JP2020204531A - Map information generator, map information generation method, and map information generation program - Google Patents

Abstract

To provide a map information generator, a map information generation method and a map information generation program with which it is possible to estimate an entry to a parking lot.SOLUTION: The map information generator comprises: an acquisition unit for acquiring a plurality of probe information pieces heading toward the same destination; a generation unit for specifying, on the basis of the probe information acquired by the acquisition unit, a withdrawal point where a vehicle has left a road link, and generating a first withdrawal point cloud; a first rejection unit for removing a withdrawal point, among the withdrawal points included in the first withdrawal point cloud generated by the generation unit, that is included in probe information with which positioning state information included in each of the plurality of probe information pieces does not satisfy a prescribed standard, from the first withdrawal point cloud, and generating a second withdrawal point cloud; and a setting unit for setting the representative point of the second withdrawal point cloud, as a final guidance point on the road link heading toward the destination, to the map information for navigation.SELECTED DRAWING: Figure 1

Description

The present invention relates to a map information generator, a map information generation method, and a map information generation program.

The navigation device mounted on the vehicle is required to appropriately guide the driver to the destination in order to improve the convenience of the driver. For example, when a destination is set in a relatively large parking lot, the navigation device is required to prevent being guided to a point where there is no entrance to the parking lot and to appropriately guide the user to the entrance of the parking lot. To. For this reason, the navigation device may be required to grasp the entrance of the parking lot.
The technique described in Patent Document 1 obtains the gradient of the route on which the vehicle travels, and when the absolute value of the gradient becomes larger than the set value, it is determined that the vehicle has entered the multi-story parking lot or the underground parking lot. By doing so, the entrance is estimated.

Japanese Unexamined Patent Publication No. 2011-17664

The technique described in Patent Document 1 is a configuration for determining that a person has entered a multi-story parking lot or an underground parking lot. However, there is a flat parking lot in the parking lot, and the technique described in Patent Document 1 cannot determine that the vehicle has entered the flat parking lot.
Even if the parking lot is a multi-story parking lot or an underground parking lot, the vehicle enters the parking lot site from the road, travels along the road, and then reaches the slope that enters the multi-story parking lot or the underground parking lot. In some cases. In such a case, the technique described in Patent Document 1 may not be able to correctly determine the location where the road enters the parking lot site.

An object of the present invention is to provide a map information generation device, a map information generation method, and a map information generation program capable of estimating the entrance of a parking lot.

The map information generation device of one aspect includes at least traveling position information regarding the traveling position of the vehicle, positioning state information regarding the positioning state when the traveling position is positioned, and identification information for identifying the vehicle, and has the same purpose. The first departure point group by identifying the acquisition unit that acquires a plurality of probe information toward the ground and the departure point at which the vehicle leaves the link indicating the road (hereinafter referred to as the road link) based on the probe information acquired by the acquisition unit. Of the generation unit that generates the above and the departure point included in the first departure point group generated by the generation unit, the departure point included in the probe information in which the positioning state information included in each of the plurality of probe information does not meet the predetermined criteria. For navigation, the first exclusion section that generates the second departure point group by excluding from the first departure point group and the representative point of the second departure point group are used as the final guide points on the road link toward the destination. It is provided with a setting unit for setting map information.

In the map information generation device of one aspect, in the first exclusion unit, the positioning states recorded in the positioning state information of the probe information acquired from the same vehicle based on the identification information are the first positioning state and the first positioning. When there is a second positioning state worse than the state, the departure point based on the probe information acquired in the second positioning state may be excluded from the first departure point group.

In one aspect of the map information generator, the probe information includes illuminance information regarding the illuminance outside the vehicle, and the first exclusion unit includes the illuminance information included in the probe information acquired from the same vehicle based on the identification information. As a result, when the second illuminance darker than the first illuminance is recorded for a predetermined time or longer after the first illuminance is recorded, the departure point based on the probe information acquired when the second illuminance is recorded is first removed. It may be excluded from the point group.

In one aspect of the map information generator, the probe information includes inclination information regarding at least the inclination of the vehicle in the front-rear direction, and the first exclusion unit is included in the probe information acquired from the same vehicle based on the identification information. As the inclination information, the departure point based on the probe information acquired when the inclination of a predetermined value or more is recorded may be excluded from the first departure point group.

One aspect of the map information generation device is a storage unit that stores in advance a correspondence relationship between a facility set as a destination and a parking lot related to the facility, and when the facility is set as a destination. If the specific part that identifies the parking lot related to the facility and the departure point are not adjacent to the parking lot specified by the specific part based on the correspondence stored in the storage unit, the departure point is set as the first departure point. It may be provided with a second exclusion section that is excluded from the group and generates a second exit point group.

In one aspect of the map information generation method, the computer includes at least traveling position information regarding the traveling position of the vehicle, positioning state information regarding the positioning state when the traveling position is positioned, and identification information for identifying the vehicle. An acquisition step of acquiring a plurality of probe information heading to the same destination, and a generation step of identifying a departure point where the vehicle has left the road link based on the probe information acquired by the acquisition step and generating a first group of departure points. And, among the departure points included in the first departure point group generated by the generation step, the departure point included in the probe information whose positioning state information included in each of the plurality of probe information does not meet the predetermined criteria is the first departure point. The first exclusion step of excluding from the group to generate the second exit point group and the representative point of the second exit point group are set in the map information for navigation as the final guide points on the road link toward the destination. Perform the configuration steps and.

