JP2011075474A - Apparatus for processing position trajectory data, and program thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for processing position trajectory data, capable of generating and/or updating a map by exchanging data through wireless communications between moving vehicles. <P>SOLUTION: The apparatus includes: a position detection unit 20 for detecting a position of own moving body 1 on the earth and for output of position data; a memory 60 for storing position trajectory data containing a plurality of position data; a communication unit 80 for receiving from other moving body 2 primary position trajectory data of the other moving body 2 or the like; and a control unit 40 provided with the function for storing the primary position trajectory data of the own moving body 1 in the memory 60 based on the position data output from the position detection unit 20, the function for storing secondary position trajectory data in the memory 60 based on the primary position trajectory data received from the other moving body 2 or the like by the communication unit 80, and the function for generating annunciation data based on the secondary position trajectory data stored in the memory 60. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an apparatus for processing position trajectory data during movement of a mobile body, and more particularly to imaging of position trajectory data.

  Conventionally, a navigation device that is mounted on a moving body such as a vehicle or can be carried as a portable device is known. A general navigation device detects the position of the owner on the earth by a global positioning system (GPS), matches it with map data stored in advance, and displays it on a screen or the like together with the surrounding area. Further, in such a navigation device, the movement position detected by the moving body is stored as a point for every predetermined time, and the movement path in which each point is continued is shown on the map on the screen as a movement locus. What can be done has been proposed.

  However, in the conventional navigation device, the update of the map data stored in advance is at the user's discretion and cannot be used for 2 to 3 weeks for mailing and writing the hard disk for the update, Since the renewal cost is expensive, it may not be renewed. In this case, the display may indicate that the position of the moving body being used is in a field or mountain forest that is not a road. In order to avoid such a situation, the latest data during actual travel from each mobile unit is provided by communicating with a service center having an update server equipped with a communication device using a large-scale network such as a mobile phone. Is stored in an update server together with official latest traffic data from public authorities or private service companies, and the latest data is reflected in map data in each mobile body (for example, Patent Document 1). reference).

  In addition, from the viewpoint of safety, such as avoiding collisions between moving objects, the position data of each moving object is collided between each moving object with a small-scale wireless device that is directly limited in range with other moving objects. It is known that the display device of each moving body is replaced so that the approaching state of the other moving body is displayed on the display device of each moving body, and the driver is alerted to the approach of the other moving body (for example, Patent Document 2). reference).

  In addition, a moving mobile body equipped with a communication device that uses a large-scale network such as a mobile phone is used as a sensor (probe) to communicate with a service center having a real-time traffic data update server. A system has been proposed that can provide traffic data that reflects the traffic conditions of the city. However, in such a system, since it is necessary to specify a mobile body that transmits data from a plurality of mobile bodies, there is a possibility that privacy such as a driver's stop-by location and staying time is infringed. For this reason, a system has been proposed that does not transmit data from the point of view and its surroundings when the vehicle has been stopped for a predetermined period of time or data until the predetermined period of time has elapsed since the engine was started or the vehicle has moved beyond a predetermined distance from the viewpoint of privacy protection ( For example, see Patent Document 3).

JP-A-2005-227430 JP 2006-338282 A JP 2006-11814 A

  However, in order to obtain the latest map data, the navigation device of Patent Document 1 requires a dedicated device for connecting to an update server using a large-scale network such as a mobile phone, and map update data or The latest traffic data is once aggregated by the server and transmitted from the server to each mobile device. Therefore, the communication at that time is carried out only in the vertical direction communication between the mobile unit mounting device and the server, and the navigation device of Patent Document 1 is the communication in the horizontal direction between the mobile unit mounting devices. Do not implement.

  Moreover, as the map data of the navigation device of Patent Document 1, large-scale common map data in a wide area such as the entire country is used so that it can be used by an unspecified number of users. It also includes local maps that you don't need. Therefore, it is difficult to downsize the navigation device or incorporate it in a small-scale device, and processing time including an unnecessary area that is not necessary for searching or the like is required. In addition, it is not possible to select only a necessary part for improving personal use and to make it a minimum data, or to add arbitrary data for personal use.

  In the apparatus of Patent Document 2, although communication is performed between the mobile bodies, only the notification of the approach of the mobile bodies is notified, and no content that has any influence on the map data by communication is shown. In systems such as Patent Document 3, the latest traffic data is provided using a large-scale network such as a mobile phone, but map data is neither generated nor updated.

  Therefore, in order to solve the above-described problems, the present invention implements a position trajectory data processing apparatus capable of generating and / or updating a map by exchanging data through wireless communication between mobile vehicles, and the data processing thereof. The purpose is to provide a program.

  In order to solve the above-described problems, a position trajectory data processing apparatus according to an embodiment of the present invention is a position trajectory data processing apparatus mounted on one mobile body, and detects the position of the mobile body on the earth. Position detecting means for outputting the position data, storage means for storing the position locus data, and communication for receiving the position locus data of the other moving body from the position locus data processing device mounted on the other moving body. Means, a function of storing the position trajectory data of the own moving body in the storage means based on the position data output from the position detecting means, and a position trajectory data processing device mounted on another moving body by the communication means. A function for storing the position locus data for storage based on the received position locus data in the storage means, and generating notification data based on the position locus data stored in the storage means And a control unit and a function.

  The position detection means only needs to detect the position of the mobile body on the earth and output position data. For example, the position detection means receives a radio wave from a satellite to detect the position (for example, GPS), The position may be detected based on the situation of radio waves from a fixed position (for example, radio waves from a mobile phone base station, a PHS base station, or a wireless LAN base station).

  The position trajectory data may be data indicating the movement trajectory of the moving body. For example, information indicating the recording order of the current position detected every predetermined time (for example, 1 second) (for example, specifying the order) Recording with the number to be recorded, or the order can be recorded in an array or various list structures), or the date and time when the current position was detected in association with the detected current position The configuration can be taken.

  The storage means can be composed of, for example, a memory or a hard disk. In particular, the storage means is preferably a non-volatile storage that can retain the stored contents even when the power supply is cut off, for example, a flash memory.

  The communication means may be configured to be able to receive position locus data from a position locus data processing device mounted on another moving body, and is transmitted from, for example, a position locus data processing device mounted on another moving body. Only a receiver that simply receives position trajectory data (the receiver as a communication means may be configured to perform unidirectional communication that is simply received), and transmits a request to another mobile unit It is good also as a structure which further provides the transmitter which performs and performs two-way communication with another receiver.

  The control means can be configured by, for example, wired logic, but may be configured by a computer (for example, a microcomputer) including a CPU, ROM, RAM, I / O, and the like, and each program is executed by executing a program stored in the ROM. Realize the function.

  The control means has a function of storing the position trajectory data of the own mobile body in the storage means based on the position data output from the position detection means, and a position trajectory data processing device mounted on another mobile body by the communication means. A function of storing position trajectory data for storage based on the received position trajectory data in the storage means; and a function of generating notification data based on the position trajectory data stored in the storage means. The position trajectory data for storage based on the position trajectory data received from the position trajectory data processing device mounted on the other mobile body by the communication means is received from the position trajectory data processing device mounted on the other mobile body by the communication means. The position trajectory data itself may be used, or the position trajectory data received from the position trajectory data processing apparatus mounted on another moving body by the communication unit may be processed. Further, the position trajectory data of the own mobile body and the position trajectory data for storage based on the position trajectory data received from the position trajectory data processing device mounted on the other mobile body by the communication means may have a different data structure. The data structure should be the same. For example, it may be configured to store the date and time when the position is detected in association with the position, or to add and store identification information for identifying the moving object in addition to this information.

  The generation of the notification data based on the position trajectory data stored in the storage means is, for example, storage based on the position trajectory data received from the position trajectory data processing device mounted on another moving body stored in the storage means. A configuration for generating notification data based on the position locus data for use, and a position locus data for storage based on the position locus data received from the position locus data processing device mounted on another moving body stored in the storage means; Various modes such as a configuration in which notification data is generated based on both the position trajectory data of the own moving body stored in the storage unit can be employed. And the produced | generated alerting | reporting data is good to alert | report from an alerting | reporting means.

  For example, position detecting means for detecting the position of the mobile body on the earth and outputting position data, storage means for storing position trajectory data including a plurality of the position data, and positions mounted on other mobile bodies Communication means for receiving the primary position locus data of the other moving body from the locus data processing device, and a function of storing the primary position locus data of the own moving body in the storage means based on the position data output from the position detecting means. And a function of storing secondary position trajectory data based on the primary position trajectory data received from the position trajectory data processing device mounted on another moving body by the communication means in the storage means, and stored in the storage means And a control unit having a function of generating notification data based on the secondary position locus data.

  In this aspect, secondary position trajectory data is generated based on primary position trajectory data from the position trajectory data processing devices mounted on the own mobile body and other mobile bodies, and notification data is generated based on the secondary position trajectory data. By generating, it is possible to reduce false notifications that are likely to occur only with the primary position trajectory data of a single mobile unit, compared with the case where notification is performed based only on the primary position trajectory data from the own mobile unit. Accuracy can be improved.

  Preferably, it has a traveling direction determination means for determining a traveling direction of the mobile body, and the control means includes the position trajectory data received from the position trajectory data processing device mounted on each of the other mobile bodies. You may make it produce | generate the said alerting | reporting data using the position locus data in the advancing direction of the said mobile body determined by the advancing direction determination means.

  The traveling direction determination means is configured to determine the traveling direction of the own mobile body from, for example, the position trajectory data of the own mobile body (for example, from the position trajectory data of the own mobile body based on the position data output from the position detection means) Or a configuration for determining using various sensors such as a GPS, a gyroscope, a geomagnetic sensor, and a steering angle sensor. Also good. Moreover, it is good also as a structure determined based on the information from in-vehicle LAN etc. which a vehicle has.

  According to this aspect, by detecting the traveling direction, it is possible to know in advance the route that will proceed, and by using the position trajectory data of other mobile objects in the traveling direction with priority, Even when the processing capacity of the moving body is insufficient with respect to the processing load, it is possible to reliably grasp the destination path during the operation (operation) of the moving body.

  For example, it has a traveling direction determining means for determining the traveling direction of the moving body from the primary position locus data of the moving body, and the control means is a position locus data processing device mounted on each of the other moving bodies. Of the received primary position trajectory data, at least primary position trajectory data of the other moving body in the traveling direction of the own moving body determined by the traveling direction determining means is generated to generate notification data of the own moving body It can be set as the structure to do.

  In addition, for example, as a function of generating notification data based on the position trajectory data stored in the storage means, other than being within a predetermined range of the left turn and the right turn in the traveling direction (for example, a predetermined angle range from the traveling direction center line) If the configuration is such that the notification data is generated by giving priority to the position trajectory data of the moving body, it will proceed during the maneuvering (driving) of the moving body not only when going straight, but also when making a right or left turn on the way It is possible to grasp the previous route status, the number of other moving bodies in the route, the traveling direction, and the like.

  Preferably, there is a traveling direction determination means for determining a traveling direction of the own mobile body, and the position trajectory data received from the position trajectory data processing device mounted on the other mobile body includes each of the other mobile bodies. Position data and travel direction information at a position, wherein the control means is determined by the travel direction determination means among the position trajectory data received from the position trajectory data processing device mounted on each of the other moving bodies. You may make it generate | occur | produce the alerting | reporting data of the said mobile body using the position locus data which substantially corresponds to the advancing direction of the mobile body, or is substantially opposite.

  According to this aspect, when the notification data is generated, the notification data related to the traveling direction is generated by using the position trajectory data of the other moving body in which the traveling direction matches or is opposite to the moving body. And the accuracy of the content to be notified can be improved. For example, when using the position trajectory data of the other moving body facing the direction in which the traveling direction coincides with the own moving body, the position trajectory data of the other moving body facing the direction in which the traveling direction coincides with the own moving body Should be used preferentially.

  In addition, when only the position trajectory data of the other moving body facing the direction in which the traveling direction coincides with the own moving body is used, the position of the moving body in the side or side road, right turn / left turn direction to generate notification data Since the possibility of using the trajectory data can be reduced, it is possible to improve the accuracy of the notification content regarding the traveling direction.

  For example, there is a traveling direction determination means for determining the traveling direction of the moving body from the position locus data of the moving body, and the primary position locus data received from the position locus data processing device mounted on the other moving body Includes position data and traveling direction information at each position of the other moving body, and the control means includes primary position locus data received from a position locus data processing device mounted on each of the other moving bodies, The notification data of the self-moving body can be generated by including at least primary position trajectory data that substantially matches or substantially faces the traveling direction of the self-moving body determined by the traveling direction determination means.

  Preferably, the control means may generate road information indicating a road position based on a distribution situation of each position data in the position trajectory data stored in the storage means as the notification data.

  As a configuration for generating road information indicating the position of the road based on the distribution status of each position data in the position trajectory data, for example, received from a position trajectory data processing device mounted on another moving body stored in the storage means Configuration for generating road information indicating the position of the road based on the distribution status of each position data in the position locus data for storage based on the position locus data, and position locus data mounted on other moving bodies stored in the storage means Road information indicating the position of the road based on the distribution status of each position data in both the position trajectory data for storage based on the position trajectory data received from the processing device and the position trajectory data of the moving body stored in the storage means. The structure to generate can be taken. The generation of road information indicating the position of the road based on the distribution status of each position data means, for example, that the road information is generated with the area having a high distribution density of each position data as the road position, or storage means It is good to use road information where the position where the position data of the position trajectory data of the self-moving body stored in FIG.

  For example, a road in which the position of the trajectory with a large amount of traffic is identified as a road by extracting a region with a high distribution density of each position data in the position trajectory data from the distribution status of the position trajectory data stored in the storage means on the earth plane By generating information, new roads, detours for construction, and the like can be displayed.

