JP4418828B2 - Map matching device, map matching method and program thereof - Google Patents

Description

  The present invention relates to a map matching apparatus, a map matching method, and a program for identifying a moving route on digital road map data composed of nodes and links from probe data including position information and time information.

  Currently, a vehicle travel history is investigated and analyzed using a device mounted on the vehicle. The data collected by the vehicle-mounted device is generally called probe data. In addition to position information and time information, various information such as vehicle speed, vehicle direction, turning status of the steering wheel, braking status, etc. Often included. Then, in order to investigate and analyze the vehicle travel history, map matching is performed from such probe data to identify a movement route on digital road map (DRM) data composed of nodes and links. Yes.

By the way, as shown in Patent Document 1, the present inventors have invented a system that can efficiently collect position information and time information of a portable terminal holder using a portable terminal. If it is the method using the portable terminal shown in patent documents 1, probe data other than the user who is driving a car can also be collected.
JP 2007-18314 A

  However, the method using the mobile terminal cannot collect information other than position information and time information such as information on the user's direction. In addition, a user who is not driving a car may drop in at various places before reaching the destination. For this reason, the existing map matching has a problem that it is not possible to accurately specify the movement route on the DRM data.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a map matching apparatus that accurately identifies a movement route on DRM data from probe data collected by a mobile terminal.

In order to achieve the above-mentioned object, the first invention is a map matching device for specifying a moving route on digital road map data composed of nodes and links from probe data including position information and time information. Then, a mobile sequence dividing unit that divides the probe data group related to the same user into mobile sequence units based on a data acquisition interval, and an aggregated data group that locally aggregates the probe data group related to the same mobile sequence are generated. Aggregated data generating means, moving direction calculating means for calculating the moving direction of the aggregated data, candidate link searching means for searching for candidate links to associate the aggregated data, and the direction closest to the moving direction among the candidate links The nearest link determination means for determining the nearest link having the value and the position coordinates of the aggregated data are drawn to the nearest link. Comprising a movement path specifying means for specifying the moving route using a set of nearest point which is perpendicular foot, wherein the movement path specifying means, the nearest link the total number of the nearest point of each of the nearest link A map matching apparatus using a value divided by a length .

  A node is an intersection or other expression node. A link is a road section between nodes. A user is a provider of probe data.

Furthermore, the first invention preferably includes travel time data calculating means for calculating travel time data including a link entry time, a link exit time, and a link travel time for each link included in the travel route. .
It is desirable that the movement route specifying means determines the links included in the movement route one by one.

A second invention is a map matching method for specifying a movement route on digital road map data composed of nodes and links from probe data including position information and time information, and the probe relating to the same user Dividing the data group into mobile sequence units based on the data acquisition interval; generating an aggregate data group that locally aggregates the probe data groups related to the same mobile sequence; and calculating a moving direction of the aggregated data Searching for candidate links to associate the aggregated data; determining a nearest link having a direction closest to the moving direction from among the candidate links; and the nearest link from position coordinates of the aggregated data Identifying the travel path using a set of nearest points that are the feet of a perpendicular drawn to , Identifying the movement path is a map matching method which is characterized in that the total number of the nearest point of each of the nearest link is to use a value obtained by dividing the length of the nearest link.

  A third invention is a program for causing a computer to function as the map matching device of the first invention.

  According to the present invention, it is possible to provide a map matching device that accurately identifies a movement route on DRM data from probe data collected by a mobile terminal.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a hardware configuration diagram of a computer that implements a map matching apparatus 1 according to the present embodiment. Note that the hardware configuration in FIG. 1 is an example, and various configurations can be adopted depending on the application and purpose.
The map matching device 1 includes a control unit 3, a storage unit 5, a media input / output unit 7, a communication control unit 9, an input unit 11, a display unit 13, a peripheral device I / F unit 15, and the like connected via a bus 17. The

  The control unit 3 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

The CPU calls and executes a program stored in the storage unit 5, ROM, recording medium, etc., in the work memory area on the RAM, drives and controls each device connected via the bus 17, and the map matching device 1 The process to be described later is realized.
The ROM is a non-volatile memory and permanently holds a computer boot program, a program such as BIOS, data, and the like.
The RAM is a volatile memory, and temporarily stores programs, data, and the like loaded from the storage unit 5, ROM, recording medium, and the like, and includes a work area used by the control unit 3 for performing various processes.