One aspect of the map information generation program includes, at least, the traveling position information regarding the traveling position of the vehicle, the positioning state information regarding the positioning state when the traveling position is positioned, and the identification information for identifying the vehicle in the computer. An acquisition function that acquires multiple probe information heading for the same destination, and a generation function that identifies the departure point where the vehicle has left the road link based on the probe information acquired by the acquisition function and generates the first departure point group. And, among the departure points included in the first departure point group generated by the generation function, the departure point included in the probe information whose positioning state information included in each of the plurality of probe information does not meet the predetermined criteria is the first departure point. The first exclusion function that excludes from the group and generates the second departure point group and the representative point of the second departure point group are set in the map information for navigation as the final guide point on the road link toward the destination. Realize the setting function.

The map information generation device of one aspect identifies the departure points where the vehicle has left the road link based on a plurality of probe information and generates the first departure point group, and when the positioning state information does not meet a predetermined criterion. By excluding the acquired departure points from the first departure point group and generating the second departure point group, the representative point of the second departure point group is set as the final guide point on the road link in the map information for navigation. Therefore, it is possible to estimate the entrance of the parking lot.
Further, the map information generation method and the map information generation program of one aspect can exert the same effect as the map information generation device of one aspect described above.

It is a figure for demonstrating the map information generation system which concerns on one Embodiment. It is a block diagram for demonstrating the map information generation apparatus which concerns on one Embodiment. It is a figure for demonstrating the departure point, the 1st departure point group, and the 2nd departure point group. It is a flowchart explaining the map information generation method which concerns on one Embodiment. It is a flowchart explaining the process of generating the 2nd departure point group. It is a block diagram for demonstrating the map information generation apparatus which concerns on a modification.

Hereinafter, an embodiment of the present invention will be described.
FIG. 1 is a diagram for explaining a map information generation system according to an embodiment.

The map information generation system 1 includes a vehicle 10, a server 20, and a map information generation device 30.
The vehicle 10 acquires the probe information of its own vehicle and transmits it to the server 20. Although only one vehicle 10 is shown in FIG. 1, there may be a plurality of vehicles 10.
The server 20 stores, for example, a plurality of probe information. Specifically, the server 20 stores probe information transmitted from one or more vehicles 10.

The map information generation device 30 is, for example, a device suitable for processing so-called big data and capable of processing a relatively large amount of information.
The map information generation device 30 estimates, for example, the entrance of a parking lot. The map information generation device 30 can also estimate the exit of the parking lot by using a technique for estimating the entrance of the parking lot (details will be described later). Further, the map information generation device 30 is not limited to the parking lot, and can estimate the entrance or exit of various facilities into which the vehicle 10 enters. An example of various facilities may be a facility having a parking lot on a relatively large site such as an amusement park, a theme park, or a castle ruin.

When a destination is set, the navigation device (not shown) mounted on the vehicle 10 guides the route to the destination. For example, when the map information does not set the entrance of the parking lot, the navigation device may guide the user to a point adjacent to the parking lot but away from the entrance of the parking lot.
In order to solve such a problem, the map information generation device 30 acquires a point (departure point) at which the vehicle 10 departs from the road (road link) when generating map information, thereby departing from the road (road link). Is estimated to be the entrance to the parking lot.

Here, the map information generation device 30 can acquire a departure point based on a plurality of probe information acquired from the vehicle 10 (server 20), but for example, due to variations in various information recorded in the probe information. , There is a risk that the departure points will also vary.
For example, this variation is such that even if a vehicle enters the parking lot from the road, the aisle in the parking lot is installed parallel to the road, then a curve is installed and the aisle is installed away from the road. Occurs sometimes. In this case, the departure points are generated when the vehicle enters the parking lot, and the departure points are generated when the vehicle passes the curve, so that the departure points vary.
Therefore, the map information generation device 30 excludes the departure point if the departure point does not meet the predetermined criteria, and based on other departure points estimated to be accurate, the final on the road link of the navigation device. It is configured to be set in the map information as a guide point (for example, presumed to be the entrance of various facilities such as a parking lot).

Next, the map information generation device 30 will be described in detail.
FIG. 2 is a block diagram for explaining the map information generation device according to the embodiment.
FIG. 3 is a diagram for explaining a departure point, a first departure point group, and a second departure point group.

As shown in FIG. 2, the map information generation device 30 includes a communication unit 31, a storage unit 32, an acquisition unit 33, a generation unit 34, a first exclusion unit 35, a setting unit 36, a specific unit 37, and a second exclusion unit 38. Be prepared. The acquisition unit 33, the generation unit 34, the first exclusion unit 35, the setting unit 36, the specific unit 37, and the second exclusion unit 38 may be realized, for example, as functions of the control unit of the map information generation device 30.

