JP2011076279A - Traveling link determining device and link traveling time measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately interpolate a discontinuous part even when generating the discontinuous part where a definite link is not continued. <P>SOLUTION: A link match processing part 31 extracts one or a plurality of candidate links to each mobile object position coordinate by comparing map data with position coordinates defined in units of links with mobile object position data including mobile object position coordinates at different time. A traveling link determining part 33 extracts one link as a definite link from among one or a plurality of candidate links. An interpolation processing part 35 interpolates a discontinuous part with a sole interpolation route as a definite link if only the interpolation route wherein a depth is N (N is any natural number of 3 or more) or below and discontinuous parts are connected is present and the depth of the sole interpolation route is N-2 or below. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technique for associating position information of a moving body with a link indicating a road or the like on a map and determining a traveling link of a route on which the moving body is estimated to move. The present invention relates to a technique for interpolating a section when it occurs.

  Conventionally, link matching is used as a technique for measuring the position of a moving body such as a vehicle using GPS or the like and associating the position of the moving body with a link on a map. Various techniques for improving the accuracy of link matching have been proposed. For example, as a technique for determining a travel link and calculating a link travel time of the confirmed travel link, there is a technique described in Patent Document 1, for example.

JP 2004-101504 A

  By the way, when link matching is performed using the method of Patent Document 1 or some other method, there is a case where one link cannot always be determined for the positions of all moving objects. In such a case, link matching is performed for the next mobile body position without establishing a link for the mobile body position. If it does in this way, as a result, a discontinuous section where a definite link is interrupted without being continuous may occur.

  If this discontinuous section can be interpolated with high accuracy, the accuracy of the entire link matching can be improved. Further, if the accuracy of link matching is improved, the utility value is also improved during the link travel time calculated using the result of the link matching.

  Therefore, an object of the present invention is to improve the accuracy of the entire link matching by accurately interpolating the discontinuous section even when a discontinuous section where the fixed link is not continuous occurs.

  Still another object of the present invention is to calculate a link travel time based on a highly accurate link matching result.

  A travel link determination device according to an embodiment of the present invention stores a map data storage unit that stores map data in which position coordinates are defined in units of links, and mobile body position data that includes mobile body position coordinates at different times. One or a plurality of candidate links for each moving body position coordinate by comparing the position data storage unit to the moving body position coordinates included in the moving body position data and the position coordinates of the link defined in the map data A candidate link extracting unit for extracting a link, a confirmed link extracting unit for extracting one link as a confirmed link from one or a plurality of candidate links extracted by the candidate link extracting unit, and an extracted by the confirmed link extracting unit The discontinuity when the moving path considered to have moved by the moving body formed by the determined link is discontinuous. Interpolating means for interpolating a section, wherein the number of links connected in series is N or less (N is a natural number of 3 or more) and there is only one interpolation path connecting the discontinuous sections, and the only interpolation path is connected in series. If the number of links to be connected is N-2 or less, the interpolation means for interpolating the discontinuous section using the only interpolation path as a definite link.

  In a preferred embodiment, when the one link is extracted with respect to the first moving body position coordinate, the fixed link extracting means uses the extracted link as the fixed link of the first moving body position coordinate. And when the plurality of links are extracted with respect to the first moving body position coordinates by the candidate link extracting means, the first moving body position coordinates are extracted from the extracted links. A link connected to one link determined according to the upstream second moving body position coordinates may be extracted as a fixed link of the first moving body position coordinates.

  In a preferred embodiment, when the plurality of links are extracted for the first moving body position by the candidate link extracting unit, the confirmed link extracting unit is configured to select the second link among the plurality of extracted links. You may extract the link connected with the fixed link of a mobile body position as a fixed link.

  In a preferred embodiment, when the plurality of travel links are extracted for the first moving body position by the candidate link extraction means, the confirmed link extraction means is the second of the extracted links. You may extract the link connected with the nearest link of the moving body position as a fixed link.