  Further, when creating notification data, it is possible to specify a mobile body on the transmission side from the reception side by selecting and using only the data of the portion where the position trajectory data of a plurality of mobile bodies overlaps regionally. It becomes difficult, and the privacy of the mobile body on the transmission side can be protected.

  For example, the control means may generate secondary position trajectory data that can specify the position of a road on the earth based on the distribution status of each position data in the primary position trajectory data as the notification data.

  Preferably, the position trajectory data received from each of the other moving bodies includes information capable of detecting the speed at each position of each of the other moving bodies, and the control means converts the speed into information that can be detected. Based on this, the number and speed of each of the other moving bodies on the road are detected, the number of the moving bodies within a predetermined range on the road is greater than or equal to a predetermined number, and the speed of each of the moving bodies indicates a main road. When it is equal to or greater than the predetermined value, notification data for determining that the road is a main road may be generated.

  According to this aspect, in addition to the density of moving objects within a predetermined range considered to be on the road, by detecting the speed and number of moving objects, if the speed and the number of individuals are large, the identification By making the completed road a main road, for example, the main road can be separated from a general road and notified to the user. Further, if only the determined main road is stored in the map data storage unit, the storage capacity can be reduced.

  For example, the position trajectory data received from each of the other moving bodies includes information capable of detecting the speed at each position of each of the other moving bodies, and the control means is based on the information capable of detecting the speed. Detecting the number and speed of each of the other moving bodies on the road specified by the primary position locus data, and the number of the moving bodies within a predetermined range on the road is equal to or greater than a predetermined number, If the speed is equal to or higher than a predetermined value indicating a trunk road, notification data that determines that the road is a trunk road may be generated.

  Preferably, the position trajectory data received from each of the other moving bodies includes information capable of detecting the speed at each position of each of the other moving bodies, and the control means converts the speed into information that can be detected. Based on this, the speed of each of the other moving bodies on the road is detected, and if the speed of each of the moving bodies on the road is equal to or lower than a predetermined value indicating traffic jam, notification data that determines that the traffic jam has occurred is generated for the road. You may do it.

  According to this aspect, in addition to the density of the moving body within a predetermined range considered to be on the road, it is possible to generate notification data of occurrence of the traffic jam on the road by detecting a decrease in the speed of the mobile body, Therefore, it is possible to avoid the danger of a rear-end collision at the end of the traffic jam, or to change the route to a detour to avoid the traffic jam. In addition, by knowing the decrease in speed on the route ahead, you can know the occurrence of construction traffic and natural traffic on the route ahead (speed and length of traffic), and conversely the route ahead By knowing the speed increase at, it is possible to know in advance the state of elimination of traffic congestion along the route.

  For example, the position trajectory data received from each of the other moving bodies includes information (for example, time data) capable of detecting the speed at each position of each of the other moving bodies, and the control means detects the speed. Based on the possible information, detecting the speed of each of the other moving bodies on the road specified by the primary position trajectory data, and when the speed of each of the moving bodies on the road is below a predetermined value indicating traffic jam, You may make it generate | occur | produce the alerting | reporting data determined that traffic congestion generate | occur | produced about the road.

  Preferably, the vehicle has at least setting means for setting the classification of the own mobile body, and the position trajectory data received from the position trajectory data processing device mounted on the other mobile body has the classification setting. The control means includes the setting data on the classification in the position trajectory data received from the position trajectory data processing device mounted on the other moving body, the setting means set by the setting means Based on the received position trajectory data of the setting data related to the classification of the mobile object, notification data for the mobile object of the classification may be generated.

  According to this aspect, by setting and classifying the moving body by the setting means, the position trajectory data can also be classified, and notification data suitable for each classification can be generated.

  For example, the position trajectory data received from a position trajectory data processing device mounted on the other mobile object has setting means for setting at least the classification of the own mobile object. The control means includes setting data, and the control means sets the classification data in the position trajectory data received from the position trajectory data processing device mounted on the other moving body, and sets the classification means. Based on the position trajectory data of the setting data related to the classification of the moving object, the notification data for the moving object of the classification may be generated.

  Preferably, the setting on the classification of the moving object may include at least one of dimension data for classifying the moving object by size and application data for classifying the moving object by application.

  For example, the setting on the classification of the moving object is set including at least one of dimension data for classifying the moving object by size or application data for classifying the moving object by application, and the control means The primary position trajectory data may be generated by including at least one of the dimension data and the application data.

  For example, by generating primary position trajectory data in which the moving body is classified according to size or use, it is possible to obtain primary position trajectory data more suitable by narrowing down to the size and use of the moving body.

  Preferably, the setting data on classification of the mobile object includes dimensional data for classifying the mobile object as at least large in size, and application data for classifying the mobile object as business or personal use. The control means includes a predetermined number of the moving object classification setting data within a predetermined range on the road, and the moving object is data for business use. As described above, when the speed of each moving body is equal to or higher than a predetermined value indicating the highway, notification data for the highway may be generated.

  For example, when the speed and the number of individuals of a moving body having a large size are large, when setting the secondary position trajectory data, it is set as an expressway, thereby generating notification data for the expressway separately from the general road be able to.

  Preferably, the position trajectory data includes behavior data indicating the behavior of the moving object in association with each position data in the position trajectory data, and the control means includes a position data including the position data selected by the behavior data. The notification data may be generated based on the trajectory data.

  According to this aspect, the position trajectory data can be made to correspond to the specific behavior of the moving body by selecting and notifying the position trajectory data based on the behavior data of the moving body. Therefore, since the position on the earth corresponds to the behavior of the moving object, it becomes possible to use the behavior data as a trigger for another measurement, and to specify the range with the behavior data, and to start transmitting the position trajectory data Alternatively, it is possible to determine the position where the use is started and to notify the movement range after the behavior has occurred.

  For example, the position trajectory data includes behavior data indicating the behavior of the moving body in association with each position data in the position trajectory data, and the control means includes a primary position including position data selected by the behavior data. The notification data may be generated based on the trajectory data.

  In order to solve the above problems, the behavior data includes various physical quantity detection data detected by various physical quantity detection devices provided on the moving body, and image data captured by an imaging unit provided on the moving body. Position trajectory data including at least one of character data recognized from the image data by the optical character recognition means provided on the moving body, and the control means includes position data selected by the behavior data The notification data may be generated based on the above.

  According to this aspect, by specifically specifying the behavior data of the moving body as at least one of physical quantity detection data, captured image data, and character recognition data, explanation and assertion at the time of exercise of rights can be facilitated.

  In order to solve the above problem, the storage means stores map data, and the control means adds secondary map data added by matching the position trajectory data of the moving body on the existing map data, You may make it produce | generate as the said alerting | reporting data.

  According to this aspect, the existing map data in the range through which each moving body has passed can be updated by matching the position trajectory data generated on the existing map and overlapping it.

  In addition, when the notification data is a map image, it tends to be biased secondary map data only from the position trajectory data of the own mobile body, but it is possible to use general-purpose by determining together with the position trajectory data of other mobile bodies. Secondary map data can be created.

  Preferably, the existing map data includes POI (point of interest: digital contents such as facility information and spot information linked with position data) data, and the control means includes the POI data and includes the secondary data. Map data may be generated.

  According to this aspect, it is possible to improve the usability of the displayed map by matching the POI data on the secondary map data and superimposing it.

  Preferably, each position data in the position trajectory data of each of the mobile objects is associated with time data at each position of the mobile object, and the control means includes the movement trajectory data and the position data associated with the time data. And based on the existing map data including the POI data, a record including a route through which the mobile body has passed and a drop-in facility may be created as the notification data.

  According to this aspect, it is possible to create a simple digital daily report by recording the stoppage time of each POI data on the secondary map data to the facility.

  Preferably, the self-moving body has an imaging unit that images at least the front and outputs image data, and the control unit adds the image data from the imaging unit to a record including the route and the stop-off facility that has passed. You may do it.

  According to this aspect, by adding image data to a simple digital daily report, the amount of information and reliability increase, and a reliable daily report can be created.

  Preferably, the moving body has optical character recognition means for recognizing characters from the image data and outputting character data, and the control means is configured to record from the image data in a record including the route and the stop-off facility. Character data that has been recognized may be added by matching.

  According to this aspect, it is possible to easily include place names, facility names, and the like that are difficult to understand only by the image, by adding the character data that has been character-recognized to the image data.

  Preferably, the storage unit stores a predetermined keyword, and the control unit may generate the notification data by including the character data when the character data corresponds to the keyword. .

  According to this aspect, the name of the place, the name of the facility, and the like can be easily included in the secondary map data by comparing the character data that has been recognized in the image data with the keyword and adding the neglect. This is especially effective when it is difficult to understand only with images.

Preferably, the communication means can transmit at least position locus data, and the control means determines position locus data to be transmitted to another mobile body based on the position locus data stored in the storage means. It may have a function of transmitting from the communication means.

  According to this aspect, by selectively determining and transmitting position trajectory data to be transmitted to other mobile objects, it is possible to reduce the amount of communication, the amount of storage elements, and improve the communication speed. it can.

  Preferably, the control means may determine the position trajectory data to be transmitted to the other moving body by selecting a predetermined pattern from the position trajectory data stored in the storage means.

  According to this aspect, by selecting the transmission data in a predetermined pattern (for example, intermittently at a predetermined time, a position in a predetermined range), a minimum amount of data required for setting the position trajectory data, It becomes possible to protect the privacy of the mobile body on the transmission side, and the storage amount and the transmission amount can be suppressed without impairing the accuracy of the notification data.

  Preferably, the control means has the position trajectory data of the mobile unit at a position close to the position trajectory data received from the position trajectory data processing device mounted on the other mobile unit as the predetermined pattern. The adjacent position locus data may be selected.

  According to this aspect, the data that is close to the position trajectory data of another moving body is data that is difficult to specify any of the plurality of moving bodies and has low individual specificity. However, the privacy of the mobile unit on the transmitting side is protected, and the data amount for setting the location trajectory data increases due to the proximity of the data of its own and other mobile units, so the setting accuracy of the location trajectory data and the secondary map data The reliability of the map image can be increased and the accuracy of the map image can be increased.

  Preferably, the apparatus has storage position setting means for setting at least a storage position of the mobile body, and the control means is within a predetermined range around the storage position of the mobile body set in the storage position setting means. The position trajectory data of the own mobile body may not be selected as data to be transmitted to another mobile body.

  According to this aspect, by not transmitting the position trajectory data around the storage location to other mobile units, the storage location of the mobile unit on the transmission side is not known to the reception side, and privacy can be protected.

  Preferably, the communication unit is capable of transmitting / receiving request range information of position trajectory data, and the control unit is a request range for requesting transmission to a position trajectory data processing device mounted on another mobile body by the communication unit. And a function of selecting position trajectory data in the range indicated by the requested range information of the position trajectory data received by the communication means as the predetermined pattern.

  According to this aspect, since the communication amount and the processing amount are limited to the range of the request range information of the position trajectory data, the storage amount and the transmission amount can be effectively suppressed. The requested range information of the position trajectory data can be, for example, position information indicating the range.

  In order to solve the above problems, in the program of the position trajectory data processing apparatus according to the embodiment of the present invention, the function of the control means in the position trajectory data processing apparatus of the present invention is realized by a computer.

  According to this aspect, by implementing the function of the control unit by a computer program, the content that can be implemented only by the computer and the storage unit in the control unit is increased, and the number of individual hardware can be reduced. In addition, when changing or improving the contents of the position trajectory data processing, it is possible to cope with it simply by updating the program, so that hardware changes that are expensive and time-consuming can be reduced.

  According to the present invention, it is possible to provide a position trajectory data processing device capable of generating and / or updating a map by exchanging data through wireless communication between mobile vehicles, and a program for executing the data processing by a computer. it can.

It is a block diagram which shows the internal structure of a part of 1st moving body in which the position trace data processing apparatus of one Embodiment of this invention is mounted with the internal structure of a part of 2nd moving body. It is a block diagram which shows the internal structure of a part of 1st moving body in which the position trace data processing apparatus of one Embodiment of this invention is mounted with other several moving bodies. It is a block diagram which shows the internal structure of the position locus data processing apparatus of the 1st moving body of FIG. (A)-(d) shows the relationship between the position locus | trajectory of three mobile bodies in which the position locus | trajectory data processing apparatus of one Embodiment of this invention is mounted, and a transmission timing position, (a) is the whole process of three units | sets. (B) shows the transmission position in the transmission trajectory during the entire stroke of the B car, (c) shows the transmission position in the transmission trajectory of the B car (b) and C It is a figure which shows the transmission position in the transmission locus | trajectory of a part of vehicle, and (d) shows the transmission position in the transmission locus | trajectory of the whole process of A car and C car which adjoined the B vehicle of (c). (A), (b) shows the position locus | trajectory of three mobile bodies in which the position locus data processing apparatus of one Embodiment of this invention is mounted, (a) exists in the predetermined angle of the advancing direction of C vehicle. It is a figure which shows the transmission position in the transmission locus | trajectory of A vehicle and B vehicle, (b) shows the transmission position in the transmission locus | trajectory of B vehicle which advances to the opposing direction of the advancing direction of C vehicle. It is a flowchart which shows an example of the processing flow of the 1st moving body of one Embodiment of this invention. It is a flowchart which shows the relationship of the data transmission / reception of the 1st mobile body-4th mobile body of one Embodiment of this invention. It is a figure which shows an example of the hardware constitutions in the 1st mobile body 1 of FIG.