The communication unit 31 communicates with the server 20 or the vehicle 10 via, for example, a communication network. The communication unit 31 acquires a plurality of probe information from the server 20 as an example based on the control of the map information generation device 30 (acquisition unit 33). The communication unit 31 may receive the probe information transmitted from the vehicle 10.

The storage unit 32 is a device that stores various information, programs, and the like.
As an example, the storage unit 32 stores in advance the correspondence relationship between the facility set as the destination and the parking lot related to the facility. The facility set as the destination is, for example, a facility set as the destination of the guide route in the navigation device (not shown). A parking lot is a parking lot that can be used by users of the facility.

The acquisition unit 33 acquires a plurality of probe information heading for the same destination. The probe information includes at least traveling position information, positioning state information and identification information. The traveling position information is information regarding the traveling position of the vehicle 10. The positioning state information is information related to the positioning state when the traveling position is positioned. The identification information is information (vehicle ID) for identifying the vehicle 10.
The probe information may include illuminance information regarding the illuminance outside the vehicle 10. The probe information may include tilt information regarding at least the tilt of the vehicle 10 in the front-rear direction.
The acquisition unit 33 acquires, for example, probe information in which the destination is set in the area where the entrance of the parking lot is to be estimated.

Here, when the vehicle 10 generates the probe information, the vehicle 10 records the destination set by the navigation device in the probe information. For example, when a navigation device is used, the vehicle 10 records a point (coordinates) away from the road link in probe information based on the traveling position information.

As a specific example, the vehicle 10 acquires probe information as follows.
The vehicle 10 can record the traveling position information of the vehicle 10 by using, for example, GNSS (Global Navigation Satellite System: Global Positioning Satellite System). By continuously or intermittently acquiring the position information, the vehicle 10 can record the position information (traveling position information) of the route on which the vehicle 10 has traveled in the probe information.

The vehicle 10 can acquire, for example, the number of satellites used when acquiring the traveling position information. If the number of satellites used for positioning is relatively large, it is considered that the position accuracy of the traveling position information is relatively high, and it can be said that the positioning state is relatively good. On the other hand, if the number of satellites used for positioning is relatively small, the position accuracy of the position information is considered to be relatively poor, and it can be said that the positioning state is relatively poor. The vehicle 10 acquires positioning state information based on, for example, the number of satellites used for positioning.
The vehicle 10 may acquire positioning state information based on, for example, the signal strength when receiving a signal from a satellite.

The vehicle 10 records a vehicle ID (identification information) for distinguishing the own vehicle from another vehicle in the probe information.
In addition, the vehicle 10 may be equipped with an auto light function that automatically turns on the headlights. The auto light function acquires, for example, the illuminance outside the vehicle 10 by using an illuminance sensor or the like, and turns on the headlight when the illuminance is equal to or less than a threshold value. The vehicle 10 records information on the illuminance (illuminance information) in the probe information.
Further, the vehicle 10 may be equipped with a sensor for measuring the inclination of the vehicle 10, such as a gyro sensor or an inclination sensor. When the tilt of the vehicle 10 in the front-rear direction is measured by the sensor, the vehicle 10 records information (tilt information) regarding the tilt in the probe information.

The generation unit 34 identifies the departure point where the vehicle 10 has left the road link based on the probe information acquired by the acquisition unit 33, and generates the first departure point group. For example, the generation unit 34 groups the same (or can be regarded as the same) destinations D1 to D6 based on a plurality of probe information acquired by the acquisition unit 33, as illustrated in FIG. Generate group G1. As a more specific example, when a facility is set as a destination of the navigation device, the generation unit 34 is grouped for each facility. Further, as a more specific example, the generation unit 34 groups the coordinates within a predetermined range when the coordinates are set as the destination of the navigation device. Further, the generation unit 34 identifies the points where the vehicle 10 has left the road link L (the departure points P1 to P6) based on the probe information in which the grouped destinations D1 to D6 are recorded, and the specified departure points. P1 to P6 are grouped to generate a first departure point group G2 (see FIG. 3).

The first exclusion unit 35 excludes a specific departure point from the first departure point group to generate a second departure point group. The specific departure point is, for example, included in the probe information in which the positioning state information included in each of the plurality of probe information does not satisfy a predetermined criterion among the departure points included in the first departure point group generated by the generation unit 34. It is a departure point.
For example, in the first exclusion unit 35, the positioning state recorded in the positioning state information of the probe information acquired from the same vehicle 10 based on the identification information is worse than the first positioning state and the first positioning state. When there are two positioning states, the departure point based on the probe information acquired in the second positioning state may be excluded from the first departure point group.

A predetermined criterion is a preset threshold. Predetermined criteria are, for example, the density of facilities close to the destination, the site area of the facility as the destination, the number of parking lots parked, the genre of the facility as the destination, and the time when the vehicle 10 leaves the road link. Depending on the difference between the traffic information and the traveling condition of the vehicle 10 or the time zone when the probe information is generated, it may be set by the operator of the map information generation device 30, or the first exclusion unit 35 may be set. It may be set automatically according to the attributes of the destination.