  In a preferred embodiment, the divided search area data, which is data related to a plurality of divided search areas and stores the position coordinates in each divided search area and the identification information of the link included in each divided search area in association with each other. And further comprising a divided search area data storage unit for storing, wherein the candidate link extracting means selects and selects the divided search area to which each mobile object position coordinate belongs based on the position coordinate in each divided search area. One or a plurality of candidate links for each moving body position coordinate may be extracted as compared with the position coordinates of the link included in the divided search area.

  A link travel time calculation device according to another embodiment of the present invention stores a map database that defines position coordinates in units of links, and position data that includes a plurality of mobile object positions that indicate the positions of mobile objects at different times. Comparing the storage unit and the position coordinates of the links defined in the map database with the positions of the plurality of moving objects, one or more links that the moving object is considered to have moved relative to each moving object position Extracted by the candidate link extracting means to be extracted, the confirmed link extracting means for extracting one link as a confirmed link from one or a plurality of candidate links extracted by the candidate link extracting means, and the confirmed link extracting means When the travel path formed by the determined link and considered to have moved by the moving object is discontinuous, the discontinuous section is interpolated. Interpolation means, the number of links connected in series is N or less (N is a natural number of 3 or more) and there is only one interpolation path connecting the discontinuous sections, and the number of links connected in series of the only interpolation paths is If it is N-2 or less, the interpolation means for interpolating the discontinuous section using the only interpolation path as a confirmed link, the confirmed link extracted by the confirmed link extracting means, and the interpolation means are interpolated. Link travel time calculating means for calculating the travel time of the determined link of the interpolation route.

It is a block diagram of the link travel time provision system which concerns on one Embodiment of this invention. An example of the data structure of a probe data storage part is shown. It is explanatory drawing which shows an example of the production | generation method of a division | segmentation search area. An example of the data structure of a division | segmentation search area is shown. It is explanatory drawing which shows an example of the method of distance calculation of a vehicle position and a link. It is a figure which shows an example of the link matching of several vehicle position P1-P9. It is explanatory drawing which shows an example of the extraction method of a fixed link. It is explanatory drawing which shows an example of the fixed link extraction based on traffic regulation. It is explanatory drawing of the path | route interpolation by uniqueness. An example of the data structure of a daily link travel time memory | storage part is shown. An example of the data structure of a statistics link travel time memory | storage part is shown. It is a flowchart which shows the whole process of link travel time calculation. It is a flowchart which shows the detail of the extraction process of a candidate link. It is a flowchart which shows the detail of the extraction process of a fixed link.

  Hereinafter, a system for providing a link travel time according to an embodiment of the present invention will be described with reference to the drawings. This system is a travel link determination system that determines a travel link estimated that a vehicle has traveled based on vehicle position data indicating a trajectory traveled by the vehicle and a number of links included in the map data. Including. Then, the system calculates the link travel time required to travel each link determined by the travel link determination system. In addition, the system outputs the link travel time to provide to other devices.

  The link travel time providing system according to the present embodiment is configured by, for example, a general-purpose computer system, and individual components or functions in the link travel time providing system described below are executed by, for example, executing a computer program. Realized. This computer program can be stored in a computer-readable recording medium.

  FIG. 1 is a configuration diagram of a link travel time providing system according to the present embodiment.

  As shown in the figure, the system includes a probe data receiving unit 11, a probe data storage unit 13, a map data storage unit 21, a divided search area generation unit 23, a divided search area data storage unit 25, a link Match processing unit 31, travel link determination unit 33, interpolation processing unit 35, link travel time calculation unit 37, link travel time output unit 39, daily link travel time storage unit 41, and statistical link travel time storage Unit 43 and statistical processing unit 45.

  The probe data receiving unit 11 acquires probe data from a probe data providing system (not shown). The probe data includes, for example, position coordinates (latitude and longitude) detected by a position information detection device mounted on a moving body such as a vehicle and the time at that time. The position information detection device is an information processing device having a function of detecting a position using a GPS (Global Positioning System) function. For example, a vehicle-mounted or portable car navigation device or a mobile device with a GPS function. A telephone may be used.

  In the present embodiment, a case where probe data acquired from a taxi vehicle is provided by a taxi company will be described as an example.

  The probe data storage unit 13 stores the probe data acquired by the probe data receiving unit 11.