The storage unit 5 is an HDD (hard disk drive), and stores a program executed by the control unit 3, data necessary for program execution, an OS (operating system), and the like. As for the program, a control program corresponding to an OS (operating system) and an application program corresponding to processing described later are stored.
Each of these program codes is read by the control unit 3 as necessary, transferred to the RAM, read by the CPU, and executed as various means.

  The media input / output unit 7 (drive device) inputs / outputs data, for example, floppy (registered trademark) disk drive, CD drive (-ROM, -R, -RW, etc.), DVD drive (-ROM, -R). , -RW, etc.) and media input / output devices such as MO drives.

  The communication control unit 9 includes a communication control device, a communication port, and the like, and is a communication interface that mediates communication between the computer and the network 19, and performs communication control between other computers via the network 19.

The input unit 11 inputs data and includes, for example, a keyboard, a pointing device such as a mouse, and an input device such as a numeric keypad.
An operation instruction, an operation instruction, data input, and the like can be performed on the computer via the input unit 11.

  The display unit 13 includes a display device such as a CRT monitor and a liquid crystal panel, and a logic circuit (such as a video adapter) for realizing a video function of the computer in cooperation with the display device.

  The peripheral device I / F (interface) unit 15 is a port for connecting a peripheral device to the computer, and the computer transmits and receives data to and from the peripheral device via the peripheral device I / F unit 15. The peripheral device I / F unit 15 is configured by USB, IEEE 1394, RS-232C, or the like, and usually has a plurality of peripheral devices I / F. The connection form with the peripheral device may be wired or wireless.

  The bus 17 is a path that mediates transmission / reception of control signals, data signals, and the like between the devices.

Next, a configuration for realizing the function of the map matching apparatus 1 will be described with reference to FIG.
FIG. 2 is a block diagram showing an outline of the functions of the map matching apparatus 1.

  The map matching apparatus 1 includes a probe data input unit 21, a movement sequence division unit 22, an aggregate data generation unit 23, a movement direction calculation unit 24, a candidate link search unit 25, a nearest link determination unit 26, a movement route identification unit 27, a travel time. Data calculation means 28, travel time data output means 29, DRM data DB 30 and the like are provided.

  The probe data input means 21 inputs probe data 31 including position information and time information. The amount of data handled in one process is, for example, one day of probe data 31 for one user. A user is a provider of probe data 31. Data may be input via the input unit 11 or the media input / output unit 7. Further, data may be received from another computer via the network 19.

  The mobile sequence dividing means 22 divides the probe data group related to the same user into mobile sequence units based on the data acquisition interval. For example, if the user is in a vehicle, when the user stops on the way and takes a break, the user is treated as another movement series. Specifically, a case where the data acquisition interval is longer than a predetermined time, or a case where the data acquisition interval is not within a predetermined radius even after a predetermined time elapses is treated as another movement sequence.

  The aggregate data generation unit 23 generates an aggregate data group in which probe data groups related to the same mobile sequence are locally aggregated. The position information acquired by the GPS function includes a positioning error, and even if the position information is located at the same position, a minute movement occurs as probe data. Therefore, such probe data is collected locally to improve the efficiency and speed of subsequent processing.