As a specific example, when the number of satellites used for positioning is equal to or less than the threshold value, the first exclusion unit 35 excludes the departure points acquired after the number of satellites is equal to or less than the threshold value from the first departure point group. Further, as a specific example, when the intensity of the signal received from the satellite used for positioning is equal to or less than the threshold value, the first exclusion unit 35 sets the departure point acquired after the signal intensity becomes equal to or less than the threshold value. Exclude from the exit point group. Further, the first exclusion unit 35 is not limited to the above example, and excludes the departure points acquired after various positioning state information recorded in the probe information does not satisfy the predetermined criteria from the first departure point group. You may do it. The first exclusion unit 35 excludes one or a plurality of departure points (exit points P4 to P6 in the case shown in FIG. 3) from the first departure point group G2, and then the remaining one or a plurality of departure points (FIG. 3). In the case shown in the above example, the departure points P1 to P3) are grouped to generate the second departure point group G3 (see FIG. 3).

In the first exclusion unit 35, after the first illuminance is recorded as the illuminance information included in the probe information acquired from the same vehicle 10 based on the identification information, the second illuminance darker than the first illuminance is set for a predetermined time. When the above is recorded, the departure point (specific departure point) based on the probe information acquired when the second illuminance is recorded may be excluded from the first departure point group.
When the vehicle 10 enters the underground parking lot or the multi-story parking lot, it is considered that the illuminance outside the vehicle 10 becomes lower (darker) than before the vehicle 10 enters the underground parking lot or the multi-story parking lot. It is considered that the vehicle 10 has already left the road link at the time after entering the underground parking lot or the multi-story parking lot (when the illuminance becomes low). The departure point obtained at this point is considered to be inaccurate. Therefore, the first exclusion unit 35 estimates that the vehicle 10 has entered the underground parking lot or the multi-story parking lot when the first illuminance is changed to the second illuminance and the second illuminance is recorded for a predetermined time or longer. Then, the departure points recorded at the time of the second illuminance are excluded from the first departure point group.

The first exclusion unit 35 is a departure point (specification) based on the probe information acquired when a inclination of a predetermined value or more is recorded as the inclination information included in the probe information acquired from the same vehicle 10 based on the identification information. The departure point) may be excluded from the first departure point group.
When the vehicle 10 enters the underground parking lot or the multi-story parking lot, the vehicle 10 is considered to travel on a slope for moving to the basement or the upper floor. In this case, the vehicle 10 inclines in the front-rear direction in order to travel on a slope. At the time of entering the underground parking lot or the multi-story parking lot (when the vehicle 10 inclines in the front-rear direction), it is considered that the vehicle 10 has already left the road link. The departure point obtained at this point is considered to be inaccurate. Therefore, when the inclination of the vehicle 10 is estimated to be traveling on a slope or more than a predetermined value is recorded, the first exclusion unit 35 leaves the vehicle when the inclination is recorded or after the inclination is recorded. Exclude points from the first exit point group.

Further, when the altitude information included in the probe information acquired from the same vehicle 10 based on the identification information changes by a predetermined value or more, the first exclusion unit 35 sets the departure point based on the probe information acquired thereafter. It may be excluded from one departure point group.

Also, for example, two departure points may be recorded in one probe information. For example, after the first departure point is generated by the vehicle entering the parking lot of the facility from the road, it is determined by the vehicle control unit or the like that the vehicle is traveling on the road again, and then again. , When it is determined that the vehicle has left the road and a second departure point is generated. As a more specific example, control of the vehicle by driving the vehicle through a passage in the parking lot parallel to the road after the first exit point is generated by the vehicle entering the parking lot of the facility from the road. This is a case where the vehicle is determined to be traveling on the road by a department or the like, and then the vehicle passes through a curve in the parking lot to travel in a direction away from the road and generate a second departure point. .. In this way, the first exclusion unit 35 may exclude the second recorded departure point when two departure points are recorded in one probe information.

When the facility is set as the destination, the specific unit 37 identifies the parking lot related to the facility based on the correspondence stored in the storage unit 32. As an example, facilities such as department stores, hotels, and theme parks may have parking lots in the vicinity of the facilities. As described above, the storage unit 32 stores in advance the correspondence between the facility and the parking lot related to the facility. When the facility as the destination is recorded in the probe information, the identification unit 37 identifies the parking lot of the facility based on the correspondence stored in the storage unit 32. For example, even when the coordinates are set as the destination, the specific unit 37 can specify the parking lot of the facility based on the coordinates by setting the nearest facility as the destination from the coordinates.

When the departure point is not adjacent to the parking lot specified by the specific unit 37, the second exclusion unit 38 excludes the departure point (specific departure point) from the first departure point group and excludes the second exit point group. Generate. When setting a destination on the navigation device, the driver may set the destination as a landmark, for example, not the original destination but a famous facility in the vicinity. That is, even when the facility is recorded as the destination in the probe information, the vehicle 10 does not enter the parking lot related to the facility. The departure point in such a case needs to be excluded from the first departure point group generated by the generation unit 34. Therefore, when the parking lot related to the facility and the departure point are not adjacent to each other, the second exclusion unit 38 excludes the departure point from the first departure point. Whether or not the parking lot and the departure point are adjacent is determined, for example, when the parking lot and the departure point are separated by a predetermined distance or more, when the parking lot and the departure direction are on the opposite side of the road, or The second exclusion unit 38 can make an appropriate determination based on the case where the parking lot and the departure point are in different blocks on the road map.