  FIG. 2 shows an example of the data structure of the probe data storage unit 13. As shown in the figure, the probe data storage unit 13 includes, as data items, a company ID 131, a business establishment ID 132, a vehicle ID 133, a date and time 135, a vehicle position 137, and an actual vehicle / empty flag 139.

  The company ID 131 is identification information of the taxi company that provided the probe data. The establishment ID 132 is identification information of the establishment in the taxi company. The region where the vehicle (taxi) is traveling can be determined by the business establishment ID 132. The vehicle ID 133 is identification information of each vehicle (taxi). The date and time 135 indicates the date and time when the vehicle exists at the vehicle position 137. The vehicle position 137 is vehicle position coordinates indicated by the latitude and longitude at the date and time 135. The actual vehicle / empty vehicle flag 139 is a flag indicating whether the vehicle is an actual vehicle in which a passenger is placed in a taxi or an empty vehicle in which a passenger is not on the taxi. In the present embodiment, only probe data in which the actual vehicle / empty vehicle flag 139 is “in-vehicle” may be targeted.

  The probe data storage unit 13 accumulates probe data collected every moment. In the present embodiment, the vehicle position at a certain time of the vehicle having one data record is shown. Accordingly, probe data collected at different times for a certain vehicle is stored in the probe data storage unit 13 as one data record.

  Referring to FIG. 1 again, the map data storage unit 21 stores road map data. The road map data includes information regarding a large number of links constituting the road. In road map data, for example, position coordinates are defined in units of links. That is, in the road map data, the identification information of each link is associated with the position coordinates of the link indicated by latitude and longitude.

  The divided search area generation unit 23 generates a plurality of divided search areas. The division search area is for limiting the search range in the link match processing in the link match processing unit 31. The divided search area generation unit 23 generates divided search area data that defines a divided search area.

  An example of a method for generating a divided search area will be described with reference to FIG. That is, the divided search area generation unit 23 uses a circle C centered at a point for each predetermined distance (1000 m for a secondary mesh) in meshes (for example, secondary meshes) M, M,. , C,... Are divided search areas. Then, the divided search area generation unit 23 extracts a link included in each divided search area C. For example, when a part of a link is included in a circle of a certain divided search area C, this link may be included in the divided search area C. One link may belong to a plurality of divided search areas.

  The divided search area data storage unit 25 stores the divided search area data generated by the divided search area generation unit 23. In the divided search area data, the position coordinates in each divided search area and the identification information of the links included in each divided search area are associated with each other. For example, the divided search area data generated according to the example of FIG. 3 has the data structure shown in FIG. That is, the divided search area data includes an area ID 251 for identifying the divided search area C, a position coordinate 253 of the center point, a radius 255 of the circle, and a link ID 257 of a link existing in the divided search area. Have as.

  The link match processing unit 31 performs link match processing for associating probe data with a link. For example, the link match processing unit 31 compares the moving body position coordinates (vehicle position) included in the moving body position data (probe data) with the position coordinates of the link defined in the map data, and moves each moving body. One or more candidate links for position coordinates (vehicle position) are extracted. For example, the link match processing unit 31 performs link match processing for each record of probe data stored in the probe data storage unit 13.

  In this embodiment, the link match processing unit 31 selects and selects the divided search area to which each moving body position coordinate (vehicle position) belongs based on the position coordinates (vehicle position) in each divided search area C. One or a plurality of candidate links for each moving body position coordinate (vehicle position) is extracted as compared with the position coordinates of the link included in the divided search area. For example, the link match processing unit 31 uses the position coordinates 253 and the circle radius 255 of the center point of the divided search area data stored in the divided search area data storage unit 25 and the vehicle position 137 of the probe data storage unit 13. In contrast, the area ID 251 of the divided search area C to which the vehicle position 137 belongs is specified. The link match processing unit 31 acquires the position coordinates of the link of the link ID 257 associated with the area ID 251 specified here from the map data storage unit 21, and performs a link match process with the vehicle position 137.

In the link match process, the link match processing unit 31 extracts all or one or more links within a predetermined distance (for example, 20 m) from the vehicle position 137 as candidate links.
An example of a method for calculating the distance between the vehicle position and the link will be specifically described with reference to FIG.