  The position trajectory data processing apparatus 10 according to the embodiment of the present invention shown in FIGS. 1 to 3 is mounted on the first moving body 1 to the seventh moving body 7. Moreover, in the following description, the 1st moving body 1 is shown as the self-moving body 1 which a user steers or drives, and the other moving body which another person steers or drives the 2nd moving body 2-the 7th moving body 7 Also shown as 2-7. Further, in the present embodiment, the case where there are six other moving bodies from the second moving body 2 to the seventh moving body 7 is shown, but it is sufficient that at least one other moving body is one or more. Even with the above, the present invention can be implemented, and if there is a margin in the processing capability of the own mobile body, it is possible to obtain secondary trajectory data and the like with higher accuracy as the number of other mobile bodies increases.

  The first moving body 1 to the seventh moving body 7 are vehicles that can pass through the road, and there are no restrictions on the size and form as long as the position trajectory data processing device 10 can be mounted together with a power source (not shown). Each of the moving bodies 1 to 7 is, for example, a typical vehicle, but is not limited to a four-wheeled vehicle. Even if it is a car, if it can mount a power supply and the position locus data processing apparatus 10, it can include in the mobile bodies 1-7. The size of the four-wheeled vehicle is not limited, including light cars, regular cars, medium-sized cars, large-sized cars, and special vehicles. Also, the use of vehicles for private vehicles such as hire / taxi, truck, bus, etc. is for personal use. This includes vehicles for both personal use and business use.

  The position trajectory data processing device 10 in the first moving body 1 can communicate with other moving bodies 2 to 7 via the radio 800. The other moving bodies 2 to 7 include at least the position trajectory data processing device 10 and may have the same configuration as the first moving body 1. The other mobile units 2 to 7 are preferably located within a range where the radio wave transmission output can be directly reached. For example, the other mobile units 2 to 7 are preferably located adjacent to or near the first mobile unit 1. Even when a distance of several tens of meters or a distance of several hundred meters is present, position trajectory data can be obtained as long as radio waves can be directly transmitted and received.

  In the position trajectory data processing apparatus 10 of the present embodiment, at least the position detection unit 20, the timing unit 30, the control unit 40, the storage unit 60, the communication unit 80, the traffic data detection unit 81, the setting unit 82, and the imaging unit 85. A behavior data acquisition unit 87, an optical character recognition unit 89, an image output unit 90, and an image display unit 95. The components of these parts may be physically integrated or close to each other, or may be separately arranged.

  The position detection unit 20 receives signals from several satellites in the satellite orbit, detects the current position on the earth of the own mobile body (first mobile body) 1 by three-dimensional positioning, and outputs position data. . The position data is, for example, data arranged at a specific point on a display screen such as a map. For example, when the position detection unit 20 is a global positioning system (GPS), the receiver obtains time data and satellite orbit data from signals from a satellite equipped with four atomic clocks, and the clock inside the receiver. The distance from each satellite is calculated by calculating the time difference from transmission to reception and the propagation speed of the radio wave while calibrating. If the distance from the three satellites can be obtained, a point in space can be determined. As described above, the GPS receiver detects the latitude and longitude of the current position of the moving object on the earth together with the time, thereby outputting position data of longitude and latitude that can specify the position as a point on the earth.

  Note that the position data obtained from GPS etc. can be detected by receiving GPS signals containing accurate time information from each satellite as described above. It is possible to associate data and time information, to continuously output position data and time information, to add time information to position data, or to embed time information in position data. Therefore, position data obtained from GPS or the like can be output or stored in chronological order.

  The timer 30 measures the time based on the current time information obtained from the position detector 20 or the built-in clock, for example, measures the time when the position data is detected by the position detector 20. A built-in clock such as a quartz clock can be used as the timekeeping unit 30, but when the position detection unit 20 is equipped with a GPS receiver, it is based on an atomic clock for position measurement inside the GPS receiver. Since a more accurate time is obtained, that time may be used.

  The control unit 40 includes a computer that can perform various calculations and various processes, and is input from position data (including time data) of the current position detected by the position detection unit 20 and external moving bodies 2 to 7. Various calculations and various processes based on the trajectory data are performed by the computer. Note that the computer of the control unit 40 includes, for example, a CPU for performing calculations and processes, a program executed by the CPU, a ROM / RAM for storing data necessary for the processes, a semiconductor element having an I / O, and the like. In addition, each arithmetic processing and process control of the present invention may be implemented by executing a program with an arithmetic element such as a CPU. The hardware configuration inside the moving body including the control unit 40 will be described later with reference to FIG.

  The control unit 40 includes a position data selection unit 41, a primary position locus data generation unit 42, a transmission data selection unit 43, a locus data density determination unit 44, a secondary position locus data generation unit 45, a notification data generation unit 46, and a traveling direction determination. A unit 47, a moving speed / distance calculating unit 48, a moving body number calculating unit 49, a moving route situation analyzing unit 50, an image matching unit 51, a diary / daily report data generating unit 52, and a keyword matching unit 53. The functions of these units are implemented by executing a program on a computer.

  The position data selection unit 41 selects the position data continuously output from the position detection unit 20 of the self-moving body 1, and for example, selects the position data in order of time and stores them in the position data storage unit 61. The position data selection unit 41 may select and store the position data intermittently according to a predetermined selection condition in order to reduce the usage amount (storage amount) of the storage unit 60 and the communication amount of the communication unit 80. The predetermined selection condition is a condition that, for example, when position data is continuously input, 10 points per second are selected from the continuous position data. In this embodiment, intermittent selection is performed by the position data selection unit 41 in the control unit 40, but may be selected and output by the position detection unit 20.

  The primary position locus data generation unit 42 generates primary position locus data of the mobile body 1 based on the position data output from the position detection unit 20 and stores the primary position locus data in the primary locus data storage unit 65 of the storage unit 60. For example, when the position data obtained from the position detection unit 20 is continuous, the primary position trajectory data generation unit 42 can sequentially plot the points of each position data on the virtual earth plane on the map in time order. The primary position trajectory data of the continuous line is generated. On the other hand, when the position data is intermittent, even if the points of the respective position data are plotted as they are in the time order, they are discontinuous. Connect to generate data.

  The primary position trajectory data is, for example, the position data output from the position detection unit 20 is continuously arranged, or the position data is arranged close together so that the position data can be seen continuously at the time of display, or the position data May be generated as a form in which each position data which is temporally changed is connected (linked) with a straight line or the like. In addition, when displaying the notification data based on the primary position trajectory data on the display screen, for example, as the notification data, a trajectory synthesized on a map display based on the existing map data, a trajectory not displaying the existing map, or Regardless of whether or not the trajectory is displayed, the result of the proximity state detection process or determination process with other roads, facilities, etc., and a warning or the like may be displayed.

  When primary position trajectory data is used for various detection processes or determination processes in order to generate notification data, the detection or determination results are notified by, for example, audio output or optical output, or on the display screen. It is possible to notify by drawing at least a part of the primary position trajectory data. Further, using the primary position trajectory data of the own mobile body and other mobile bodies, a route that is preferred by the user or the general public, or a route that is frequently used may be searched. . Further, the primary position locus data generation unit 42 configures primary position locus data by associating the position data selected by the position data selection unit 41 with the behavior data acquired by the behavior data acquisition unit 87, for example. Also good.

  Further, when the primary position trajectory data generation unit 42 obtains continuous primary position trajectory data from intermittently stored position data, for example, intermittent points of each position data are plotted in time series on the virtual earth plane. Then, it may be connected by a straight line, or intermittent points of each position data may be connected by a straight line first and then plotted. Thus, the primary position locus data generation unit 42 can generate continuous primary position locus data. The generated primary position locus data is stored in the primary locus data storage unit 65 in the storage unit 60 by the primary position locus data generation unit 42. Thus, by making transmission data intermittent every predetermined time, it is possible to achieve both the minimum amount of data required for setting a traffic route and the suppression of the communication amount and the storage amount. Further, the primary position trajectory data generation unit 42 can protect the privacy of each mobile body on the transmission side by adopting data of a place where position trajectory data of a plurality of mobile bodies described later overlaps.

  In addition, when the primary position locus data is not continuous even when the primary position locus data generation unit 42 receives the primary position locus data from the other mobile units 2 to 7 by the communication unit 80, On the other hand, the same processing as in the case of the self-moving body 1 described above may be performed to generate continuous primary position trajectory data and store it in the storage unit 60. When the received primary position locus data is continuous, the primary position locus data may be stored in the primary locus data storage unit 65 in the storage unit 60 as it is.

  The primary position trajectory data generation unit 42 generates identification (ID) code data for individually recognizing each moving object and additional information when generating each primary position trajectory data including position data and time data. As follows: Each output of the trajectory data density determination unit 44, travel direction determination unit 47, movement speed / distance calculation unit 48, and number-of-moving-objects calculation unit 49 acquired and detected by the own mobile unit 1, It may be generated by adding the storage contents such as 69 classifications and behavior data.

  The transmission data selection unit 43 selects data corresponding to a predetermined pattern from the primary position trajectory data stored in the primary trajectory data storage unit 65 in the storage unit 60, and the other mobile units 2 to 7 are selected by the communication unit 80. Send to. In this way, the primary position trajectory data transmitted to other mobile objects is selectively selected according to a predetermined pattern, for example, intermittently at predetermined time intervals, at a predetermined range, at a predetermined speed or higher, or at a predetermined recording density or higher. By transmitting to other mobiles in a limited manner, the amount of communication, the amount of storage elements, etc. can be reduced and the processing speed and communication speed can be improved, and the minimum for setting the primary position trajectory data In addition to securing the necessary amount of data, it is possible to simultaneously balance the transmission of data to protect the privacy of the transmitting mobile body.

  Here, the predetermined pattern is, for example, an interval of distances on the plane of each position data constituting the position trajectory data, an interval of recorded time of each position data constituting the position trajectory data, or both of them. The combination can be selected and limited, and the interval may be a constant value. That is, when selecting the position data of the next selected position or time, the position data of a range or time away from the previously selected position data by a predetermined time or position may be selected.

  In addition, as the predetermined pattern, when the primary position trajectory data of the own mobile body 1 exists at a position close to the primary position trajectory data received from the other mobile bodies 2 to 7, the adjacent primary position trajectory data is selected. It may be. In this case, the data close to the primary position trajectory data of the other mobile bodies 2 to 7 is difficult to specify any of the adjacent mobile bodies, and becomes data with low individual specificity. Therefore, even if the transmission data selection unit 43 transmits the adjacent data, the privacy of the transmitting mobile body 1 is protected, and the primary position locus data is set by the proximity of the data of the other mobile bodies 2 to 7. As a result, the amount of data to be increased increases, the accuracy of setting the primary position trajectory data and the reliability of the secondary map data can be increased, and the accuracy of the map image can be increased.

  In addition, by setting the storage position of the mobile body 1 in advance by the setting unit 82, the primary position trajectory data of the mobile body 1 within, for example, 500 m or 1 km from the storage position of the mobile body 1 is set as a predetermined pattern. You may make it exclude. As a result, the transmission data selection unit 43 uses the other mobile units 2 for the primary position trajectory data within the predetermined range around the storage position of the mobile unit 1 set in the setting unit 82. 7 is not selected as data to be transmitted. By not transmitting the primary position locus data around the storage location of the mobile unit 1 to the other mobile units 2 to 7, the storage location of the mobile unit 1 on the transmission side is known to the mobile units 2 to 7 on the reception side. And the privacy of the user of the mobile unit 1 can be protected.

  Also, the transmission data selection unit 43 adds the density of the trajectory data, the traveling direction, the moving speed / distance, the number of moving objects, the classification of the moving objects, and the primary position trajectory data generation unit 42 to the primary position trajectory data. The behavior data and the like are selected as they are added to the primary position trajectory data as they are, and transmitted from the communication unit 80 to the destination mobile units 2 to 7.

  The trajectory data density determination unit 44 determines the density distribution of each primary position trajectory data stored in the primary trajectory data storage unit 65. The density distribution can be determined, for example, by calculating the number of primary position trajectory data within a predetermined range, or the degree of proximity (distance) of each primary position trajectory data.

  The secondary position trajectory data generation unit 45 generates secondary position trajectory data based on the primary position trajectory data received from at least the other mobile units 2 to 7 by the communication unit 80, and stores the secondary position trajectory data. To remember. At that time, the secondary position trajectory data generation unit 45, for example, primary position trajectory data composed of the position data of the own mobile body 1, and primary position trajectory data received from the other mobile bodies 2 to 7 by the communication unit 80, On the basis of the above, a part of the primary position locus data may be generated as the secondary position locus data, and the secondary position locus data may be stored in the secondary locus data storage unit 66 of the storage unit 60.

  When generating secondary position trajectory data from a part of the primary position trajectory data, for example, the secondary position trajectory data generation unit 45 records, for example, a plurality of primary position trajectory data in duplicate and has a high density portion of the mobile unit 1. Arbitrary data may be selected and used from primary position locus data or primary position locus data received from other moving bodies 2 to 7. When selecting the secondary position locus data from the primary position locus data, for example, the accumulated primary position locus data corresponding to a predetermined period such as the latest one day, one week, or one month, the time The primary position trajectory data received from a mobile object whose average speed calculated from information and position data is equal to or higher than a predetermined speed, or the position interval of each position data constituting the position trajectory data is large or recorded in the same area. You may make it select the thing applicable to conditions, such as short (high density) primary position locus data. The predetermined speed may be selected from, for example, 10 km / hour, 30 km or more, 50 km or more, or 100 km or more. As the secondary position trajectory data to be selected by the own mobile body 1, any one of the received primary position trajectory data is selected from the plurality of received primary position trajectory data and the primary position trajectory data of the own mobile body 1. Alternatively, the primary position trajectory data of the moving body 1 may be selected. By selecting in this way, it is possible to select primary position trajectory data with high accuracy as a road as secondary position trajectory data.

