S320). In the actual driving route display process, the actual driving route of the automobile 300 is specified based on the position information acquired at regular intervals, and the current position PP and the actual driving route RR of the automobile 300 are displayed on the display panel 212 as a map image. It is a process to display together.

  When the actual driving route display process is performed, the main control unit 218 records the car 300 as attribute data of the attribute DB 23 based on the actual driving route RR identified in the previous step, the network DB 22 and the attribute DB 23. It is determined whether or not the regulatory information is violated (step S330).

  The attribute information Zaa is associated with the node corresponding to the intersection 61 in FIG. The attribute information Zaa is restriction information indicating that the intersection corresponding to the associated node is only allowed to turn left for the automobile 300 entering from below in FIG. 6, that is, straight and right turns are prohibited. is there. During the current position display process, the car 300 is traveling according to the restriction information included in the attribute information recorded in the attribute DB 23 (FIG. 11A), and when the driver approaches the intersection 61, the driver actually approaches the intersection. It is assumed that a marker 62 that exists and can travel straight is witnessed (FIG. 11B).

  In this case, it is considered that the driver may go straight according to the actual straight-ahead sign 62 (FIG. 11C). As shown in FIG. 11C, when the control information is violated (regardless of whether or not the actual control information is violated), the main control is performed. Unit 218 determines that automobile 300 violates the regulatory information.

  When it is determined that the automobile 300 does not violate the regulation information (following the regulation information) (step S330: NO), the main control unit 218 returns to step S310 and continues the current position display process. As a result, the map image, current position PP, and actual travel route RR displayed on the display panel 212 are updated according to the travel of the automobile 300.

On the other hand, when it is determined that the automobile 300 violates the regulation information (does not comply with the regulation information) (step S330: YES), the main control unit 218 sends the error transmission data MD2 to the map data server 100. (Step S340). The error transmission data MD2 is the content obtained by removing the guide route data from the content of the error transmission data MD shown in FIG. 7 in the first embodiment. When the error transmission data MD2 is transmitted, the main control unit 218 returns to step S310 and continues the current position display process. Since the process on the map data server 100 side when receiving the error transmission data MD2 is the same as the process described with reference to FIG. 8 in the first embodiment, the description thereof is omitted.
According to the second embodiment described above, it is possible to check whether or not there is an error in the map data even when the navigation device 210 does not provide route guidance.

C. Variation:
First Modification In the above embodiment, the map data stored in the map data server 100 is updated / corrected using the analysis result of the captured image included in the error transmission data MD2 transmitted from the client device 200. However, you may statistically process the analysis result of the picked-up image contained in the error transmission data from the some client apparatus 200 per point (for example, intersection) on a map. In this case, new attribute data to be added to the attribute DB 33 may be generated based on the result of statistical processing.

  Table 1 shows a case where the determination result in step S230 of FIG. 8 in the first embodiment is “correct”, that is, a determination that the map data is correct, and “false”, The map data indicates the degree of the number of cases for each of cases where it is determined that there is an error and cases where it is determined that the determination is impossible.

  The degree of the number of cases is indicated by “low” or “high”. In Table 1, the attribute data generated for the predetermined point is classified according to the combination of the number of cases. The attribute data includes data indicating that the predetermined point is an “inadequate guidance” point, data indicating a “map data correction” point, data indicating a “detailed survey candidate” point, or Contains data indicating that the sample is missing.

  The inappropriate guide point is a point where the generated guide route NR is assumed to be inappropriate. For example, it includes a case where the guide route NR is guiding a route that is difficult to pass. Points classified as inappropriate guidance points are candidates for points for reviewing route search parameters such as the cost value of a road (link LK in the data) connected to the intersection of the points. For example, the cost value is set to be larger as a road that requires time to pass, and the guidance route NR is generated so as to minimize the sum of the cost values at the time of route search.

The map data correction point is a point where the map data is likely to contain an error and it is assumed that it is appropriate to correct the map data. For the points classified as the map data correction points, the corresponding map data is corrected based on the analysis result of the captured image, for example.
The detailed survey candidate point is a point where it is assumed that the accuracy of the determination is lacking only by the analysis result of the captured image. The points classified as detailed survey candidate points are, for example, candidates for visual confirmation of a captured image and on-site survey of the point.

The sample shortage point is a point where it is assumed that the accuracy of judgment is lacking because the number of cases is not sufficient. For example, a point classified as a sample shortage point is determined again after the number of cases has sufficiently increased, or is a candidate for a field survey.
Table 2 is a table showing an example of statistical processing of the analysis result of the captured image in the second embodiment.

  Table 2 shows a case where the determination result in step S230 of FIG. 8 in the second embodiment is “correct”, “incorrect”, and determination impossible for a certain predetermined point. The degree of each case is shown. In Table 2, the attribute data generated for the predetermined point is classified according to the combination of the number of cases. The attribute data is data indicating that the predetermined point is a “regulation-ignored frequent occurrence” point, data indicating a “map data correction” point, data indicating a “detailed survey candidate” point, or , Including data indicating that the sample is insufficient.