ここで、Ｔ（Ｔｘ，Ｔｙ）は、媒介変数ｔ（０≦ｔ≦１）を用いて以下の式（２）、（３）で表される。

このときに求まる最小のｄが、車両位置ＰとリンクＬとの距離である。つまり、車両位置Ｐに最も近いリンクＬ上の点Ｔが、図５Ａに示すように車両位置ＰからリンクＬへ垂線を下ろした足となるときと、図５Ｂに示すようにリンクＬの端点となるときがある。 As shown in the figure, when both ends of the link L are A (x ₀ , y ₀ ) and B (x ₀ + dx, y ₀ + dy), points on the link L from the vehicle position P (px, py) The distance d from T (Tx, Ty) is determined by the following equation (1).

Here, T (Tx, Ty) is expressed by the following equations (2) and (3) using a parameter t (0 ≦ t ≦ 1).

The minimum d obtained at this time is the distance between the vehicle position P and the link L. That is, when the point T on the link L closest to the vehicle position P is a foot with a perpendicular line extending from the vehicle position P to the link L as shown in FIG. 5A, the end point of the link L as shown in FIG. There are times when

  FIG. 6 is a diagram illustrating a state in which the link match processing unit 31 performs link matching with respect to a plurality of vehicle positions P1 to P9. As shown in the figure, the link match processing unit 31 extracts a link within a predetermined distance r from each vehicle position. For example, vehicle positions P3 and P4 show an example in which two links are extracted as candidate links. Vehicle positions P5 and P6 show an example in which three links are extracted as candidate links. The vehicle position P8 is not subject to subsequent processing because no candidate link has been extracted.

  Referring again to FIG. 1, the travel link determination unit 33 extracts one confirmed link for one vehicle position from the candidate links extracted by the link match processing unit 31. For example, when one link is extracted with respect to the first moving body position (vehicle position) by the candidate link extraction unit (link match processing unit 31), the traveling link determination unit 33 selects the extracted link. Extract as a fixed link. On the other hand, when a plurality of links are extracted with respect to the first moving body position (vehicle position) by the candidate link extraction means (link match processing unit 31), the first moving body among the extracted links A link connected to one link determined according to the second moving body position (vehicle position) upstream from the position (vehicle position) is extracted as a confirmed link.

  FIG. 7 shows a link match process (candidate link extraction) and a link confirmation process (when the vehicle positions P1 to P4 are obtained between times t1 and t4 as probe data of a certain vehicle for the links L1 to L9. (Confirmed link extraction) will be described.

First, the candidate link for each of the vehicle positions P1 to P4 is extracted by the link match processing unit 31. Each candidate link is as follows.
Vehicle position P1 Candidate link L6
Vehicle position P2 Candidate links L2, L7
Vehicle position P3 Candidate links L3, L8
Vehicle position P4 candidate link L9
The travel link determination unit 33 extracts a fixed link in time series based on the above result. When there are a plurality of candidate links, the traveling link determination unit 33 selects one candidate link from among them by, for example, one of the following two methods.

  In the first method, when a plurality of links are extracted for the first moving body position (vehicle position), a confirmed link of the upstream second moving body position (vehicle position) among the extracted links. The link connected to is extracted as a confirmed link. On the other hand, in the second method, when a plurality of links are extracted for the first moving body position (vehicle position), the upstream second moving body position (vehicle position) is extracted from the extracted links. A link connected to the nearest link is extracted as a confirmed link.

  Hereinafter, each of the cases where the first method based on the confirmed link and the second method based on the nearest link are applied will be described in detail with reference to the example of FIG.

  (1) First, the travel link determination unit 33 extracts the candidate link L6 as a confirmed link because the number of candidate links at the vehicle position P1 at the earliest time t1 is L6.

  (2) Next, since the candidate links at the next time t2 are L2 and L7, the traveling link determination unit 33 extracts one of them as a determined link.

  At this time, according to the first method based on the confirmed link, the link L7 is extracted as the confirmed link. This is because the determined link for the vehicle position P1 upstream from the vehicle position P2 is L6, and therefore the link L7 is continuous with the link L6 among the links L2 and L7.