  Alternatively, when generating the secondary position trajectory data from a part of the primary position trajectory data, the secondary position trajectory data generation unit 45, for example, synthesizes the selected primary position trajectory data as the secondary position trajectory data, or Data may be generated by processing. The processed secondary position trajectory data of the mobile body 1 is, for example, data obtained by combining the received primary position trajectory data and the primary position trajectory data of the mobile body 1, the received primary position trajectory data and the mobile body 1. Data obtained by combining a part of the data selected from the primary position trajectory data, and a combination of the received primary position trajectory data and a part of the data selected from the primary position trajectory data of the mobile unit 1 under a predetermined condition. It is. By synthesizing in this way, the position accuracy can be improved when the secondary position trajectory data is used as a road.

  As described above, “based” in “secondary position locus data based on primary position locus data received from other moving bodies 2 to 7” includes a plurality of received primary position locus data and the primary position of the own moving body. When selecting one primary position trajectory data from data including trajectory data, when simply combining a plurality of received primary position trajectory data, after selecting a part from the received plurality of primary position trajectory data The case where the above synthesis or combination is performed (selectively synthesized) includes the case where the combinations are performed according to predetermined conditions. That is, the secondary position trajectory data based on the received primary position trajectory data includes, for example, the primary position trajectory data itself received from the other mobile bodies 2 to 7 and the primary position trajectory data received from the other mobile bodies 2 to 7. And data obtained by processing the primary position trajectory data received from the other moving bodies 2 to 7.

  In order to generate secondary position trajectory data based on the primary position trajectory data, for example, the secondary position trajectory data generation unit 45 performs primary processing on all primary position trajectory data from the moving body 1 and the other moving bodies 2 to 7. Stored in the trajectory data storage unit 65, the trajectory data density determination unit 44 determines the density (distribution status) of the primary trajectory in a predetermined region, and generates the data selected or synthesized from the dense portion as the secondary position trajectory data. To do. Further, the secondary position trajectory data generation unit 45 may generate secondary position trajectory data capable of specifying the position of the road on the earth based on the distribution status of each position data in the primary position trajectory data as the notification data. Good.

  In that case, the secondary position trajectory data generation unit 45 extracts the primary position trajectory data from the primary position trajectory data, for example, from a high density area based on the distribution of the primary position trajectory data on the earth plane, thereby generating the secondary position trajectory data. Since the position of a trajectory with a large amount can be specified as a road, it can correspond to a new road, a detour for construction, and the like. Further, the secondary position trajectory data generation unit 45 associates each position data constituting the primary position trajectory data with the behavior data acquired by the behavior data acquisition unit 87 and stored in the behavior data storage unit 70. Position trajectory data may be generated. When the existing map data in the map data storage unit 67 is associated with the POI data in the POI data storage unit 71 or includes the POI data in the existing map data, the secondary position trajectory data generation unit 45 displays the POI data. May be included to generate secondary map data.

  In addition, the secondary position trajectory data generation unit 45 of the present embodiment may obtain, for example, an average value or a center value of each primary position trajectory data recorded in the primary trajectory data storage unit 65, and a plurality of nearby movements After comparing the data with the body and weighting the data based on the distance, a statistical processing result such as an average value obtained from a large number of data may be used as the data to be compared.

  The notification data generation unit 46 generates notification data based on the primary position locus data or the secondary position locus data stored in the storage unit 60. More specifically, the notification data generation unit 46 is generated based on the primary position locus data stored in the primary locus data storage unit 65 of the storage unit 60 or the primary position locus data, and is stored in the secondary locus data storage unit 66. Notification data is generated based on the secondary position trajectory data. The notification data generation unit 46 can use various data based on the primary position trajectory data or the secondary position trajectory data as the notification data. For example, the primary position trajectory data generated by the primary position trajectory data generation unit 42 or The machining data or the data determined by the machining data, the secondary position locus data generated by the secondary position locus data generation unit 45, the machining data, the data determined by the data, or the like can be used.

  In addition, when the notification data generation unit 46 includes, for example, the setting data on the classification of each of the mobile bodies 2 to 7 in the primary position trajectory data received from the other mobile bodies 2 to 7, from the received primary position trajectory data, Of these, the setting data on the classification is related to the classification of the mobile unit 1 set by the setting unit 82 or is the same kind of setting data, and based on the primary position trajectory data, the classification You may make it produce | generate the secondary position locus data or alerting | reporting data for moving bodies. As described above, the setting unit 82 classifies and sets the moving object, whereby the primary position trajectory data can be classified, and notification data suitable for each classification can be generated.

  In addition, for example, when the primary position locus data received from the other mobile bodies 2 to 7 includes the behavior data of each mobile body 2 to 7, the notification data generation unit 46 includes the primary data including the position data selected by the behavior data. Notification data can be generated based on the position trajectory data. Various physical quantities detected by various physical quantity detection devices such as various sensors provided in the moving bodies 1 to 7 as behavior data of the moving bodies 2 to 7 in the primary position trajectory data received from the other moving bodies 2 to 7 At least one of detection data, image data captured by the imaging unit 85 provided on the moving bodies 1 to 7, and character data recognized from the image data by the optical character recognition unit 89 provided on the moving bodies 1 to 7. In such a case, the notification data generation unit 46 generates notification data based on the primary position locus data including the position data selected by the behavior data.

  In this way, for example, by selecting and notifying the primary position trajectory data based on the behavior data of the moving body, which is at least one of physical quantity detection data, captured image data, and character recognition data, the behavior data of the moving body is notified. The position trajectory data can be made to correspond to a specific behavior. As a result, the position on the earth and the behavior of the moving object can be matched, so the range on the earth or the road can be specified by the behavior data, or the behavior data can be used as a trigger for another measurement, etc. It becomes possible. For example, it is possible to notify the movement range after the behavior has occurred using the behavior data as a trigger, or start or use the primary position trajectory data after a predetermined time or after traveling a predetermined distance after the behavior has occurred Can be started.

  In addition, the notification data generation unit 46 may generate secondary map data in which the position trajectory data of the mobile bodies 1 to 7 is added by matching with the existing map data as notification data. In that case, the notification data generation unit 46 can update the existing map data in a range through which each mobile object has passed by matching the generated primary position trajectory data on the existing map and overlapping it.

  The notification data generation unit 46 includes POI data when the existing map data in the map data storage unit 67 is associated with the POI data in the POI data storage unit 71 or includes POI data in the existing map data. Notification data may be generated. In that case, the notification data generation unit 46 can improve the usability of the displayed map by matching the POI data on the secondary map data and overlapping it.

  Moreover, since each position data in each primary position locus data of each of the moving bodies 1 to 7 is associated with time data at each position of the moving bodies 1 to 7, the notification data generation unit 46 is associated with the time data. Based on the movement trajectory data and the position data, and the existing map data including the POI data, a record including the route through which the mobile body 1 has passed and the drop-in facility may be created as the notification data. In that case, the notification data generation unit 46 records, for example, a stoppage time or the like to the facility of each POI data on the generated secondary map data by the diary / daily report data generation unit 52, so that a simple digital daily report is generated. Can be created.

  In addition, when displaying the secondary position trajectory data on the existing map as the notification data, the notification data generating unit 46 is usually displayed with the fluctuation or variation of the trajectory as it is. Therefore, when the road based on the secondary position trajectory data is shown on the map as the notification data, the notification data generating unit 46 of the present embodiment suppresses shaking and variation from the secondary position trajectory data, and the road is displayed on the map as the road. It may be displayed on an existing map after changing to a form suitable for display. When the secondary position trajectory data is changed to a form suitable for display as a road, the notification data generation unit 46, for example, with respect to the fluctuation or fluctuation of the trajectory, the average value or center of the fluctuation or fluctuation in the road width direction. You can find the values and put them together, and then match them with existing map data roads.

  The notification data generation unit 46 generates new road data as notification data when, for example, the image matching unit 51 does not find corresponding data in the matching between the secondary position locus data and the conventional existing map data. May be displayed on the screen. For example, when the road obtained from the secondary position trajectory data is a new road or the like and does not correspond to a road of existing map data, for example, the notification data generation unit 46 may cause fluctuations in the road width direction with respect to fluctuations or variations in the trajectory. The average value and the center value of the variation are obtained and displayed together so as to have an appropriate width as a road. An appropriate width as a road may be displayed as a road with a plurality of lanes when the fluctuation or variation in the road width direction is large. In addition, if the traveling direction determination unit 47 and the moving speed / distance calculation unit 48, which will be described later, know the traveling direction and speed of the moving body and the vehicle is considered to be a section that can be face-to-face, the speed of the vehicle will not drop, The data generation part 46 may display as a facing traffic road or a facing section of a road.

  The notification data generation unit 46 may generate notification data based on the primary position trajectory data stored in the storage unit 60. For example, when the traveling direction determination unit 47 and the traveling speed / distance calculation unit 48, which will be described later, know the traveling direction and speed of the moving body, and at the intersection of a preset blind corner with no signal, When another vehicle approaches the intersection from the left turn direction, data for notifying that the vehicle is approaching the intersection may be generated. In addition, the notification data generation unit 46 is used for notifications with high urgency, such as entry prohibition or entry into a dead end, entering a road that is not accessible during construction, or when entering or entering a road with a speed difference. This data may be generated.

  As the notification data here, for example, primary position trajectory data received from other mobile bodies 2 to 7 as it is, or data that selects a part of primary position trajectory data received from other mobile bodies 2 to 7, Or the data which processed primary position locus data received from other mobiles 2-7 can be used. In addition, as data processing, for example, the primary position trajectory data is changed to a more appropriate form as road information according to the length and width of the road of the corresponding part, the difference in the position of the lane in the traveling direction and the opposite lane, etc. Processing to be performed may be used.

  In addition, the notification data generation unit 46 includes a trajectory data density determination unit 44, a traveling direction determination unit 47, a moving speed / distance calculation unit, in addition to position data and time data in each primary position trajectory data or secondary position trajectory data. 48, with reference to each output of the moving object number calculation unit 49, storage contents such as classification of the moving object / personal data storage unit 69, and additional information such as data of the moving object added to the received primary position locus data The type of road can be determined. For example, the notification data generation unit 46 has a case where the number of the moving bodies 2 to 7 is larger than a predetermined reference value within a predetermined range considered to be on the road specified by the primary position locus data, or the moving body 2 When the density of ˜7 is higher than a predetermined reference value, it is determined that the road is divided into a general road and the probability of being a main road is high, and the secondary trajectory data is set as a main road and is notified, The road notification data can be shown to the user that it is a main road separately from the general road.

  Further, the notification data generation unit 46 has a higher probability of being a main road when there is a large number of mobile bodies 2 to 7 that are set as large from the data communicated or stored in relation to the primary position locus data. Even when the speed of each of the moving bodies 2 to 7 is equal to or higher than a predetermined value indicating a main road that is generally higher than that of a general road, it can be determined that the probability of being a main road is higher.

  In addition, the notification data generation unit 46 can determine that a road is a highway when the speed of each moving body is higher than a predetermined value that is considered to be a highway. In addition, the notification data generation unit 46 has the speed of each of the moving bodies 2 to 7 on the road equal to or less than a predetermined value indicating traffic congestion, and the number of moving bodies 2 to 7 within the predetermined range on the road specified by the primary position locus data. When there are many and the density is high, it is possible to generate notification data that determines that traffic congestion has occurred on the road. Further, by storing only the determined main road in the map data storage unit 67, the storage capacity of the road can be reduced.

  The notification data generation unit 46 may generate notification data by associating the position data constituting the primary position trajectory data with the behavior data acquired by the behavior data acquisition unit 87. The behavior data in this case includes data indicating the detection status of various radio waves, sound and other physical quantities, data indicating the detection contents, data regarding vehicle behavior (eg acceleration, speed, ignition on / off, turn signal, wiper, light Etc.), at least one of image data acquired from the camera, character data recognized from the image data, and the like. The acquisition of the behavior data can be performed by, for example, various detection units (sensors or the like) that are electrically connected to the position trajectory data processing device 10 by wire or wireless. The detection unit may be provided in a housing integrated with the position locus data processing apparatus 10 or may be provided in another housing. As another case, there is a vehicle body, for example, and it may be obtained from an in-vehicle LAN provided in the vehicle body for vehicle control, for example.

  For example, the notification data generation unit 46 inputs behavior data from the mobile unit 1 and transmits the notification data from the communication unit 80 to the other mobile units 2 to 7 when a predetermined condition is satisfied based on the behavior data. Thus, it is possible to satisfy both the amount of primary position trajectory data of other mobile bodies 2 to 7 that are necessary for setting the secondary position trajectory data and the privacy of the mobile body 1 on the transmitting side. Become. Regarding protecting privacy, for example, the notification data generation unit 46 transmits primary position trajectory data after the mobile unit 1 is separated from the storage location of the mobile unit 1 by a predetermined distance or more, so that the mobile unit on the transmission side The position of one storage location cannot be detected by the other mobile units 2 to 7, and the privacy of the user of the mobile unit 1 can be protected.

  Conversely, when the mobile body 1 returns to the garage or storage location, the notification data generation unit 46 transmits the primary position locus data after the mobile body 1 enters within a predetermined distance from the storage location of the mobile body 1. By not doing so, it becomes possible to protect the privacy of the user of the mobile unit 1. Also, for example, when the notification data generation unit 46 transmits the primary position trajectory data after being delayed by a predetermined time and the speed becomes zero, or when the engine stops, the primary position trajectory data for the delay is obtained. If the transmission is not performed, the stop position of the own mobile body 1 is not known from the other mobile bodies 2 to 7, and privacy can be protected.

  In addition, the notification data generation unit 46 increases the amount of primary position trajectory data transmitted from the own mobile body 1 to the other mobile bodies 2 to 7, for example, when the speed when traveling straight is high, and the speed when traveling straight is low. Sometimes, the amount of data communication can be reduced by reducing the amount. Further, it is increased when the steering angle is large and when a turn signal is generated, and is decreased according to the speed when traveling straight, thereby reducing the amount of data communication and reliably transmitting position locus data at an intersection or the like.