  Frequently ignored points such as regulations are points where it is assumed that regulations such as entry prohibition, one-way traffic, and temporary suspension are often not observed due to oversight or intentional neglect. For example, the point classified as the frequently-ignored point such as the restriction is attribute data that causes the display panel 212 to display the restriction compliance promotion information when the vehicle 300 approaches the point during the route guidance process or the current position display process. Candidate points to associate. The regulation compliance promotion information is information that displays, for example, “No right turn is allowed”, and information that prompts the user of the navigation device 210 not to overlook or ignore the regulation. Other points are the same as the points shown in Table 1 of the same name.

  According to the first modification described above, useful information other than correction of map data can be obtained by statistically processing the analysis results of error transmission data from a plurality of client devices 200. For example, new attribute data such as regulation compliance promotion information can be added, and the map data of the map data server 100 can be enhanced. Moreover, information for improving the accuracy of the map data of the map data server 100 such as extraction of detailed survey candidate points can be obtained.

・ Second modification:
In the above embodiment, the photographed image is analyzed by the map data server 100, but may be performed by the client device 200. In this case, for example, instead of sending the error transmission data in the above embodiment, the client device 200 analyzes the captured image and determines whether or not there is an error in the map data stored in the client device 200. Then, the client device 200 may transmit the determination result as to whether or not there is an error in the map data to the map data server 100 in association with the position information for specifying the determined point. Further, the client device 200 may correct an error in the map data stored by itself.

・ Third modification:
In the above embodiment, the client device 200 transmits the error transmission data MD when it is determined that the client device 200 has deviated from the guidance route or when it is determined that the restriction information is violated. However, the present invention is not limited to this. For example, in the map data, the client device 200 may transmit the error transmission data MD when the automobile 300 does not pause at a point where the restriction information on the suspension is associated as attribute data in the map data. . In this case, the map data server 100 can determine whether or not the temporary stop attribute data is incorrect.

  Further, the map data has road width information indicating the width of the road as attribute information, and the client device 200 has vehicle width information indicating the width of the car 300, and the vehicle width information and the road width information are compared. Thus, the error transmission data MD may be transmitted when it is estimated that the automobile 300 is traveling on a route that is difficult or impossible to pass. Similarly, the map data has the height restriction information indicating the height restriction of the road as the attribute information, and the client device 200 has the vehicle height information indicating the vehicle height of the automobile 300, and the vehicle height information and the height restriction. The error transmission data MD may be transmitted when it is estimated by comparison with the information that the automobile 300 is traveling on a route that is difficult or impossible to pass. In general, the client device 200 determines whether or not the automobile 300 has performed an unexpected movement different from the predicted movement predicted based on the current position information and the map data, and the automobile 300 performs the unexpected movement. If it is determined that the error transmission data MD has been determined, it is preferable to transmit the error transmission data MD.

-Fourth modification:
In the above-described embodiment, the analysis of the photographed image has been described as mainly performing image recognition for recognizing the regulation sign 62, but various other image recognition can be performed. For example, elements that can be recognized by image recognition include logical elements, physical elements, and temporary elements. Examples of logical elements include the contents of the restriction sign 62, the restriction road sign, and the signboard as described above. Physical elements include no roads that should exist on the map data, some roads that should not exist on the map data, car stops, medians, and poles. . Temporary factors include being under construction, the occurrence of an accident, and traffic arrangements.

-5th modification:
In the above-described embodiment, when the map data server 100 determines that there is an error in the map data as a result of analyzing the captured image, the map data server 100 corrects the map data. However, the present invention is not limited to this. For example, if the map data error is temporary and it is determined that it will eventually be resolved (temporary accident, change in traffic regulations due to construction, etc.), the map data need not be corrected. Instead, it may be transmitted to another client device 200 that traffic restriction is temporarily performed at the point. When map data is corrected in the map data server 100, correction information indicating that the restriction information has been corrected is transmitted to the client device 200 in order to reflect the same correction in the map data of the client device 200. You may do it.

  When the map data server 100 determines that there is no map data error as a result of analyzing the captured image, the map data of the client device 200 is determined to be old map data, and the map data in the map data server 100 Difference data for reflecting a part of the contents in the map data of the client device 200 may be transmitted to the client device 200. In this way, it is possible to prevent the error transmission data from being continuously transmitted from the client device 200, and to efficiently update the map data in the client device 200. In addition to the difference data for updating the map data, for example, new attribute data such as regulation compliance promotion information is transmitted to the client device 200 for the point classified as the above-mentioned “disregarded frequent occurrence point”. May be.

-6th modification:
In the above embodiment, the client device 200 transmits the error transmission data immediately after the automobile 300 deviates from the guide route NR or immediately after the automobile 300 violates the regulation information. Or the error transmission data may be transmitted collectively after the vehicle 300 has traveled a predetermined travel distance.

-Seventh modification:
In the above embodiment, the error transmission data includes captured image data and actual travel route data, but may further include additional information. Examples of the additional information include vehicle information of the automobile 300 such as the type, weight, height, and width of the automobile 300. In this way, the map data server 100 can determine whether or not there is an error in the map data with higher accuracy by taking these vehicle information into account. In addition, it is possible to maintain and correct regulatory information according to the vehicle type.