The setting unit 36 sets the representative point of the second departure point group as the final guide point on the road link toward the destination in the map information for navigation. The setting unit 36 sets the representative point of the second departure point group in the map information as the final guide point corresponding to the destination recorded in the probe information. That is, the setting unit 36 estimates, for example, the representative point of the second departure point group as the entrance of various facilities such as a parking lot. For example, the setting unit 36 stores the map information in which the final guide point is set in the storage unit 32. The representative point may be, for example, any one of a plurality of departure points constituting the second departure point group, or a position serving as the center of gravity of the plurality of departure points constituting the second departure point group. Alternatively, it may be the central position of a plurality of departure points. Further, the representative point may be, for example, the central position of the second departure point group or an arbitrary position.

For example, the map information generation device 30 transmits the map information stored in the storage unit 32 to the vehicle 10 via the communication unit 31 as described above, and makes the map information used by the navigation device of the vehicle 10. You may.
Further, the map information generation device 30 may record the map information on a recording medium such as an external memory or an optical disk, for example. In this case, the vehicle 10 may read the map information recorded on the recording medium and use the map information in the navigation device.

Next, a map information generation method will be described.
FIG. 4 is a flowchart illustrating a map information generation method according to an embodiment.

In step ST11, the acquisition unit 33 acquires a plurality of probe information heading for the same destination. The acquisition unit 33 acquires, for example, probe information in which the destination is set in the area where the entrance of the parking lot is to be estimated.

In step ST12, the generation unit 34 identifies the departure point where the vehicle 10 has left the road link based on the probe information acquired in step ST11, and generates the first departure point group. For example, the generation unit 34 groups the destinations for each destination of the vehicle 10 recorded in the probe information, and generates a first departure point group at the departure points corresponding to the destinations.

In step ST13, the first exclusion unit 35 first exits the departure points acquired when the positioning status information does not meet the predetermined criteria among the departure points included in the first departure point group generated in step ST12. Exclude from the point group, and generate a second departure point group at the remaining departure points excluding the excluded ones.
When the departure point is not adjacent to the parking lot specified by the specific unit 37, the second exclusion unit 38 excludes the departure point from the first departure point group, and the second exclusion point 38 is the remaining departure point excluding the excluded one. 2 Generate a group of departure points.
Details of the process in step ST13 will be described later.

In step ST14, the setting unit 36 sets the representative point of the second departure point group as the final guide point on the road link toward the destination in the map information for navigation.

Next, the process of step ST13 will be described in detail.
FIG. 5 is a flowchart illustrating a process of generating the second departure point group.

The process of step ST131 is performed after the process of step ST12 shown in FIG.
In step ST131, the first exclusion unit 35 determines whether the positioning state at the time when the departure point is acquired is the second positioning state. The positioning state indicates, for example, a state (condition) related to positioning when acquiring position information of the vehicle 10 using GNSS. The second positioning state is worse than the first positioning state. When the positioning state is the second positioning state (Yes), the process proceeds to step ST137. If the positioning state is not the second positioning state (No), the process proceeds to step ST132.

In step ST132, the first exclusion unit 35 determines whether the illuminance outside the vehicle 10 when the departure point is acquired is the second illuminance. The second illuminance is a lower (darker) illuminance than the first illuminance. When the illuminance is the second illuminance (Yes), the process proceeds to step ST137. If the illuminance is not the second illuminance (No), the process proceeds to step ST133.

In step ST133, the first exclusion unit 35 determines whether the time when the departure point is acquired is when the inclination of the vehicle 10 in the front-rear direction is recorded or after the inclination is recorded. The predetermined value is appropriately set in consideration of the slope of the slope going down to the underground to enter the underground parking lot, the slope of the slope going up to the upper floor to enter the multi-story parking lot, and the like. When the inclination of the vehicle 10 in the front-rear direction is recorded as an inclination of a predetermined value or more (Yes), the process proceeds to step ST137. If no inclination equal to or greater than a predetermined value is recorded as the inclination of the vehicle 10 in the front-rear direction (No), the process proceeds to step ST134.

In step ST134, when the facility is set as the destination, the identification unit 37 identifies the parking lot related to the facility based on the correspondence stored in the storage unit 32.

In step ST135, the second exclusion unit 38 determines whether the departure point and the parking lot specified in step ST134 are adjacent to each other. If the departure point and the parking lot are not adjacent (No), the process proceeds to step ST137. If the exit point and the parking lot are adjacent (Yes), the process proceeds to step ST136.

In step ST136, the first exclusion unit 35 or the second exclusion unit 38 generates the second exit point group without excluding the departure point from the first exit point group.