  Further, for example, the notification data generation unit 46 transmits primary position trajectory data to the other mobile units 2 to 7 when the traffic data input from the traffic data detection unit 81 of the mobile unit 1 meets a predetermined condition. May be. In this case, on the road through which the mobile body 1 passes, in addition to general notification, the notification data generation unit 46 specializes the location of the mobile body 1 where accidents are likely to occur and where attention is required for traffic. Additional notifications and special notifications can be made.

  The traveling direction determination unit 47 determines the traveling direction of the own moving body 1 from the primary position locus data of the own moving body 1. Since the primary position trajectory data includes position data including longitude data and latitude data in association with time data, the traveling direction determination means 47, for example, each of two points from one point to the next point. From the position data, a difference between longitude data and latitude data and a difference between time data are obtained. As a result, the traveling direction determination means 47 can determine that the position of the previous data (latitude and longitude) has advanced to the position of the subsequent data (latitude and longitude), and can obtain the traveling direction on the earth. it can.

  By providing the traveling direction determination unit 47, the notification data generation unit 46 determines the own moving body 1 determined by the traveling direction determination means 47 from the primary position locus data received from each of the other moving bodies 2 to 7. It is possible to generate the notification data of the own mobile body 1 including at least the primary position locus data of the other mobile bodies 2 to 7 in the traveling direction. More specifically, the notification data generation unit 46 substantially matches the traveling direction of the own moving body 1 determined by the traveling direction determination unit 47 among the primary position locus data received from each of the other moving bodies 2 to 7. The notification data of the mobile body 1 can be generated by including at least primary position trajectory data that are substantially opposed to each other. In the present embodiment, the traveling direction of the moving body 1 is detected from the primary position trajectory data of the moving body 1, but it can be obtained directly from the output of various sensors such as GPS or for vehicle control. You may acquire from in-vehicle LAN.

  By detecting the traveling direction with the traveling direction determination unit 47 in this way, it is possible to know in advance the route that will proceed. Furthermore, by using the position trajectory data of other moving bodies in the traveling direction with priority, even when the processing capacity of the moving body is insufficient with respect to the processing load, the moving body is being operated (driving). It is possible to reliably grasp the destination route. In addition, the position trajectory data of other moving bodies within the predetermined range of the left and right turn points in the traveling direction (for example, a predetermined angle range from the traveling direction center line) is preferentially determined, so that not only when traveling straight ahead. Even when making a right turn or a left turn on the way, it is possible to grasp the route status of the destination, the number of other moving bodies in the route, the direction of travel, and the like during the operation (operation) of the subject mobile body.

  Further, the communication unit 80 transmits / receives the request range information of the position trajectory data, and the control unit 40 determines the request range to be transmitted to the position trajectory data processing device mounted on the other mobile body and determines from the communication unit 80. While the requested range information of the position locus data is transmitted, the requested range information indicated by the requested range information of the position locus data transmitted from another device is received, and the range indicated by the requested range information of the position locus data received by the communication unit 80 The position trajectory data may be selected. The requested range information of the position trajectory data may be information indicating the traveling direction by the traveling direction determination unit 47.

  In addition, for example, using the traveling direction detected by the traveling direction determination unit 47, the notification data generation unit 46 gives priority to the primary position trajectory data of the other moving bodies 2 to 7 that are in the same direction as or opposite to the moving body. Alternatively, the notification data may be generated using only that data. In that case, notification data relating to the direction of travel can be generated, and the primary position trajectory data of the moving body in the side road, side road, and right / left turn directions can no longer be used to generate the notification data. The accuracy of the content to be notified can be improved.

  Further, the trajectory data density determination unit 44 detects, for example, the primary position trajectory data received from the other mobile units 2 to 7 with reference to the traveling direction of the own moving body 1 detected by the traveling direction determination unit 47. The density may be preferentially determined for data within a predetermined range of a predetermined angle from the moving body 1 with the travel direction thus set as the center line.

  The moving speed / distance calculating unit 48 calculates the moving speed and moving distance of the own moving body based on the primary position locus data based on each position data detected by the position detecting unit 20. Further, based on the received primary position locus data of the other moving body and the primary position locus data of the own moving body, the distance and relative speed between the own moving body and the received other moving body can be calculated. . Note that the received primary position trajectory data of another moving body is accompanied by data of an identification (ID) code for individually identifying each moving body and data of the time when the data was acquired. Any identification code can be used as long as it can be individually identified.

  Since the position trajectory data received from each of the other moving bodies 2 to 7 includes time information capable of detecting the speed at each position of the other moving bodies 2 to 7, the moving speed / distance calculation unit 48 can detect the speed and distance of each of the other moving bodies 2 to 7 on the road specified by the primary position trajectory data based on the position information and the time information capable of detecting the speed. The moving speed / distance calculation unit 48 can specify (calculate) the moving speed based on position data and time data at each position in the primary position locus data.

  Further, as information for specifying the speed of the moving body, for example, the speed data itself at each position in the position trajectory data may be used. The information for specifying the speed of the moving body is, for example, the time when the moving bodies 1 to 7 pass the position specified by each position data in the primary position locus data, or the moving body at the position. 1 to 7 may be time data at which position data is acquired.

  The moving object number calculation unit 49 can calculate the number of moving objects by counting the number of primary position trajectory data in a predetermined area within a predetermined time data range. The moving body number calculating unit 49 can calculate the traffic volume of the road by counting the number of primary position locus data in a predetermined area that can be determined as a road at a predetermined time.

  Since the moving body number calculation unit 49 includes information on the position of each of the other moving bodies 2 to 7 and time information in the position trajectory data received from each of the other moving bodies 2 to 7. Based on the position information and time information, the body number calculation unit 49 detects the number of each of the other moving bodies 2 to 7 on the road specified by the primary position locus data at a predetermined time. Further, if the data on the moving distance of the moving body obtained by the moving speed / distance calculator 48 in addition to the position data detected by the position detector 20 is used, for example, the primary position locus data is intermittent data. Even if it exists, the density of the mobile body of the predetermined range on a road can be detected.

  In this way, by detecting the number, speed, and density of each of the other moving bodies 2 to 7 on the road specified by the primary position locus data using the moving speed / distance calculation section 48 and the moving body number calculation section 49, The notification data generation unit 46 has a predetermined number or more of the moving bodies 2 to 7 within a predetermined range on the road specified by the primary position locus data, and the speed of each of the moving bodies 2 to 7 indicates the main road. When the value is equal to or greater than the value, notification data for determining that the road is a main road can be generated. In addition, the notification data generation unit 46 has the speed of each of the moving bodies 2 to 7 on the road equal to or less than a predetermined value indicating traffic congestion, and the number of moving bodies 2 to 7 within the predetermined range on the road specified by the primary position locus data. When there are many and the density is high, it is possible to generate notification data that determines that traffic congestion has occurred on the road.

  By detecting the speed and number of moving objects in addition to the density of moving objects within a predetermined range considered to be on the road, when the speed and number of moving objects are large, the notification data generating unit 46 By setting the secondary position trajectory data as a main road, the main road can be separated from a general road and shown to the user. Further, by storing only the determined main road in the map data storage unit 67, the storage capacity of the storage unit 60 can be reduced.

  Further, in addition to the density of moving objects within a predetermined range considered to be on the road by the moving object number calculating unit 49, the moving speed / distance calculating unit 48 detects a decrease in the moving object speed, thereby generating a notification data generating unit. In 46, it is possible to generate notification data on the occurrence of traffic jams on the road, and by calling attention to the occurrence of traffic jams, it is possible to avoid the danger of rear-end collisions at the end of the traffic jams or to change the route to a detour to avoid traffic jams it can. In addition, the notification data generation unit 46 also uses the determination result of the traveling direction determination unit 47 to recognize the decrease in speed in the traveling destination route, so that the occurrence situation (such as construction traffic congestion or natural traffic congestion ahead of the route) By knowing the speed and the length of the jam during the traffic jam and conversely the increase in the speed of the route ahead during the traffic jam, it is possible to know in advance the cancellation status of the traffic jam ahead of the route.

  The moving route situation analysis unit 50 is used separately from a general road when, for example, the number of moving bodies within a predetermined range considered to be on the road, especially large moving bodies, is larger than a predetermined reference value and has a high density. It is determined as the main road shown to the person. The predetermined reference value may be a fixed value or a variable value. Further, the speed of the moving body on the road is detected by the moving speed / distance calculation unit 48, and the speed of the moving body is faster than a predetermined speed, so that the probability of the main road can be improved. Furthermore, when the speed of the moving body is faster than a predetermined speed, the probability that the road is an expressway can be increased.

  Further, by analyzing the road traffic situation and the dimension data and model of each moving body in the moving route state analyzing unit 50, for example, in the notification data generating unit 46, the own moving body 1 is a large moving body. In this case, a road through which only a small mobile object passes can be excluded from a road where a large mobile object can move, or can be notified as a road that requires attention for the passage of a large mobile object. In this way, it is possible to avoid the large mobile body 1 entering a narrow road and getting stuck.

  On the other hand, for a small mobile object, a road with many large mobile objects may be difficult to drive due to poor front visibility due to the large mobile object, or if the periphery is surrounded by a large mobile object You may feel uncomfortable or terrified. In such a case, the travel route status analysis unit 50 analyzes the road traffic status and the dimension data and model of each moving body, so that the notification data generation unit 46 selects a road with few large vehicles. By notifying or increasing the priority order, it is possible to reduce driving stress and avoid discomfort and fear.

  Also, for example, roads with many commercial vehicles such as taxis and trucks are fast for a driver who is not familiar with personal vehicles, fast on the road lanes, or on truck platforms. There is a lot of danger that the front can not be seen. On the other hand, for a driver who is accustomed to a moving body for business use, a personal moving body for an unfamiliar driver is a driving injury and stress. Running in which a business mobile body and a personal mobile body are mixed is stressful for both and may cause a problem in safe driving. Therefore, when selecting a road for a personal mobile body, the notification data generating unit 46 lowers the priority for roads with a large number of business mobile bodies, and increases the priority for roads with a large number of personal mobile bodies. Similarly, when selecting a road for business use mobile bodies, the priority order is increased for roads with a large number of business use mobile bodies, and the priority order is reduced for roads with many personal mobile bodies. Thereby, the stress with respect to the driver | operator of each moving body can be reduced, and it can contribute to safe driving | operation.

  The movement route status analysis unit 50 further classifies a cargo transportation business vehicle such as a truck and a freight passenger transportation business vehicle such as a taxi by using the contents stored in the mobile / personal data storage unit 69. Is also possible. In general, taxis or the like wait for customers at a busy station or in the vicinity of a downtown area. In that case, the station or the vicinity of the downtown area is congested by a taxi or gathers within a predetermined range. Therefore, in the case of a taxi or the like, the notification data generation unit 46 can go to a place where there is a lot of traffic even if it is an unfamiliar place to return to a remote place, and wait for a customer.

  The image matching unit 51 adds, for example, an image of the primary position locus data or the secondary position locus data of the moving bodies 1 to 7 to the existing map data stored in the map data storage unit 67 so as to match the image. Generate map data. In that case, the notification data generation unit 46 can generate notification data using the secondary map data. In this way, the existing map data in the range through which each moving body has passed can be easily updated by matching the generated image of the primary position locus data or the secondary position locus data with matching on the existing map. .

  The previous map data stored in the map data storage unit 67 and the POI data stored in the POI data storage unit 71 are related to each other, or the previous map data stored in the map data storage unit 67 is POI data. , The image matching unit 51 generates the secondary map data while including the POI data, and the notification data generation unit 46 generates the notification data while including the POI data. In this way, while maintaining the POI data of the existing map data or maintaining the relationship with the POI data, matching the secondary position trajectory data and superimposing it sacrifices the display content of the displayed map. Therefore, it is possible to improve the usability for the user of the mobile body 1.

  The diary / daily report data creation unit 52, together with the notification data generation unit 46 and the image matching unit 51, for example, sends the time of the primary location trajectory data to the facility of each POI data on the secondary map data generated by the image matching unit 51. Based on the data, a simple diary or daily report can be created by recording the route that has passed within a predetermined period, the drop-in facility, the drop-in time, and the like. Further, the diary / daily report data creation unit 52 adds the image data obtained by capturing the front of the moving body 1 captured by the imaging 85 to the created diary or daily report as necessary, thereby matching the amount of information. And can increase reliability and create a reliable diary or daily report.

  The keyword collation unit 53 reads the keyword stored in the keyword storage unit 73, character data recognized from the image data captured by the optical character recognition unit 89, and the secondary data stored in the map data storage unit 67. Check whether the character data on the map data or the keyword matches or is similar.

  When this collation result is used, for example, the character data on the secondary map data of the destination or the keyword related to the destination is set by the setting unit 82, and the character set and the character recognized by the keyword collation unit 53 are recognized. The data is collated, and when it matches or is similar, the notification data generation unit 46 includes the character data to generate notification data. In this way, place names, facility names, etc. can be easily searched.

  Alternatively, when the secondary data is generated by the notification data generation unit 46, the secondary map data and the content of notification are generated by comparing the character data that has been recognized with the keyword on the image data such as the secondary map data. Thus, even if it is difficult to understand the read contents only by the image, it is possible to reduce the error by determining the match with the keyword, and to easily include the place name, the facility name, etc. in the secondary map data etc. without error.

  Further, the control unit 40 includes a statistical calculation unit that calculates a statistical value of each primary position trajectory data received from a position trajectory data processing device mounted on another moving body stored in the primary trajectory data storage unit 65. It may be provided. The statistical value is, for example, an average value, a center value, a standard deviation value, or the like. Further, based on the distance to each moving object calculated by the moving speed / distance calculating unit 48, statistical calculation may be performed on data that is weighted such as multiplying each primary position locus data by a predetermined coefficient. Good. The calculation result is stored in the secondary trajectory data storage unit 66 and the map data storage unit 67 in the storage unit 60.