  On the other hand, when the second method based on the nearest link is followed, the link L7 is extracted as a confirmed link. Because the nearest link to the vehicle position P1 upstream from the vehicle position P2 is L6 (only one link is extracted here), the link L2 and L7 are continuous with the link L6. This is because the link L7.

  (3) Since the candidate links at the next time t3 are L3 and L8, the traveling link determination unit 33 also extracts one of them as a determined link at this time.

  Similarly, if the first method based on the confirmed link is followed, the link L8 is extracted as the confirmed link. This is because the determined link for the vehicle position P2 upstream from the vehicle position P3 is L7, and therefore the link L7 is continuous with the link L7 among the links L3 and L8.

  On the other hand, according to the second method based on the nearest link, the link L3 is extracted as a confirmed link. This is because the nearest link to the vehicle position P2 upstream from the vehicle position P3 is L2, and therefore the link L3 is continuous with the link L2 among the links L3 and L8.

  (4) Finally, since the only candidate link at the next time t4 is L9, the travel link determination unit 33 extracts the candidate link L9 as a confirmed link.

  In either of the first method and the second method, when there is no link continuous with the upstream link, the nearest link of the vehicle position is set as the confirmed link.

  According to the first method, since the link that is continuous with the upstream fixed link is extracted as the fixed link, the extracted fixed links are continuous with each other. That is, there is an effect that it is easy to obtain a fixed link that is continuous for a longer period of time.

  On the other hand, according to the second method, since a link that is continuous with the nearest upstream link is extracted as a confirmed link, a link having high continuity with the upstream vehicle position is selected. Furthermore, since this method does not consider the relationship with the upstream fixed link, even if a mismatch occurs upstream, there is an effect of resetting the mismatch state.

  Moreover, the traveling link determination part 33 may extract a fixed link based on the information regarding traffic regulation.

  For example, as shown in FIG. 8A, when a one-way link is extracted as a confirmed link with respect to a certain vehicle position, the traveling link confirming unit 33 is configured to display vehicles before and after the vehicle position as illustrated in FIG. Based on the position, the traveling direction of the vehicle is estimated, and when the vehicle is running in reverse, the link is deleted from the confirmed link. For example, in the example of the figure, when the vehicle is moving with the vehicle positions P21 and P22, and when the link L21 is one-way from the node 1 to the node 2, the traveling link determination unit 33 is connected to the vehicle positions P21 and P22. To calculate the distances La and Lb between the foot of the perpendicular to the link L21 and the node 2, respectively. Then, the distances La and Lb are compared to confirm that the vehicle is not running backward.

  In addition, as shown in FIG. 8B, the traveling link determination unit 33 does not extract the highway link as a fixed link when the highway and the general road are running side by side and when it does not pass through the highway entrance. It may be. For example, when the vehicle is moving between the vehicle positions P31 and P32, the travel link determination unit 33 assigns the vehicle position P32 to the general road link because it does not pass through the highway entrance. When the vehicle positions P35, P36 and the vehicle are moving, the travel link determination unit 33 assigns the vehicle position P36 to the highway link or the general road link because it has passed the highway entrance.

  Referring again to FIG. 1, the interpolation processing unit 35 is discontinuous in the movement path formed by the confirmed link extracted by the confirmed link extracting means (running link determining unit) and considered that the moving body (vehicle) has moved. If so, the discontinuous section is interpolated. That is, the interpolation processing unit 35 interpolates the discontinuous sections and connects the vehicle movement paths. For example, there are the following four methods of path interpolation performed by the interpolation processing unit 35. The interpolation processing unit 35 performs path interpolation using any one or more of the following.

(1) Uniqueness The interpolation processing unit 35 searches for a route connecting discontinuous sections, and when there is only one route (that is unique) connecting the discontinuous sections, the interpolation processing unit 35 performs interpolation using the only route. At this time, the range in which the interpolation processing unit 35 searches for a route is a predetermined depth range. Here, “depth” means the number of links connected in series. For example, the depth when three links are connected in series is “3”.