FIG. 3 is a diagram illustrating an example in which probe data is aggregated into aggregate data.
As shown in the left diagram of FIG. 3, the aggregated data generation unit 23 aggregates the coordinates 41 of the probe data for each aggregation range 43. In the aggregation method, the coordinates 41 of the probe data are checked sequentially in time series, and those included within a predetermined distance are aggregated.
Further, the aggregate data generation unit 23 determines the position information and time information of the aggregate data. The position information and time information of the aggregated data may be, for example, the average value of the position information and time information of the probe data included in the same aggregated range 43, or may be the top in time series in the same aggregated range 43. The position information and time information of the probe data may be used. As shown in the right diagram of FIG. 3, one aggregated data coordinate 45 is determined for each aggregated range 43.

  The movement direction calculation means 24 calculates the movement direction of the aggregated data. The moving direction is an important determination factor in the process of determining the nearest link described later.

FIG. 4 is a diagram illustrating an example of calculating the movement direction of the aggregated data.
As shown in FIG. 4, the movement direction calculation unit 24 calculates a movement direction vector 47 having a direction from the coordinate 45 of a certain aggregate data to the coordinate 45 of the next aggregate data in time series.

  Candidate link search means 25 refers to DRM data DB 30 and searches for candidate links to associate aggregated data. The DRM data DB 30 holds DRM data composed of nodes and links. The node data includes a node number, position coordinates, node type, number of connection links, connection node number, intersection name, and the like. The link data includes a link number (start / end node number), road type, route number, link length, various traffic regulation information, and the like. The DRM data is generally commercially available.

FIG. 5 is a diagram illustrating an example of searching for candidate links.
As shown in FIG. 5, the node 51 is an intersection or other expression node. The link 53 is a road section between the nodes 51.
Candidate link search means 25 extracts a link 53 existing within a predetermined range from coordinates 45 of the aggregated data. In the example shown in the left diagram of FIG. 5, link A of 53a, link B of 53b, link C of 53c, and link D of 53d are extracted. Next, as shown in the right diagram of FIG. 5, the candidate link search unit 25 drops a perpendicular 55 to the link 53 extracted from the coordinates 45 of the aggregated data. The link 53 in which the vertical line 55 cannot be lowered is excluded from candidates for the candidate link. In the example shown in the right diagram of FIG. 5, since the perpendicular 55 can be drawn down to the link A of 53a and the link B of 53b, the link A of 53a and the link B of 53b are candidates for a candidate link. On the other hand, since the perpendicular line 55 cannot be drawn to the link C of 53c and the link D of 53d, the link C of 53c and the link D of 53d are excluded from candidate links. One of the vertical legs 57 is the nearest point described later.

  The nearest link determination unit 26 determines a nearest link having a direction closest to the moving direction of the aggregated data from the candidate links. That is, the nearest link is determined by comparing the angle indicating the moving direction of the aggregated data calculated by the moving direction calculating unit 24 with the angle indicating the direction of the candidate link calculated from the DRM data. The nearest link is an important determination factor for determining a movement route to be described later.

FIG. 6 is a diagram illustrating an example of determining the nearest link.
In the example shown in FIG. 6, link A of 53a and link B of 53b are candidate links. For these candidate links, there are four link directions: link direction A1 of 59a, link direction A2 of 59b, link direction B1 of 59c, and link direction B2 of 59d. The nearest link determination unit 26 calculates an angle indicating the link direction, and determines the link having the link direction closest to the angle indicating the direction of the moving direction vector 47 as the closest link. In the example shown in FIG. 6, it is determined that the link direction A1 of 59a is the closest link direction, and the link A of 53a is determined as the nearest link.

  The movement route specifying means 27 specifies the movement route using a set of nearest points which are perpendicular feet 57 drawn from the position coordinates of the aggregated data to the nearest link. The nearest point is the perpendicular foot 57 to the nearest link among the perpendicular feet 57 calculated by the candidate link search means 25.

FIG. 7 is a diagram illustrating an example of a set of nearest points 61.
Hereinafter, for example, a link between the node A and the node B is referred to as a link AB. In the example of FIG. 7, there are two nearest points 61 from the departure point 63 to the node A of 51a. Node A of 51a is a branch point, and there are three nearest points 61 on the link AB and one nearest point 61 on the link AH. Therefore, since it is necessary to determine which link is included in the movement route, it is not possible to specify the movement route only by determining the nearest link. In the embodiment of the present invention, two types of logic for specifying a movement route are employed, and it is possible to select which logic is used for processing before starting the processing.