  The storage unit 60 stores programs and data input from the outside. In the storage unit 60, a position data storage unit 61, a position detection time storage unit 62, a moving body ID storage unit 63, a data number storage unit 64, a primary trajectory data storage unit 65, a secondary trajectory data storage unit 66, a map Data storage unit 67, traffic data storage unit 68, mobile / personal data storage unit 69, behavior data storage unit 70, POI data storage unit 71, diary / daily report data storage unit 72, keyword storage unit 73, etc. Have.

  The position data storage unit 61 stores the position data continuously output from the position detection unit 20 of the mobile body 1 output from the position data selection unit 41 in the position data storage unit 61 in time order. At the same time, the position data in the primary position storage data received from the position trajectory data processing device mounted on another moving body having position data located at the same position or in the vicinity selected by the position data selection unit 41 is stored. .

  The position detection time storage unit 62 stores time data measured by the time measuring unit 30 in association with the position data when the position data is detected by the position detection unit 20. Further, time data associated with the primary position trajectory data received from the second mobile body 2 or the third mobile body 3 is stored in association with each received primary position trajectory data.

  The mobile body ID storage unit 63 converts the identification (ID) data for individually identifying the first mobile body 1 used at the time of communication into primary position trajectory data based on the position data detected by the position detection unit 20. Store it in association. Also, identification (ID) code data for individually recognizing the second mobile body 2 and the third mobile body 3 associated with the primary position trajectory data received from the second mobile body 2 and the third mobile body 3, It is stored in association with each received primary position trajectory data.

  The data number storage unit 64 stores the number of primary position trajectory data of other received moving bodies. The reliability of the secondary position trajectory data is increased when there are a plurality of data than when the number of data is one. In addition, the number of other moving objects present in the vicinity can be grasped.

The primary trajectory data storage unit 65 includes the primary position trajectory data generated based on the position data output from the position detection unit 20 and all the primary data received from the other mobile units 2 to 7 by the communication unit 80. The position trajectory data is basically stored. For example, the primary trajectory data storage unit 65 intermittently obtains a plurality of time-sequential position data at least while the vehicle 1 is traveling or stopped, and arranges each position data in time series to obtain each position data. Is stored so that all the primary position trajectory data received from the other moving bodies 2 to 7 are stored.
As for the primary position trajectory data received from the other moving bodies 2 to 7, for example, the primary position trajectory data generating section 42 narrows down to a predetermined area in the traveling direction from the determination result of the traveling direction determining section 47 or the moving body. The amount of storage and the amount of calculation can be reduced by narrowing down according to the classification, attribute, etc.

  The secondary trajectory data storage unit 66 stores secondary position trajectory data generated based on primary position trajectory data received from at least the other mobile units 2 to 7 by the communication unit 80. For example, the secondary trajectory data storage unit 66 is generated by the secondary position trajectory data generation unit 45 based on the primary position trajectory data received from the other mobile bodies 2 to 7 and the primary position trajectory data of the own mobile body 1. Secondary position trajectory data is stored.

  The map data storage unit 67 stores at least the existing map data, and further, the primary position locus data generation unit 42, the secondary position locus data generation unit 45, or the notification on the existing map data by the image matching unit 51. You may make it memorize | store the secondary map data which synthesize | combined the data produced | generated by the data production | generation part 46. FIG.

  The traffic data storage unit 68 includes the traffic data from the VICS FM multiplex broadcasting system detected by the traffic data detection unit 81, the radio beacon system on the road, the optical beacon system transmitter, the detection result by the radar detector, and the like. Stores traffic data and road data.

  The moving body / personal data storage unit 69 stores data unique to the moving body such as classification according to the size and use of the moving body, the storage location of the moving body, and the like input by the setting unit 82 including the input unit. The classification by dimensions includes, for example, classification by dimensions such as large, medium, small, and light vehicles, and the classification by use includes, for example, classification for business or personal use such as taxis and delivery trucks.

  The behavior data storage unit 70 is data indicating the detection status of various radio waves, sounds, and other physical quantities, data indicating detection contents, data regarding vehicle behavior (eg, acceleration, speed, ignition on / off, turn signal, wiper, light, etc.) ), Behavior data including at least one of image data acquired from the camera, character data recognized from the image data, and the like is stored. By obtaining this behavior data, the notification data generation unit 46 can select and notify the primary position trajectory data corresponding to the specific behavior of the moving body, for example, based on the behavior data of the moving body. For example, by associating the position on the earth with the behavior of a moving object, it is possible to use behavior data as a trigger for data transmission or another measurement, or to specify the range of data transmission or another measurement using behavior data become. In other words, this behavior data makes it possible to determine the position at which transmission or use of primary position trajectory data is started, and to notify the movement range after the behavior has occurred.

  The POI data storage unit 71 stores POI (point of interest: digital content such as facility information and spot information linked with position data) data associated with existing map data. Therefore, the map data to be displayed can include POI data. Thereby, the notification data generation unit 46 can generate the secondary map data by including the POI data when generating the secondary map data. By matching and overlapping the POI data on the secondary map data, the usability of the displayed map can be improved.

  The diary / daily report data storage unit 72 stores the diary or daily report created by the diary / daily report data creation unit 52. If there is a diary / daily report format, the format may be stored.

  The keyword storage unit 73 stores a keyword for collating whether the keyword matching unit 53 matches or is similar to the character data recognized by the character from the image data captured by the optical character recognition unit 89.

  The communication unit 80 can transmit / receive data and commands to / from other moving objects, particularly primary position locus data. For example, the communication unit 80 of the mobile unit 1 communicates with the other mobile units 2 to 7 to detect and generate primary positions of the other mobile units 2 to 7 detected by the other mobile units 2 to 7. Trajectory data can be received. In addition, the communication method of the communication unit 80 is a wireless communication method, and various methods such as weak radio waves, specific low power, various wireless LAN compatible methods, and a mobile phone line usage method can be used.

  The communication unit 80 of the first moving body 1 sends the primary position trajectory data received from each of the other moving bodies 2 to 7 to the primary trajectory data storage unit 65. Further, when the second moving body 2 to the seventh moving body 7 have the position trajectory data processing device 10 and the like as in the first moving body 1, the communication unit 80 is detected by the position detection unit 20. The primary position trajectory data is transmitted. In that case, the communication part 80 can also transmit / receive the information accompanying primary position locus data, such as advancing direction information, the data of time, the data regarding the classification | category of each moving body, and behavior data. In addition to the above, the data to be transmitted / received accompanying the primary position trajectory data include, for example, that each position data is in a specific area such as the vicinity of a private house in view of privacy protection, Locality data such as indicating which lane in the vehicle, and data regarding time attributes such as continuity or interval of time of each accompanying time data can be attached.

  Further, when the communication unit 80 is a system using a large-scale communication network such as a cellular phone, when a traffic monitoring center is provided to centrally manage traffic information including map data, the traffic monitoring center The primary position trajectory data may be transmitted toward. In addition, when wireless connection is possible to the user's child device or mobile phone of the user of the first mobile body 1, secondary position locus data, road information, or traffic information is transmitted to the child device or mobile phone. You may do it.

  The primary position trajectory data transmitted and received by the communication unit 80 includes position data at each position of the moving bodies 1 to 7, time data indicating the time at which each position data is acquired, and a traveling direction indicating the direction in which the moving body travels. Data, classification data related to the size, type and application of the moving object, behavior data indicating the type of movement such as starting and stopping of the moving object, right turn, left turn, back, etc. are associated with each position data in the position trajectory data. Also good. By including the time information in the position trajectory data received from each of the other moving bodies 2 to 7, the moving time and the moving distance of each of the other moving bodies 2 to 7 can be calculated, so that the speed at each position is detected. Can do.

  The traffic data detection unit 81 detects traffic data using radio waves such as FM multiplex broadcasting or beacons. For example, traffic data from a VICS FM multiplex broadcasting system, a radio beacon system on the road, or an optical beacon system transmitter. , A traffic data and road data detection device or a reception device including a radar detection device or the like.

The setting unit 82 includes input means such as a keyboard that can be input by the user, and can input the setting of the storage position of the mobile body 1 and the setting on the classification. The setting of the moving bodies 1 to 7 by the setting unit 82 includes the storage position of each moving body 1 to 7, dimension data for classifying the moving bodies 1 to 7 as at least large by size, or the moving bodies 1 to 7. It is set by inputting and including at least one of usage data classified according to usage such as personal use / business use and personal information of the owner. In this case, the set data is set, for example, in the mobile / personal data storage unit 69 in the storage unit 60.
As a setting method of the setting unit 82, the operation content of the user may be detected and set by a keyboard or a touch panel as an input means, or a value detected by a sensor or the like (eg, GPS) or its value You may make it set automatically based on log | history etc., such as a value. The setting unit 82 may store the setting value in, for example, the moving object / personal data storage unit 69 and the like, and may be set based on the stored setting value when the power is turned on again.

  By providing the setting unit 82, the primary position trajectory data generation unit 42 generates primary position trajectory data of the own moving body 1 by including at least one of the dimension data of the own moving body 1 and the application data. Accordingly, it is possible to obtain primary position trajectory data from a position trajectory data processing device mounted on another more suitable mobile unit by narrowing down to the size and application of the mobile unit 1. As a result, for example, the notification data generation unit 46 sets the classification data of the moving bodies 1 to 7 within a predetermined range on the road as large dimensional data, and the mobile data 1 to 7 that are business use data. When the number of solids is equal to or greater than a predetermined number and the speed of each of the moving bodies 1 to 7 is equal to or greater than a predetermined value indicating a main road, when generating secondary position trajectory data, the notification for the main road is separated from the general road Data can be generated. In addition, when the speed of each of the moving bodies 1 to 7 is equal to or higher than a predetermined value indicating the highway, when generating the secondary position locus data, the notification data for the highway may be generated separately from the general road.

  By setting the storage position of the mobile body 1 by the setting unit 82, the transmission data selection unit 43 uses the primary position trajectory data detected by the mobile body within a predetermined range around the storage location as the other mobile bodies 2 to 2. 7 can be prevented from being transmitted. Thereby, the storage location of the mobile body 1 on the transmission side is not known to the mobile body on the reception side. In addition, the notification data generation unit 46 can also prevent primary position trajectory data detected by the mobile body from being used for notification. Thereby, in the position locus data processing device of the present embodiment, the privacy of each moving body and its user can be protected.

  The classification setting of the own mobile body 1 is, for example, a dimensional classification of a large mobile body (large vehicle), a medium mobile body (medium vehicle), a small mobile body (small vehicle, light vehicle), and the like. When the own mobile body 1 is a large mobile body, the classification setting is increased. As a result, in the secondary position trajectory data generation unit 45, for example, a road in an area that receives only the primary position trajectory data from a small mobile object is not set as secondary position trajectory data that the large mobile object can move. It is possible to avoid a self-moving body that is a large moving body from erroneously entering a narrow route. Conversely, for example, when the own mobile body is a small mobile body, the classification setting is reduced. As a result, the secondary position trajectory data generation unit 45 avoids driver discomfort and fear by, for example, increasing the priority so as to select a road with few large vehicles as the secondary position trajectory data. it can.

  The setting unit 82 is a camera or the like that can capture a still image or a moving image, and can capture at least a front image of each of the moving bodies 1 to 7 and output image data.

  The behavior data acquisition unit 87 acquires behavior data that is data that varies depending on the behavior of the mobile body 1 and stores the behavior data in the behavior data storage unit 70. Behavior data includes data indicating the detection status of various radio waves, sounds, and other physical quantities, data indicating detection details, data related to vehicle behavior (eg acceleration, speed, ignition on / off, turn signal, wiper, light, etc.), camera At least one of image data acquired from the image data, character data recognized from the image data, and the like. The acquisition of the behavior data can be performed by, for example, various detection units (sensors or the like) that are electrically connected to the position trajectory data processing device 10 by wire or wireless. The detection unit may be provided in a housing integrated with the position locus data processing apparatus 10 or may be provided in another housing. As another case, there is a vehicle body, for example, and it may be obtained from an in-vehicle LAN provided in the vehicle body for vehicle control, for example.

  The optical character recognition unit 89 recognizes a character from the image data captured by the imaging unit 85, converts the character in the image into character data, and outputs the character data. Thereby, the image matching part 51 can match | combine the character on secondary map data, can synthesize | combine it, or can memorize | store it as POI data. When the character data recognized in this way is the name of the place of the route that has passed or the name of the facility that visited, the notification data generation unit 46 generates a number of place names and facility names that have been generated from the secondary position trajectory data. By combining with the secondary map data including the image matching unit 51, the conventional map can be updated or a new map can be created.

  In addition, when the information on the conventional map is insufficient or excessive, the notification data generation unit 46 updates the map or creates a new one, so that the display content is an appropriate amount of information for the user. It can be a map. The same applies to the case where the map is photo information or the photo information is attached to the map, and the notification data generation unit 46 updates the content to be added to the photo information or newly creates photo information from the image data. Thus, it is possible to obtain photographic information whose display content is an appropriate amount of information for the user. In this case, since the character data that has been character-recognized can be added to the image data, a place name or a facility name that is difficult to understand only by the image can be easily included in the map or the photo information.

  Further, for example, if “ramen” and a keyword are set in the keyword storage unit 73 and “ramen” is recognized from the input image by the optical character recognition unit 89, the notification data generation unit 46 causes the mobile 1 If there is a word “Ramen” on the sign of the ramen shop during the movement, it will be possible to notify and collect information about the ramen shop. This process can be performed automatically or can be performed with priority over other processes. If the keyword is a traffic sign design or character, the speed limit of the travel section can be recognized by recognizing the traffic sign. Then, even if the user of each moving body does not notice the traffic sign, the notification data generation unit 46 notifies the user of the speed limit of the traveling section or recognizes the instruction content of the traffic vehicle and recognizes the user. Can be notified.