In step ST137, the first exclusion unit 35 or the second exclusion unit 38 excludes a specific exit point group from the first exit point group to generate a second exit point group.
After step ST136 or step ST137, the process proceeds to step ST14 shown in FIG.

Next, the effect of this embodiment will be described.
The map information generation device 30 identifies a departure point where the vehicle 10 has left the road link based on the acquisition unit 33 which acquires a plurality of probe information toward the same destination and the first departure point group. The generation unit 34 to be generated, the first exclusion unit 35 to generate the second departure point group by excluding a specific departure point from the first departure point group among the departure points included in the first departure point group, and the first 2. The setting unit 36 for setting the representative point of the departure point group as the final guide point on the road link toward the destination in the map information for navigation is provided.
As a result, the map information generation device 30 can estimate the departure point (representative point of the second departure point group) as the entrance of the parking lot and set the departure point in the map information. Further, since the map information generation device 30 excludes the departure points having relatively low accuracy, the position accuracy of the entrance of the parking lot can be improved.
The navigation device mounted on the vehicle 10 can guide the route from the position of the vehicle 10 to the entrance of the parking lot as the destination by using the map information, thereby improving the convenience of the user. Can be done.

In the map information generation device 30, when there is a first positioning state and a second positioning state worse than the first positioning state, the first exclusion unit 35 first sets the departure point acquired in the second positioning state. It may be excluded from the departure point group.
As an example, the first exclusion unit 35 may determine the positioning state based on the number of satellites receiving the signal, the strength of the received signal, or the like when using GNSS. It is considered that the accuracy of the position information of the departure point acquired when the positioning state is relatively poor (in the case of the second positioning state) is relatively poor. Therefore, the first exclusion unit 35 can improve the accuracy of the second departure point group by excluding the departure points acquired in the second positioning state.

In the map information generation device 30, the first exclusion unit 35 acquires when the second illuminance is recorded when the second illuminance darker than the first illuminance is recorded for a predetermined time or longer after the first illuminance is recorded. The exit point may be excluded from the first exit point group.
For example, when the vehicle 10 enters the underground parking lot or the multi-story parking lot, it is considered that the illuminance outside the vehicle 10 becomes lower (darker) than before the vehicle 10 enters the underground parking lot or the multi-story parking lot. .. In this case, the departure point acquired when the external illuminance of the vehicle 10 is the second illuminance is acquired at the point where the vehicle 10 has already separated from the road link (entered in the underground parking lot or the multi-story parking lot). It is thought that it was. Therefore, the first exclusion unit 35 can improve the accuracy of the second departure point group by excluding the departure points acquired at the time of the second illuminance.

In the map information generation device 30, the first exclusion unit 35 may exclude the departure point acquired when the inclination of the predetermined value or more is recorded from the first departure point group.
When the vehicle 10 enters the underground parking lot or the multi-story parking lot, the vehicle 10 is considered to travel on a slope for moving to the basement or the upper floor. In this case, the departure point acquired when the inclination of the predetermined value or more is recorded or after being recorded is the point where the vehicle 10 has already left the road link (entered the underground parking lot or the multi-story parking lot). It is probable that it was acquired in. Therefore, the first exclusion unit 35 can improve the accuracy of the second departure point group by excluding the departure points acquired when the inclination of the predetermined value or more is recorded or after the inclination is recorded.

The map information generation device 30 has a storage unit 32 that stores the correspondence between the facility set as the destination and the parking lot related to the facility, and the facility is set as the destination recorded in the probe information. In the case, if the specific unit 37 that identifies the parking lot related to the facility and the departure point are not adjacent to the parking lot specified by the specific unit 37 based on the correspondence stored in the storage unit 32, the departure point Is provided with a second exclusion unit 38 for generating a second departure point group by excluding the above from the first departure point group.
When setting a destination on the navigation device, the driver may set the destination as a landmark, for example, not the original destination but a famous facility in the vicinity. Therefore, when the parking lot related to the facility and the departure point are not adjacent to each other, the map information generation device 30 excludes the departure point from the first departure point.
That is, the map information generation device 30 can remove as noise a departure point that is not a parking lot related to the facility as the destination. Therefore, the navigation device mounted on the vehicle 10 can guide the route to an appropriate position as the destination, and can improve the convenience of the user.

The map information generation device 30 excludes a specific departure point group from the first departure point group as described above and generates a second departure point group, so that, for example, it is relative to the entrance of the facility set as the destination. The leaving points that are distant from each other can be excluded from the first leaving point group.
In addition, the map information generation device 30 is a parking lot of another facility adjacent to the destination facility, a toll parking lot that is not affiliated with the destination facility, and a vacant lot or a neighboring resident unrelated to the destination facility. A departure point such as a rental parking lot can be excluded from the first departure point group.

In the map information generation method, the computer identifies a departure point where the vehicle 10 has left the road link based on the acquisition step of acquiring a plurality of probe information heading for the same destination, and the first departure point group. A generation step for generating a second departure point group, a first exclusion step for excluding a specific departure point from the first departure point group among the departure points included in the first departure point group, and a second exclusion point group. The setting step of setting the representative point of the departure point group as the final guide point on the road link toward the destination in the map information for navigation is executed.
As a result, the map information generation method can estimate the departure point as the entrance of the parking lot and set the departure point in the map information. Further, since the map information generation method excludes the departure points having relatively low accuracy, the position accuracy of the entrance of the parking lot can be improved.
The navigation device mounted on the vehicle 10 can guide the route from the position of the vehicle 10 to the entrance of the parking lot as the destination by using the map information, thereby improving the convenience of the user. Can be done.