  First, a logic that uses the total number of nearest points and the number of hits for the nearest link will be described as the logic for specifying the movement route. As an example, in the example of FIG. 7, a procedure for determining a movement route to the next node in a state where the movement route from the departure point 63 to the node A of 51a is fixed will be described.

FIG. 8 is a diagram illustrating the total number of nearest points and the total number of nearest links in the example of FIG.
The movement path specifying means 27 uses the node A of 51a as a reference node, reads a predetermined number of nearest points 61 from the node A in chronological order, and calculates the total number of nearest points 61 for each read path. Also, a predetermined number of links are read from node A, and the number of hits for the nearest link is calculated for each read path. Here, the number of hits for the nearest link is defined as a hit for the nearest link when there is even one nearest point 61 on each nearest link, and the number of hits in the reading path is counted. In the example shown in FIG. 8, the number of links read from the node A is up to six links.
Next, the movement route specifying means 27 determines the reading route having the largest total number of the nearest points 61 from the node A to, for example, six links, as a movement route candidate. Further, when there is a read path having the same total number of the nearest points 61 from the node A to the six link destinations, the one having a larger hit number for the links in the read path from the node A to the six link destinations is determined as a candidate. To do.

As shown in FIG. 8, the reading path with the largest total number of the nearest points 61 from the node A is A->B->C->D->E->F-> G, and this reading path moves. It is determined as a route candidate. Then, the movement route specifying means 27 determines to include the link AB in the movement route. Here, if all the links that have read the movement route are confirmed, if there is a dead end or the like, there is a possibility that the arrival point of the movement route (= the last nearest point 61 in time series) cannot be reached. There is a case where an inaccurate movement route is specified.
When it is determined that the link AB is included in the movement route, the same procedure is performed with the node B as the reference node, and all the movement routes are finally determined. In this way, by determining the links to be included in the movement route one by one, an accurate movement route can be specified.

  Next, logic that uses a value obtained by dividing the total number of the nearest points for each nearest link by the length of the nearest link will be described as a logic for specifying the movement route. As an example, in the example of FIG. 7, a procedure for determining a movement route to the next node in a state where the movement route from the departure point 63 to the node A of 51a is fixed will be described.

FIG. 9 is a diagram showing the length of the nearest link in the example of FIG.
The length of the nearest link shown in FIG. 9 is data included in the DRM data.

FIG. 10 is a diagram illustrating a total value of values obtained by dividing the total number of nearest points in the example of FIG. 7 by the link length.
The values shown in FIG. 10 are values calculated using the total number of nearest points for each nearest ring shown in FIG. 7 and the length of the nearest link shown in FIG.
The movement path specifying means 27 uses the node A of 51a as a reference node, reads a predetermined number of nearest points 61 from the node A in chronological order, and calculates the total number of nearest points 61 for each nearest link. Further, a predetermined number of links are read from the node A, and a total value of values obtained by dividing the total number of the nearest points 61 by the length of the nearest link for each reading path is calculated. In the example shown in FIG. 10, the number of links read from the node A is up to six links.
Next, the movement route specifying means 27 determines the reading route having the largest total value obtained by dividing the total number of the nearest points 61 for each nearest link by the length of the nearest link as a candidate for the movement route.

As shown in FIG. 10, the reading path having the largest total value obtained by dividing the total number of the nearest points 61 for each nearest link by the length of the nearest link is A->B->C->D-> E-. >F-> G, and this reading route is determined as a candidate for a moving route. Then, the movement route specifying means 27 determines to include the link AB in the movement route.
When it is determined that the link AB is included in the movement route, the same procedure is performed with the node B as the reference node, and all the movement routes are finally determined. In this way, by determining the links to be included in the movement route one by one, an accurate movement route can be specified.