  Further, the process of recognizing characters from image data is a heavy processing and heavy processing for the control unit 40. For example, the communication unit 80 transmits and receives this character recognition result so that a plurality of mobile objects can transmit and receive. It can be distributed. Further, when the map data storage unit 67, the POI data storage unit 71, etc. already contain the same content as the character recognition result, the notification data generation unit 46 notifies that a new character recognition process is not performed. You can

  Further, when the location of the character recognition result is stored in association with the behavior data, the notification data generation unit 46 notifies so that character recognition is not performed at the position associated with the behavior data. Can be. Similarly, for other processes with a high processing load, the notification data generation unit 46 notifies the processing so that the processing is not performed at the position associated with the behavior data.

  The image output unit 90 can read out information and / or images stored in the map data storage unit 67 or the like and output them as data that can be displayed on the image display unit 95. As a display mode of the notification data, for example, when displaying as a road, the color of the road is changed, the outline of the road is changed between a solid line and a broken line, the display content is flashed, lit, inverted, etc. as time passes It is also possible to generate notification data in a dynamic display mode by changing. Specifically, for example, when data on which lane in a multi-lane road is attached to the primary position trajectory data, the notification data is generated by changing the display mode such as the route display color and the contour line according to the moving speed. May be.

  The image display unit 95 is a display device that can display image information and character information, such as a liquid crystal display (LCD).

  The communication network 800 is a communication line or network selected according to the purpose and application from various wireless communication methods using weak radio waves, specific low power, various wireless LAN compatible methods, mobile phone line usage methods, and the like. The first mobile body 1 in the range where the radio wave reaches is connected to another mobile body. Although the case where it connects directly with mobile bodies is demonstrated, depending on a radio | wireless communication system or the intensity | strength of a radio wave, you may connect the own mobile body 1 and the other mobile bodies 2-7 via a base station or a repeater. .

  By connecting the mobile body 1 and the other mobile bodies 2 to 7 through the communication network 800, secondary position trajectory data is generated based on the primary position trajectory data from the mobile body 1 and the other mobile bodies 2 to 7. Then, the notification data can be generated based on the secondary position trajectory data. In this case, compared with the case where the notification is made based only on the primary position locus data from the own mobile body 1, the false notification that is likely to occur only with the primary position locus data of one mobile body is reduced, and the accuracy of the notification data is reduced. Can be improved. Further, when the notification data is a map image, it tends to be biased secondary map data only from the primary position trajectory data of the own mobile body 1, but it is combined with the primary position trajectory data of the other mobile bodies 2-7. By judging, general-purpose secondary map data can be created. In addition, when creating the notification data, if only the data of the portion where the primary position trajectory data of the plurality of moving bodies 1 to 7 overlaps with each other is selected and used, the movement from the receiving side to the transmitting side is performed. It becomes difficult to specify the body, and the privacy of the mobile body on the transmission side can be protected. Further, when storing and transmitting the notification data, the transmission side can intermittently store and transmit the position locus data, thereby suppressing the storage amount and the transmission amount without impairing the accuracy of the notification data.

  FIGS. 4A to 4D show the position trajectories and the positions at the transmission timing of the three moving bodies A, B, and C on which the position trajectory data processing apparatus according to the embodiment of the present invention is mounted. Shows the relationship. In FIG. 4 (a), each position of the position trajectory of the entire stroke of the A car is indicated by Δ marks A1 to A8, each position of the position trajectory of the entire stroke of the B car is indicated by ◇ marks B1 to B6, and C Each position of the position trajectory of the entire stroke of the car is indicated by a circle mark of C1 to C3. Car A moves from the position A1 on the left side of the drawing toward the right side, turns left between position A6 and position A7, and moves to position A8. The B car moves from the upper position B1 to the lower position in the drawing and moves to the position B6. The C wheel moves from the lower position C1 to the upper position and moves to the position C3.

  It can be considered that the position A7 of the A car and the position B3 of the B car are in the same direction on the same road and the traveling directions are opposed to each other. The relationship between the position A8 of the A car and the position B2 of the B car is the same. Next, the position C1 and the position B6 of the car C, the position C2 and the position B5 of the car C, and the position C3 and the position B4 of the car C proceed at substantially the same position on the same road. It is considered that the directions are opposite each other, and the transmission timing of each car is unknown.

  FIG. 4B shows transmission positions Tb1 and Tb2 in an intermittent transmission locus during the entire stroke of the B vehicle. Car B transmits the first primary position locus data at the position B2 (transmission position Tb1), and thereafter transmits the next primary position locus data at the position B4 (transmission position Tb2).

  FIG. 4C shows the transmission positions in the transmission trajectories of part of the A and C cars that are not close to the transmission position in the transmission trajectory of the B car in FIG. 4B. The vehicle B is the same as FIG. 4B, but the vehicle A transmits the first primary position locus data at the position A7 (transmission position Ta1). The car C transmits the first primary position locus data at the position C1 (transmission position Tc1). The transmission position Tb1 and the transmission position Ta1 are not close to each other, the transmission position Tb2 and the transmission position Tc1 are not close to each other, and the traveling directions are opposite to each other.

  FIG. 4D is a diagram showing a transmission position in the transmission trajectory of the entire strokes of the A vehicle and the C vehicle adjacent to the B vehicle in FIG. Car B transmits the first primary position trajectory data at position B2 (transmission position Tb1), transmits the next primary position trajectory data at position B3 (transmission position Tb3), and then further the next primary position at position B4. The position locus data is transmitted (transmission position Tb2). For car A, the first primary position trajectory data is transmitted at position A7 (transmission position Ta1), and the next primary position trajectory data is transmitted at position A8 (transmission position Ta2). The car C transmits the first primary position locus data at the position C1 (transmission position Tc1), and then transmits the next primary position locus data at the position C3 (transmission position Tc2). The transmission position Tb1 and the transmission position Ta2 are close to each other, and the transmission position Tb3 and the transmission position Ta1 are close to each other. Also, the transmission position Tb2 and the transmission position Tc2 are close to each other. The transmission positions that are close to each other are considered to be the same road just by facing the traveling direction, and can be said to be almost the same position.

  When FIG. 4C is compared with FIG. 4D, the vehicle A receives the primary position locus data at the transmission position Tb1 of the vehicle B and transmits the primary position locus data at the position A8 (transmission position Ta2). )is doing. Car B receives primary position trajectory data at transmission position Ta1 of Car A, and transmits primary position trajectory data at position B3 (transmission position Tb3). Car C receives primary position trajectory data at transmission position Tb2 of Car B, and transmits primary position trajectory data at position C3 (transmission position Tc2).

  The transmission position Ta1 of the A car and the transmission position Tb3 of the B car are substantially the same position, and the transmission position Ta2 of the A car and the transmission position Tb1 of the B car are substantially the same position. Even if it is created, it is difficult to determine which is based on the primary position locus data of the A car and the B car. Similarly, the transmission position Tc2 of the C car and the transmission position Tb2 of the B car are substantially the same position, and even if notification data such as a map is created at these positions, the primary position locus data of any of the C car and the B car. It is difficult to judge whether

  FIGS. 5A and 5B show the position trajectories of the three moving bodies on which the position trajectory data processing apparatus according to the embodiment of the present invention is mounted. FIG. 5 shows a case in which a part of primary position trajectory data matching the conditions is preferentially acquired from the other cars A and B when the host vehicle is a C car.

  FIG. 5A shows the transmission position in the transmission trajectory of the A car and the B car within a predetermined angle in the traveling direction of the C car. In FIG. 5 (a), the primary position trajectory data transmitted at the transmission position in the transmission trajectory of the A car and the B car within the predetermined angle from the center line with the own vehicle being the C car and the traveling direction as the center line. Get priority. Specifically, since Pa1, Pa2, Pa3, Pa4, Pb1, Pb2, Pb3, and Pb4 are within a predetermined angle from the center line, the primary position trajectory data transmitted at that position is preferentially acquired. Note that the position B1 of the B car is excluded from the transmission position that is preferentially acquired for convenience because it is within a predetermined angle from the center line but is far from the C car.

  FIG. 5B is a diagram illustrating a transmission position in the transmission locus of the B vehicle traveling in the direction opposite to the traveling direction of the C vehicle. In FIG.5 (b), the primary position locus data transmitted in the transmission position in the transmission locus of the B vehicle which the own vehicle is a C vehicle and advances in opposition are preferentially acquired. Specifically, the primary position trajectory data transmitted at the positions Pb1, Pb2, Pb3, Pb4, Pb5, and Pb6 is preferentially acquired.

  FIG. 6 is a flowchart illustrating an example of a processing flow of the first moving body 1 in FIGS. 1 to 3. As the operation of the first moving body 1 of the present embodiment, first, the position is detected by the position detection unit 20 (S1), and the position data selection unit 41 selects position data at 10 points per second, for example (S2). ), Primary position trajectory data is generated from each position data by the primary position trajectory data generation unit 42 (S3), and the generated primary position trajectory data is sequentially stored in the primary trajectory data storage unit 65 (S4).

  Next, the transmission data selection unit 44 selects a portion to be transmitted intermittently from the stored primary position locus data (S5). The communication unit 80 transmits the primary position locus data of the selected first moving body 1 (S6).

  Next, the first moving body 1 determines whether or not primary position trajectory data has been received from the other moving bodies 2 to 7 (S7). If not received (S7: NO), the receiving process is performed again. When received (S7: YES), a portion where the density of the primary position locus data received from the other moving bodies 2 to 7 in the primary locus data storage unit 65 and the primary position locus data of the first moving body 1 is high is selected. Determine (S8). The determined portion is stored as secondary position trajectory data in the secondary trajectory data storage unit 66 (S9).

  The notification data generation unit 46 generates notification data to be displayed on the image display unit 95 to notify the user based on the secondary position trajectory data in the secondary trajectory data storage unit 66 (S10). In the present embodiment, the notification data is content to be combined with map data, and may include acoustic data (not shown). Next, the notification data generation unit 46 uses the image matching unit 51 to synthesize the notification data on the map data read from the map data storage unit 67 (S11), and the map data combined with the notification data is again converted into map data. The information is stored in the storage unit 67 and displayed on the image display unit 95 via the image output unit 90 (S12).

  FIG. 7 is a flowchart showing the data transmission / reception relationship of the first mobile unit to the fourth mobile unit according to the embodiment of the present invention. The first moving body 1 to the fourth moving body 4 are provided with the same position locus data processing device 10 and operate in the same manner. In the flowchart, the operation of the first moving body 1 is shown in steps S21 to S30, the operation of the second moving body 2 is shown in steps S41 to S50, the operation of the third moving body 3 is shown in steps S61 to S70, and the fourth The operation of the moving body 4 is shown in steps S81 to S90.

  Step S21 “position detection” of the first mobile body 1, step S41 “position detection” of the second mobile body 2 on the right side thereof, step S61 “position detection” of the third mobile body 3 on the right side thereof, The same operation is performed in step S81 “position detection” of the fourth mobile body 4 on the right side. The following operations of the first moving body 1 are performed in the same manner in the steps of the other moving bodies located beside each other. Therefore, in the following description, only the steps of the first moving body 1 will be described unless otherwise necessary, and the description of the operations of the other moving bodies will be omitted.

  In the “position detection” step S21, the first moving body 1 detects the position in the same manner as in step S1 of FIG. 6, and in the “primary locus data generation” step S22, the primary position locus data is obtained in the same manner as in step S3 of FIG. In the “store primary trajectory data” step S23, the primary position trajectory data is stored in the same manner as in step S4 of FIG. Thereafter, the first moving body 1 selects data in the “transmission data selection” step S24 in the same manner as in step S5 in FIG. 6, and in the “primary trajectory data transmission” step S25 in the same manner as in step S6 in FIG. Send.

  The primary position trajectory data transmitted from the first moving body 1 in this step S25 can be received by the second moving body 2, the third moving body 3, and the fourth moving body 4. At this time, the other moving bodies (the second moving body 2, the third moving body 3, and the fourth moving body 4) also transmit the primary position trajectory data, and other moving bodies other than their own moving bodies. The primary position trajectory data can be received.

  Thereafter, the first moving body 1 receives other primary moving bodies (in FIG. 7, the second moving body 2, the third moving body 3, and the fourth moving body) in the “receive primary trajectory data” step S26, as in step S7 of FIG. Each primary position trajectory data from 4) is received, and each received primary position trajectory data is stored. Next, in the “determining the density of primary trajectory data” step S27, the first moving body 1 determines the portion where the density of each primary position trajectory data is high in the trajectory data density determination unit 44 as in step S8 of FIG. In the “secondary trajectory storage” step S28, the secondary position trajectory data generation unit 45 uses the determined high density portion as the secondary position trajectory data in the secondary position trajectory data generation unit 45 as in step S9 of FIG. 66 (S28).

  Further, the first moving body 1 uses the image matching unit 51 in the notification data generating unit 46 in the “synthesize secondary trajectory on the map” step S29 in the same manner as steps S10 and S11 in FIG. The trajectory data or the notification data based on it is synthesized on the map, and in the “storing map image data storage” step S30, the notification data generating unit 46 stores the synthesized map in the same manner as in step S12 of FIG. Store in unit 68.