-Eighth modification:
The client device 200 may not transmit the error transmission data at the same point a plurality of times. For example, the client device 200 may not transmit the error transmission data MD after the second time when the car 300 deviates from the guide route NR at the same point on the guide route NR. Further, the client device 200 may not transmit the error transmission data MD2 after the second time when the automobile 300 violates the regulation information in the same place.

-Ninth modification:
In the above embodiment, the processing for correcting the regulation sign 62 has been described. However, the present invention can be applied for correcting, enhancing, and improving accuracy of various other map data. A specific example will be described below.
・ A case where turning is actually prohibited at the intersection but turning is possible on the map data, or turning is allowed. ・ There is a median in the four-passage, but it is possible to turn right on the map data. Cases ・ There are actually 4 roads, but there are 3 roads in the map data, etc. There are no roads that exist in the map data ・ In reality, there are 3 roads However, there are roads in the map data that do not exist in reality, such as a case where there are four roads on the map data.

・ In reality, for example, vehicles with a vehicle width exceeding a predetermined vehicle width (for example, 2.2 m) are not allowed to pass, and vehicles having a predetermined vehicle width (for example, 2.2 m) or less are allowed to pass, but map data In the above case, all vehicles are allowed to pass or all vehicles are not allowed to pass ・ In reality, large passenger cars are closed, but on the map data, all vehicles are allowed to pass or all vehicles are not allowed to pass Is a pedestrian road only between 8:00 and 20:00, but on the map data, the vehicle is not accessible at all times ・ In reality, the lane that turns right is divided by obstacles such as poles In order to make a right turn, it is necessary to change lanes early, but the map data does not provide such a lane change instruction.

-10th modification:
In the above embodiment, a part of the configuration realized by hardware may be replaced with software, and conversely, a part of the configuration realized by software may be replaced by hardware.

-Eleventh modification:
In the above embodiment, the moving body is not limited to the automobile 300 but may be a bicycle or a pedestrian. In the case of a pedestrian, the navigation device 210 is preferably a portable small camera-integrated type. Moreover, you may comprise by the system which integrated the function of the map data server 100 and the client apparatus 200. FIG.

  As mentioned above, although the Example and modification of this invention were demonstrated, this invention is not limited to these Example and modification at all, and implementation in a various aspect is possible within the range which does not deviate from the summary. It is. In the present invention, one of the purposes is to automatically correct the map data in accordance with the result of the error check.

DESCRIPTION OF SYMBOLS 10 ... Map data error inspection system 100 ... Map data server 102 ... Communication part 104 ... Control part 105 ... Map data memory | storage part 200 ... Client apparatus 210 ... Navigation apparatus 211 ... GPS receiver 212 ... Display panel 214 ... Audio | voice output part 215 ... Key input unit 216 ... wireless communication unit 217 ... external storage unit 218 ... main control unit 218M ... captured image storage unit 220 ... imaging device 300 ... automobile

Claims (6)

A map data storage unit for storing map data including road network data representing road connection status and restriction information on traffic regulation;
An imaging unit for photographing the front in the traveling direction;
A captured image storage unit for storing captured images captured in a certain period from the present to the past;
A route guidance unit for guiding a route to a destination based on the road network data and the regulation information;
A current position acquisition unit for acquiring current position information representing the current position;
A departure determination unit for determining whether the current position has deviated from the route;
A map data error inspection system comprising: deviation information indicating that the current position has deviated from the route; and a deviation information acquiring unit that acquires the captured image.   The map data error inspection system according to claim 1, wherein the departure information acquisition unit acquires the departure information and the captured image when it is determined that the departure direction is deviated from a route at a location where the traveling direction is changed.   3. The error determination unit according to claim 1, further comprising an error determination unit that analyzes the captured image acquired by the deviation information acquisition unit and determines whether there is an error in the restriction information included in the map data. Map data error inspection system.   The map data error inspection system according to claim 3, wherein the error determination unit extracts restriction information by analyzing the captured image by pattern matching to determine whether or not the restriction information has an error. A map data error inspection terminal device communicably connected to a map data error inspection device for inspecting map data errors,
An imaging unit for photographing the front in the traveling direction;
A captured image storage unit for storing captured images captured in a certain period from the present to the past;
A route guide for guiding the route to the destination,
A current position acquisition unit for acquiring current position information representing the current position;
A departure determination unit for determining whether the current position has deviated from the route;
When it is determined that the current position has deviated from the route, a map data error inspection terminal device comprising: a transmission unit that transmits deviation information indicating the departure and the captured image to the map data error inspection device. . A step of storing, in a storage unit, taken images taken during a certain period in the past from the present while guiding the route to the destination;
Determining whether the current position deviates from the route;
A map data error inspection method in which, when it is determined that the current position deviates from the route, a computer executes deviation information indicating the deviation and a deviation information acquisition step of acquiring the captured image.

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