  Finally, the movement route specifying means 27 verifies the confirmed movement route. This is because some of the nearest links included in the confirmed travel route do not have the nearest point 61. Therefore, verification is performed using the nearest link where the previous and next nearest points 61 exist, and if necessary, the travel route Make corrections.

  The travel time data calculation means 28 calculates travel time data including a link entry time, a link exit time, and a link travel time for each link included in the travel route. The link entry time and link exit time are calculated by performing interpolation calculation if necessary using the time information of the nearest point 61. The link travel time is calculated from the link entry time and the link exit time. Furthermore, the average moving speed within the link can also be calculated using the link length included in the DRM data.

  The travel time data output means 29 outputs travel time data 32. The data output may be written in a database held in the storage unit 5 in a format that is easy to use. Further, it may be transmitted to another computer via the network 19.

Next, details of the operation of the map matching apparatus 1 will be described with reference to FIG.
FIG. 11 is a flowchart for explaining the flow of map matching processing executed in the map matching apparatus 1 according to the present embodiment.

  As shown in FIG. 11, when the probe data is input by the probe data input unit 21 (S101), the control unit 3 divides the mobile sequence by the mobile sequence dividing unit 22 (S102).

Next, the control unit 3 selects a mobile sequence to be processed (S103). The movement sequence is selected, for example, in order of time series of probe data included in the movement sequence.
Next, the control unit 3 generates aggregated data by the aggregated data generation unit 23 (S104).

Next, the control unit 3 selects aggregated data to be processed (S105). The aggregated data is selected, for example, in chronological order of time information held by the aggregated data.
Next, the control unit 3 calculates the movement direction of the aggregated data by the movement direction calculation unit 24 (S106). Then, the candidate link search means 25 searches for candidate links (S107), and the nearest link determination means 26 determines the nearest link from among the candidate links (S108).
Next, the control unit 3 confirms whether the processing has been completed for all the aggregated data (S109).
If the process is not completed, the process is repeated from S105.
If the process has been completed, the process proceeds to S110.

Next, the control unit 3 performs the processing from S110 to S113 by the movement route specifying means 27.
The control unit 3 selects a reference node for processing (S110). The reference node is a starting point in the case of the first processing, and a node related to the link determined in the previous S112 (for example, the link AB is a link determined in the previous S112 in the second and subsequent processing). If there is, it becomes node B).
Next, the control unit 3 determines a moving route candidate (S111), and determines a link to be included in the moving route (S112).
Next, the control unit 3 confirms whether or not all the travel routes have been determined (S113).
If all are not confirmed, the process is repeated from S110.
If all are confirmed, the process proceeds to S114.

Next, the control unit 3 selects a link for processing (S114). For example, the links are selected in chronological order from the link including the departure point of the moving route.
Next, the control unit 3 calculates travel time data by the travel time data calculation means 28 (S115).
Next, the control unit 3 confirms whether the processing has been completed for all the links included in the movement route (S116).
If the process has not ended, the process is repeated from S114.
If the process has been completed, the process proceeds to S117.

Next, the control unit 3 confirms whether the processing has been completed for all the mobile sequences (S117).
If the process has not been completed, the process is repeated from S103.
If the process has been completed, the process proceeds to S118.

  Finally, the control unit 3 outputs travel time data by the travel time data output means 29 (S118), and ends the process.

  As described above, according to the embodiment of the present invention, the control unit 3 locally aggregates the probe data divided into mobile sequence units and creates aggregated data. Next, the control unit 3 calculates a moving direction of the aggregated data and searches for candidate links to associate the aggregated data. Next, the control unit 3 determines the nearest link having the direction closest to the moving direction of the aggregated data from the candidate links, and sets the perpendicular foot drawn from the position coordinates of the aggregated data to the nearest link as the nearest point. And the control part 3 pinpoints the link included in a movement path | route one by one using the set of nearest points, and specifies a movement path | route. Here, the logic for identifying the movement route may be the one using the total number of nearest points and the number of hits for the nearest link, or the value obtained by dividing the total number of nearest points for each nearest link by the length of the nearest link. But it ’s okay.