  Although the operation for the first moving body 1 has been described above, steps S41 to S50 of the second moving body 2, steps S61 to S70 of the third moving body 3, and steps S81 to S90 of the fourth moving body 4 are described. Since the operation is the same only by replacing the step number, description thereof is omitted. FIG. 7 shows a state in which data exchange in the first mobile body 1 to the fourth mobile body 4 is performed by communication. However, as shown in FIG. 2 and the like, the second mobile body 2 to the seventh mobile body 7 or the same. Data may be exchanged by communicating with any number of the above mobile units. In addition, the 2nd mobile body 2-7 the 7th mobile body 7 grade | etc., Is a mobile body provided with the structure similar to the primary position locus data processing apparatus 10 of the 1st mobile body 1 shown in FIG.

  As described above, in this embodiment, a road can be set based on the primary position trajectory data that the moving body has passed, and at that time, the primary position trajectory data is received from a plurality of moving bodies, and those high-density portions are received. Since the road is determined to be a road, it is possible to reduce erroneous determination and obtain update data of a road with a high angle.

FIG. 8 is a diagram illustrating an example of a hardware configuration in the first moving body 1 according to the above-described embodiment.
In addition, the internal structural block of the 1st moving body 1 shown in FIG. 8 demonstrated below is applicable also to the 2nd moving body 2-the 7th moving body 7 as needed. Further, the number of moving bodies may be 7 or less or 8 or more as long as it is plural (2 or more). Moreover, the 1st mobile body 1 may be the structure which added only RAM and ROM or only the HD drive to it as a storage medium. Moreover, the structure which does not have interpersonal interface parts, such as a display apparatus, a user interface, and an input-output device, may be sufficient as the 2nd mobile body 2-7.

  Each unit in the control unit 40 described above is implemented by executing a program on a computer such as the CPU and RAM shown in FIG. By having the computer implement the program, the contents that can be implemented only by the control unit 40 and the storage unit 60 can be increased, the number of individual hardware can be reduced, and the program can be updated only for modification or improvement. It is possible to cope with it, and the change of hardware in use can be reduced.

  The first mobile unit 1 includes a CPU peripheral unit having a CPU 101, a RAM 103, a graphic controller 109, and a display device 110 connected to each other by a main controller 111, and a communication interface connected to the main controller 111 by an input / output controller 112. 104, an input / output unit having a hard disk drive 105 and a CD-ROM drive 107, and a legacy input / output unit having a ROM 102, a flexible disk drive 106, and an input / output chip 108 connected to an input / output controller 112.

  The main controller 111 connects the RAM 103, the CPU 101 that accesses the RAM 103 at a high transfer rate, and the graphic controller 109. The CPU 101 operates based on programs stored in the ROM 102 and the RAM 103 and controls each unit. The graphic controller 109 acquires image data generated on a frame buffer provided in the RAM 103 by the CPU 101 or the like and displays it on the display device 110. Instead of this, the graphic controller 109 may include a frame buffer for storing image data generated by the CPU 101 or the like.

  The input / output controller 112 connects the main controller 111 to the hard disk drive 105, the communication interface 104, the CD-ROM drive 107, the user interface 113, and the data interface 121, which are relatively high-speed input / output devices. The hard disk drive 105 stores programs and data used by the CPU 101. The communication interface 104 is connected to the communication network 800 via the communication device 115 to transmit / receive programs or data. In this embodiment, the communication device 115 is a wireless communication device, and the wireless communication method uses various methods such as weak radio waves, specific low power, various wireless LAN compatible methods, and mobile phone line usage methods. Can do. The communication network 800 establishes communication between each mobile unit using wireless communication.

  The CD-ROM drive 107 reads a program or data from the CD-ROM 160 and provides it to the hard disk drive 105 and the communication interface 104 via the RAM 103. For example, a manual input device such as a keyboard, a mouse, or a touch panel, a voice input device, or the like is connected to the user interface 113. For example, a global positioning system (GPS) or the like is connected to the data interface 121 as a position detection device 123 and a timing device 122. Thereby, the accurate latitude data and longitude data of the moving body and the accurate acquisition time data can be obtained.

  Further, for example, the ROM 102 and a relatively low-speed input / output device (flexible disk drive 106) of the input / output chip 108 are connected to the input / output controller 112. The ROM 102 stores a boot program that the first mobile unit 1 executes at startup, a program that depends on the hardware of the first mobile unit 1, and the like. The flexible disk drive 106 reads a program or data from the flexible disk 150 and provides it to the hard disk drive 105 and the communication interface 104 via the RAM 103. The input / output chip 108 connects various input / output devices via the flexible disk drive 106 and, for example, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

  The program executed by the CPU 101 is stored in a recording medium such as the flexible disk 150, the CD-ROM 160, or an IC card and provided by the user. The program stored in the recording medium may be compressed or uncompressed. The program is installed in the hard disk drive 105 from the recording medium, read into the RAM 103, and executed by the CPU 101.

  The program executed by the CPU 101 causes the first moving body 1 to function as described with reference to FIGS. Moreover, when it has the same structure also about other moving bodies, such as the 2nd moving body 2-7 of a 7th moving body of FIG. 2, it is made to function similarly.

  The program shown above may be stored in an external storage medium. As the storage medium, in addition to the flexible disk 150 and the CD-ROM 160, an optical recording medium such as a DVD or PD, a magneto-optical recording medium such as an MD, a tape medium, a semiconductor memory such as an IC card, or the like can be used. Alternatively, a storage device such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium and provided to the first mobile unit 1 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

1 1st moving body (self-moving body),
2 Second moving body (other moving bodies),
3 3rd moving body (other moving bodies),
4 4th moving body (other moving bodies),
5 5th moving body (other moving bodies),
6 6th moving body (other moving bodies),
7 7th moving body (other moving bodies),
10 position locus data processing device,
20 position detector,
30 timing section,
40 control unit,
41 position data selection section,
42 primary position locus data generation unit,
43 Transmission data selection part,
44 locus data density determination unit,
45 Secondary position locus data generation unit,
46 Notification data generator,
47 Travel direction determination unit,
48 Moving speed / distance calculation section,
49 Number of moving object calculation section,
50 Travel Route Status Analysis Department,
51 Image matching unit,
52 Diary / Daily Report Data Generation Department,
53 Keyword matching part,
60 storage unit,
61 position data storage unit,
62 position detection time storage unit,
63 mobile body ID storage unit,
64 data number storage unit,
65 primary trajectory data storage unit,
66 Secondary trajectory data storage unit,
67 Map data storage unit,
68 Traffic data storage unit,
69 Mobile / personal data storage,
70 behavior data storage,
71 POI data storage unit,
72 Diary / daily report data storage,
73 keyword storage unit,
80 communication department,
81 traffic data detector,
82 Setting section,
85 imaging unit,
87 Behavior data acquisition unit,
89 Optical character recognition unit,
90 Image output unit,
95 Image display section,
101 CPU (Central Processing Unit),
102 ROM (read only memory),
103 RAM (Random Access Memory),
104 Communication interface (I / F),
105 hard disk (HD) drive,
106 floppy (registered trademark) disk (FD) drive,
107 CD-ROM drive,
108 Input / output (I / O) chips,
109 graphic controller,
110 display device,
111 main controller,
112 input / output (I / O) controller;
113 User interface (I / F),
114 input / output devices,
115 communication device,
121 Data interface (I / F),
122 timing device,
123 position detection device,
800 Communication network.

Claims (23)

A position trajectory data processing device mounted on a moving body,
Position detecting means for detecting the position of the mobile body on the earth and outputting position data;
Storage means for storing position locus data;
Communication means for receiving position trajectory data from a position trajectory data processing device mounted on another moving body;
The function of storing the position trajectory data of the own mobile body in the storage means based on the position data output from the position detection means, and the position received from the position trajectory data processing device mounted on another mobile body by the communication means Control means comprising: a function for storing position locus data for storage based on locus data in the storage means; and a function for generating notification data based on the position locus data stored in the storage means. Position locus data processing device. Having a traveling direction determination means for determining the traveling direction of the own mobile body;
The control means includes position trajectory data in the traveling direction of the mobile body determined by the traveling direction determination means, out of the position trajectory data received from the position trajectory data processing device mounted on each of the other moving bodies. The position trajectory data processing apparatus according to claim 1, wherein the notification data is generated by using the information. Having a traveling direction determination means for determining the traveling direction of the own mobile body;
The position trajectory data received from the position trajectory data processing device mounted on the other moving body includes position data and traveling direction information at each position of the other moving body. The control means includes the other moving body. Of the position trajectory data received from the position trajectory data processing device mounted on each of the position trajectory data, the notification is made using the position trajectory data substantially coincident with or substantially opposite to the advancing direction of the moving body determined by the advancing direction determining means. The position trajectory data processing device according to claim 1, wherein data is generated. The said control means produces | generates the road information which shows the position of a road based on the distribution condition of each position data in the said primary position locus data as said alerting | reporting data. The position locus data processing device described. The position trajectory data received from each of the other moving bodies includes information capable of detecting the speed at each position of each of the other moving bodies,
The control means detects the number and speed of each of the other moving bodies on the road based on the information capable of detecting the speed, and the number of the moving bodies within a predetermined range on the road is a predetermined number or more. The position trajectory data processing apparatus according to claim 4, wherein when the speed of each of the moving bodies is equal to or higher than a predetermined value indicating a main road, notification data for determining the road as a main road is generated. The position trajectory data received from each of the other moving bodies includes information capable of detecting the speed at each position of each of the other moving bodies,
The control means detects the speed of each of the other moving bodies on the road based on information capable of detecting the speed included in the position locus data stored in the storage means, and each of the moving bodies on the road 6. The position trajectory data processing device according to claim 4, wherein when the speed of the vehicle is equal to or less than a predetermined value indicating traffic jam, notification data determined to be traffic jam is generated for the road. At least setting means for setting on the classification of the mobile object;
The position trajectory data received from the position trajectory data processing device mounted on the other moving body includes setting data indicating the setting on the classification,
The control means includes, among the setting data on the classification in the position trajectory data received from the position trajectory data processing device mounted on the other moving body, the classification of the mobile body set by the setting means The position trajectory data processing device according to any one of claims 4 to 6, wherein the notification data for the moving body of the classification is generated based on the position trajectory data of the related setting data. The setting on the classification of the moving object includes at least one of dimension data for classifying the moving object by size and application data for classifying the moving object by use.
The position trajectory data processing apparatus according to claim 7. The setting data on classification of the mobile object includes dimension data for classifying the mobile object as at least large in size, and application data for classifying the mobile object as business or personal use,
The control means includes
The setting data on the classification of the mobile body within the predetermined range on the road is large size data, and the number of solid bodies of the mobile body which is business use data is a predetermined number or more, and the mobile body The position trajectory data processing device according to claim 7, wherein when each speed is equal to or higher than a predetermined value indicating a highway, notification data for the highway is generated. The position trajectory data includes behavior data indicating the behavior of the moving body in association with each position data in the position trajectory data,
The control means includes
The position locus data processing apparatus according to any one of claims 4 to 9, wherein the notification data is generated based on position locus data including position data selected by the behavior data. The behavior data includes various physical quantity detection data detected by various physical quantity detection devices provided on the moving body, image data captured by an imaging unit provided on the moving body, and provided on the moving body. Including at least one of character data recognized from the image data by the optical character recognition means,
The control means includes
The position / trajectory data processing apparatus according to claim 10, wherein the notification data is generated based on position / trajectory data including position data selected by the behavior data. The storage means stores map data,
The control means includes
The secondary map data obtained by matching the position trajectory data of the moving body on the existing map data is generated as the notification data. Position locus data processing device. The existing map data includes POI (point of interest) data,
The control means includes
The position trajectory data processing device according to claim 12, wherein the secondary map data is generated by including the POI data. Each position data in the position trajectory data of each moving body is associated with time data at each position of the moving body,
The control means includes
Based on the movement trajectory data and the position data associated with the time data, and the existing map data including the POI data, a record including a route and a stop-off facility through which the mobile body has passed is created as the notification data. The position trajectory data processing apparatus according to claim 13. The self-moving body has imaging means for imaging at least the front and outputting image data;
The control means includes
The position trajectory data processing apparatus according to claim 14, wherein image data obtained by the imaging unit is added to a record including the route that has passed and a stop-in facility. The moving body has optical character recognition means for recognizing characters from the image data and outputting character data;
The control means includes
16. The position trajectory data processing device according to claim 15, wherein character data recognized from the image data is added to a record including the route and stop-off facility by matching. The storage means stores a predetermined keyword,
The control means includes
The position trajectory data processing device according to claim 16, wherein when the character data corresponds to the keyword, the notification data is generated by including the character data. The communication means is capable of transmitting at least position locus data,
The control unit has a function of determining position trajectory data to be transmitted to another mobile body based on the position trajectory data stored in the storage unit and causing the communication unit to transmit the position trajectory data. The position trajectory data processing device according to any one of 17. The control means includes
The position trajectory data according to claim 18, wherein the position trajectory data to be transmitted to the other moving body is determined by selecting a predetermined pattern from the position trajectory data stored in the storage means. Processing equipment. The control means includes
As the predetermined pattern, if the position trajectory data of the own mobile body is present at a position close to the position trajectory data received from the position trajectory data processing device mounted on the other mobile body, the adjacent position trajectory data is selected. The position trajectory data processing device according to claim 19. Having at least a storage position setting means for setting the storage position of the mobile body;
The control means does not select the position trajectory data of the mobile body within a predetermined range around the storage position of the mobile body set by the storage position setting means as data to be transmitted to another mobile body. The position trajectory data processing apparatus according to any one of claims 18 to 20, wherein The communication means is capable of transmitting / receiving request range information of position locus data,
The control means has a function of determining a request range for requesting transmission to a position trajectory data processing device mounted on another moving body by the communication means, and the position trajectory data received by the communication means as the predetermined pattern. The position trajectory data processing apparatus according to any one of claims 19 to 21, further comprising a function of selecting position trajectory data in a range indicated by the request range information.   A program for causing a computer to realize the function of the control means in the position trajectory data processing device according to any one of claims 1 to 22.

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