The map information generation program has an acquisition function of acquiring a plurality of probe information heading to the same destination on a computer, and identifies the departure point where the vehicle 10 has left the road link based on the probe information, and is the first departure point group. And the first exclusion function to generate the second departure point group by excluding a specific departure point from the first departure point group among the departure points included in the first departure point group, and the second The setting function of setting the representative point of the departure point group as the final guide point on the road link toward the destination in the map information for navigation is realized.
As a result, the map information generation program can estimate the departure point as the entrance of the parking lot and set the departure point in the map information. Further, since the map information generation program excludes the departure points having relatively low accuracy, the position accuracy of the entrance of the parking lot can be improved.
The navigation device mounted on the vehicle 10 can guide the route from the position of the vehicle 10 to the entrance of the parking lot as the destination by using the map information, thereby improving the convenience of the user. Can be done.

Each part of the map information generation device 30 described above may be realized as a function of a computer arithmetic processing unit or the like. That is, the acquisition unit 33, the generation unit 34, the first exclusion unit 35, the setting unit 36, the specific unit 37, and the second exclusion unit 38 of the map information generation device 30 have an acquisition function and a generation function by a computer arithmetic processing unit or the like. , The first exclusion function, the setting function, the specific function, and the second exclusion function may be realized respectively.
The map information generation program can realize each of the above-mentioned functions on a computer. The map information generation program may be recorded on a non-temporary recording medium that can be read by a computer, such as an external memory or an optical disk.
Further, as described above, each part of the map information generation device 30 may be realized by a computer arithmetic processing unit or the like. The arithmetic processing unit or the like is composed of, for example, an integrated circuit or the like. Therefore, each part of the map information generation device 30 may be realized as a circuit constituting an arithmetic processing unit or the like. That is, as shown in FIG. 6, the acquisition unit 33, the generation unit 34, the first exclusion unit 35, the setting unit 36, the specific unit 37, and the second exclusion unit 38 of the map information generation device 30 are computer arithmetic processing units and the like. It may be realized as an acquisition circuit 33a, a generation circuit 34a, a first exclusion circuit 35a, a setting circuit 36a, a specific circuit 37a, and a second exclusion circuit 38a.
Further, the communication unit 31 and the storage unit 32 of the map information generation device 30 may be realized as the communication circuit 31a and the storage circuit 32a as shown in FIG. 6 by being configured by, for example, an integrated circuit or the like. Further, the communication unit 31 and the storage unit 32 of the map information generation device 30 may be configured as a communication device and a storage device, for example, by being configured by a plurality of devices.

1 Map information generation system 10 Vehicle 20 Server 30 Map information generation device 31 Communication unit 32 Storage unit 33 Acquisition unit 34 Generation unit 35 First exclusion unit 36 Setting unit 37 Specific unit 38 Second exclusion unit L Road link G2 First departure point Group G3 2nd departure point Group P1 to P4 departure point

Claims (15)