  According to the embodiment of the present invention, it is possible to provide a map matching apparatus that accurately identifies a moving route on digital road map data from probe data collected by a mobile terminal. In particular, by collecting probe data locally, it is possible to increase the efficiency and speed of processing. Further, by determining the links to be included in the movement route one by one, it is possible to specify an accurate movement route.

  The preferred embodiments of the map matching device and the like according to the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes or modifications can be conceived within the scope of the technical idea disclosed in the present application, and these naturally belong to the technical scope of the present invention. Understood.

Hardware configuration diagram of a computer for realizing the map matching device 1 The block diagram which shows the outline | summary of the function of the map matching apparatus 1 The figure which shows one example which aggregates probe data into aggregate data The figure which shows one example which calculates the movement direction of aggregated data The figure which shows one example which searches a candidate link Figure showing an example of determining the nearest link A diagram showing an example of a set of nearest points 61 Figure showing the total number of nearest points and the total number of nearest links in the example of Fig. 7 The figure which shows the length of the nearest link in the example of FIG. The figure which shows the total value of the value which remove | divided the total number of the nearest points in the example of FIG. 7 by the link length Flow chart explaining the flow of map matching processing

Explanation of symbols

1 ... Map matching device 3 ... Control unit 5 ... Storage unit 7 ... Media input / output unit 9 ... Communication control unit 11 ... Input unit 13 ... Display unit 15 ... Peripheral device I / F section 17 ………… Bus 19 ……… Network

Claims (7)

A map matching device for identifying a moving route on digital road map data composed of nodes and links from probe data including position information and time information,
Mobile sequence dividing means for dividing the probe data group related to the same user into mobile sequence units based on data acquisition intervals;
Aggregated data generating means for generating an aggregated data group that locally aggregates the probe data group related to the same mobile sequence;
A moving direction calculating means for calculating a moving direction of the aggregated data;
Candidate link search means for searching for candidate links to associate the aggregated data;
Nearest link determination means for determining a nearest link having a direction closest to the moving direction from among the candidate links;
A moving path specifying means for specifying the moving path using a set of nearest points that are perpendicular to the nearest link from the position coordinates of the aggregated data;
Equipped with,
The map matching apparatus characterized in that the movement path specifying means uses a value obtained by dividing the total number of the nearest points for each nearest link by the length of the nearest link . Travel time data calculating means for calculating travel time data including a link entry time, a link exit time, and a link travel time for each link included in the travel route;
The map matching apparatus according to claim 1, further comprising: The map matching apparatus according to claim 1 , wherein the movement path specifying unit determines the links to be included in the movement path one by one. A map matching method for identifying a movement route on digital road map data composed of nodes and links from probe data including position information and time information,
Dividing the probe data group pertaining to the same user into mobile sequence units based on data acquisition intervals;
Generating an aggregated data group that locally aggregates the probe data group related to the same mobile sequence;
Calculating a moving direction of the aggregated data;
Searching for candidate links to associate the aggregated data;
Determining a nearest link having a direction closest to the moving direction from among the candidate links;
Identifying the travel path using a set of nearest points that are perpendicular to the nearest link from the position coordinates of the aggregated data;
It includes,
The map matching method characterized in that the step of specifying the movement route uses a value obtained by dividing the total number of the nearest points for each nearest link by the length of the nearest link . Calculating travel time data including a link entry time, a link exit time, and a link travel time for each link included in the travel route;
The map matching method according to claim 4 , further comprising: 5. The map matching method according to claim 4 , wherein the step of specifying the movement route is to determine the links to be included in the movement route one by one. A program that causes a computer to function as the map matching device according to any one of claims 1 to 3 .

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