  For example, the interpolation processing unit 35 has only one interpolation path connecting discontinuous sections with a depth N (N is a natural number of 3 or more) or less, and the depth of the only interpolation path is N-2 or less. The discontinuous section is interpolated using the only interpolation path as a definite link. For example, the interpolation processing unit 35 searches for a route connecting discontinuous sections in a range of depth “5” with N = 5, and the obtained route is the only route and the depth is “3”. When it is below, the discontinuous section may be interpolated along the route.

  For example, in the example of FIG. 9A, an interpolation path having a depth of 5 or less that connects discontinuous sections is unique, and the depth of the path is “2”. Therefore, this discontinuous section is interpolated by the above path.

  On the other hand, in the example of FIG. B, since there are a plurality of paths connecting the discontinuous sections at a depth of 5 or less, the discontinuous sections are not interpolated depending on uniqueness.

  Further, the interpolation processing unit 35 may repeat the above processing until N is incremented by 1 from N = 3 to an upper limit value of N until the discontinuous section is interpolated. For example, interpolation is performed by performing the above processing with N = 3, and when interpolation cannot be performed, interpolation processing is performed with N = 4. Further, when interpolation cannot be performed at N = 4, the interpolation processing may be further repeated at N = 5 up to a predetermined upper limit value of N.

  In this way, by adding a difference between the depth (N) used for the search and the depth (N-2) when employed as the interpolation path, the possibility of mismatch can be reduced. This is because the difference in depth ensures that there is no path of depth N and depth N-1. For example, when N = 5 is described as an example, if the depth of the only interpolation path searched is 3, there is no path to be interpolated at depth 4 and depth 5. Even if another route with depth 6 exists, it is considered that the possibility that the vehicle has traveled on the route with depth 6 instead of the route with depth 3 is very low.

(2) Straightness When the interpolation processing unit 35 detects a straight link that connects discontinuous sections, the interpolation processing unit 35 interpolates the discontinuous sections using the straight links. Here, the straight-ahead link is a link in a discontinuous section that is connected to the confirmed link with a predetermined straight-line or higher. For example, a link whose angle with the fixed link is a predetermined angle (for example, 30 °) or less may be a straight link. When the depth of the discontinuous section is “3” or more, when the angle between adjacent links is a predetermined angle or less, these links may be straight links.

  When the interpolation processing unit 35 searches for a plurality of routes having straightness, the discontinuous section may be interpolated with the shortest route.

(3) Continuity The interpolation processing unit 35 may interpolate the discontinuous section based on the continuity of the road type (road name, width, etc.). For example, if the interpolation processing unit 35 searches for a link of the same road type as the confirmed links on both sides of the discontinuous section, the discontinuous section is interpolated with the searched link.

(4) Shortest path The interpolation processing unit 35 searches for all paths that interpolate the discontinuous section at a predetermined depth (for example, depth 10) or less, and interpolates among the paths that have the shortest distance.

  If the route is not interpolated even by the above processing, the routes on both sides of the discontinuous section may be handled as separate routes in the following processing.

  The link travel time calculation unit 37 calculates the travel time of each confirmed link extracted by the confirmed link extraction means (running link determination unit). For example, the link travel time calculation unit 37 refers to the date and time 135 of the probe data based on the route before or after being interpolated by 35, and is required for each vehicle to move through each link. Calculate the link travel time. The link travel time calculated by the link travel time calculation unit 37 is stored in the daily link travel time storage unit 41.

  The daily link travel time storage unit 41 stores the link travel time data calculated by the link travel time calculation unit 37.

  As shown in FIG. 10, the daily link travel time storage unit 41 includes a date 411, a time zone 413, a link ID 415, and a travel time 417 as data items. The daily link travel time storage unit 41 stores almost real-time travel time shortly after the probe data is acquired.

  The statistical processing unit 45 statistically processes the daily link travel time data stored in the daily link travel time storage unit 41 to generate statistical link travel time data. The statistical link travel time data is stored in the statistical link travel time storage unit 43. For example, the statistical processing unit 45 reads link travel time data, calculates an average travel time for each day of the week, for each time zone, and for each link ID, and stores the average travel time in the statistical link travel time storage unit 43.