Acquire a plurality of probe information heading to the same destination, including at least the traveling position information regarding the traveling position of the vehicle, the positioning state information regarding the positioning state when the traveling position is positioned, and the identification information for identifying the vehicle. Acquisition department and
Based on the probe information acquired by the acquisition unit, the generation unit that identifies the departure point where the vehicle has left the road link and generates the first departure point group.
Among the departure points included in the first departure point group generated by the generation unit, the departure point included in the probe information whose positioning state information included in each of the plurality of probe information does not satisfy a predetermined criterion is the first departure point. The first exclusion part that excludes from the point group and generates the second departure point group,
A setting unit that sets the representative point of the second departure point group as the final guidance point of the route guidance on the road link to the destination in the map information for navigation, and
A map information generator equipped with. In the first exclusion unit, the positioning state recorded in the positioning state information of the probe information acquired from the same vehicle based on the identification information is worse than the first positioning state and the first positioning state. The map information generation device according to claim 1, wherein when there is a positioning state, a departure point based on the probe information acquired in the second positioning state is excluded from the first departure point group. The probe information includes illuminance information regarding the illuminance outside the vehicle.
After the first illuminance is recorded, the first exclusion unit determines a second illuminance darker than the first illuminance as the illuminance information included in the probe information acquired from the same vehicle based on the identification information. The map information generator according to claim 1 or 2, wherein when the second illuminance is recorded for an hour or longer, the departure point based on the probe information acquired when the second illuminance is recorded is excluded from the first departure point group. The probe information includes tilt information regarding at least the tilt of the vehicle in the front-rear direction.
The first exclusion unit sets a departure point based on the probe information acquired when a inclination of a predetermined value or more is recorded as the inclination information included in the probe information acquired from the same vehicle based on the identification information. The map information generation device according to any one of claims 1 to 3, which is excluded from the first departure point group. A storage unit that stores in advance a correspondence relationship between a facility set as a destination and a parking lot related to the facility.
When the facility is set as a destination, a specific unit that identifies the parking lot related to the facility and a specific unit that identifies the parking lot related to the facility based on the correspondence stored in the storage unit.
When the departure point is not adjacent to the parking lot specified by the specific part, the departure point is excluded from the first departure point group to generate the second departure point group, and the second exclusion part.
The map information generation device according to any one of claims 1 to 4. The computer
Acquire a plurality of probe information heading to the same destination, including at least the traveling position information regarding the traveling position of the vehicle, the positioning state information regarding the positioning state when the traveling position is positioned, and the identification information for identifying the vehicle. To get steps and
Based on the probe information acquired by the acquisition step, the generation step of identifying the departure point where the vehicle has left the road link and generating the first departure point group, and
Among the departure points included in the first departure point group generated by the generation step, the departure point included in the probe information whose positioning state information included in each of the plurality of probe information does not satisfy a predetermined criterion is the first departure point. The first exclusion step to exclude from the point group and generate the second exit point group,
A setting step of setting the representative point of the second departure point group as the final guide point on the road link to the destination in the map information for navigation, and
Map information generation method to execute. In the first exclusion step, the positioning state recorded in the positioning state information of the probe information acquired from the same vehicle based on the identification information is worse than the first positioning state and the first positioning state. The map information generation method according to claim 6, wherein when there is a positioning state, a departure point based on the probe information acquired in the second positioning state is excluded from the first departure point group. The probe information includes illuminance information regarding the illuminance outside the vehicle.
In the first exclusion step, after the first illuminance is recorded, the second illuminance darker than the first illuminance is predetermined as the illuminance information included in the probe information acquired from the same vehicle based on the identification information. The map information generation method according to claim 6 or 7, wherein when the second illuminance is recorded for an hour or longer, the departure point based on the probe information acquired when the second illuminance is recorded is excluded from the first departure point group. The probe information includes tilt information regarding at least the tilt of the vehicle in the front-rear direction.
In the first exclusion step, as the inclination information included in the probe information acquired from the same vehicle based on the identification information, the departure point based on the probe information acquired when the inclination of a predetermined value or more is recorded is described. The map information generation method according to any one of claims 6 to 8, which is excluded from the first departure point group. The computer
A storage step of preliminarily storing a correspondence relationship between a facility set as a destination and a parking lot related to the facility in a storage unit.
When the facility is set as a destination, a specific step of identifying the parking lot related to the facility based on the correspondence stored in the storage unit, and
When the departure point is not adjacent to the parking lot specified by the specific step, the second exclusion step of excluding the departure point from the first departure point group and
The map information generation method according to any one of claims 6 to 9. On the computer
Acquire a plurality of probe information heading to the same destination, including at least the traveling position information regarding the traveling position of the vehicle, the positioning state information regarding the positioning state when the traveling position is positioned, and the identification information for identifying the vehicle. Get function and
Based on the probe information acquired by the acquisition function, the generation function of identifying the departure point where the vehicle has left the road link and generating the first departure point group, and
Among the departure points included in the first departure point group generated by the generation function, the departure point included in the probe information whose positioning state information included in each of the plurality of probe information does not satisfy a predetermined criterion is the first departure point. The first exclusion function that excludes from the point group and generates the second departure point group,
A setting function that sets the representative point of the second departure point group as the final guide point on the road link toward the destination in the map information for navigation, and
Map information generation program that realizes. In the first exclusion function, the positioning state recorded in the positioning state information of the probe information acquired from the same vehicle based on the identification information is worse than the first positioning state and the first positioning state. The map information generation program according to claim 11, wherein when there is a positioning state, a departure point based on the probe information acquired in the second positioning state is excluded from the first departure point group. The probe information includes illuminance information regarding the illuminance outside the vehicle.
In the first exclusion function, after the first illuminance is recorded, the second illuminance darker than the first illuminance is predetermined as the illuminance information included in the probe information acquired from the same vehicle based on the identification information. The map information generation program according to claim 11 or 12, wherein when the second illuminance is recorded for an hour or longer, the departure point based on the probe information acquired when the second illuminance is recorded is excluded from the first departure point group. The probe information includes tilt information regarding at least the tilt of the vehicle in the front-rear direction.
The first exclusion function sets a departure point based on the probe information acquired when a inclination of a predetermined value or more is recorded as the inclination information included in the probe information acquired from the same vehicle based on the identification information. The map information generation program according to any one of claims 11 to 13, which is excluded from the first departure point group. On the computer
A storage function that stores in advance a correspondence relationship between a facility set as a destination and a parking lot related to the facility in a storage unit.
When the facility is set as a destination, a specific function for identifying the parking lot related to the facility and a specific function for identifying the parking lot related to the facility based on the correspondence stored in the storage unit.
When the departure point is not adjacent to the parking lot specified by the specific function, the second exclusion function for excluding the departure point from the first departure point group and
The map information generation program according to any one of claims 11 to 14.

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