  The statistical link travel time storage unit 43 stores statistical link travel time data obtained by statistically processing the link travel time stored in the daily link travel time storage unit 41. The statistical link travel time storage unit 43 performs aggregation in a predetermined aggregation unit (for example, day of the week, fifty days, etc.), and calculates an average travel time for each link.

  As illustrated in FIG. 11, the statistical link travel time storage unit 43 includes a day of the week 431, a time zone 413, a link ID 415, and an average travel time 437 as data items.

  The link travel time output unit 39 refers to the daily link travel time storage unit 41 or the statistical link travel time storage unit 43 and outputs the link travel time for each link ID to an external device. For example, if data exists in the daily link travel time storage unit 41, it may be output. When there is no data in the daily link travel time storage unit 41, the link travel time corresponding to the current day of the week and time zone may be output with reference to the statistical link travel time storage unit 43. For example, the link travel time output unit 39 may periodically output the link travel time, or may output the link travel time in response to a request from an external device.

  Next, a processing procedure for calculating the link travel time in the above-described system will be described with reference to the flowcharts of FIGS.

  FIG. 12 shows the entire processing procedure for link travel time calculation.

  First, the probe data receiving unit 11 receives probe data and stores it in the probe data storage unit 13 (S10).

  The link match processing unit 31 extracts each candidate link for each vehicle position 137 of the probe data stored in the probe data storage unit 13 (S12). Details of this candidate link extraction processing will be described later.

  If a candidate link is extracted by said process, the driving link determination part 33 will extract a fixed link from the one or several candidate links with respect to each vehicle position 137 (S14). Details of this fixed link extraction process will be described later.

  When the confirmed link is determined by the above processing, the interpolation processing unit 35 performs interpolation of the discontinuous section where the confirmed link is not continuous, and estimates the moving route of the vehicle (S16). The method for interpolating the discontinuous section is as described above.

  The link travel time calculation unit 37 calculates the travel time of the link included in the travel route according to the travel route of each vehicle estimated by the above processing, and stores it in the daily link travel time storage unit 41 (S18). .

  Thereby, it is possible to calculate the link travel time almost in real time based on the probe data.

  Next, details of the candidate link extraction processing in step S12 will be described with reference to the flowchart of FIG.

  The link match processing unit 31 selects one record of the target probe data from the probe data storage unit 13 (S121).

  Next, the link match processing unit 31 compares the vehicle position 137 of the selected record with the position coordinates 253 at the center of the divided search area data storage unit 25, and selects the divided search area to which the vehicle position 137 belongs ( S123).

  Then, the link match processing unit 31 extracts all the links within the predetermined distance of the vehicle position 137 as candidate links from the link ID 257 of the selected divided search area (S125). Thus, the search time for a candidate link can be shortened by setting the divided search area as a search range.

  The link match processing unit 31 repeats the above processing for all the records of the target probe data (S127).

  Next, with reference to the flowchart of FIG. 14, the details of the confirmed link extraction processing in step S14 will be described.

  First, the travel link determination unit 33 selects one vehicle position from which candidate links have been extracted by the link match processing unit 31 (S141).

  When there is one candidate link for the selected vehicle position (S142: Yes), the travel link determination unit 33 extracts the candidate link as a determination link and skips to step S153 (S143).

  When the number of candidate links for the selected vehicle position is not one (S142: No), the travel link determination unit 33 specifies the immediately preceding link corresponding to the immediately preceding vehicle position (S145). Here, the immediately preceding link is either a confirmed link of the immediately preceding vehicle position (first method) or a nearest link of the immediately preceding vehicle position (second method).

  The traveling link determination unit 33 determines whether there is a link connected to the immediately preceding link among the candidate links (S147). When there is a link connected to the immediately preceding link (S147: Yes), the travel link determining unit 33 extracts the link as a confirmed link (S149). On the other hand, when there is no link connected to the immediately preceding link (S147: No), the traveling link determination unit 33 sets the nearest link closest to the vehicle position among the candidate links as the candidate link (S151).

  When the confirmed link is extracted for the target vehicle position, the travel link determining unit 33 may perform the correction if traffic regulation is necessary (S153).

  The traveling link determination unit 33 repeats the above processing for each of all vehicle positions from which candidate links have been extracted by the link match processing unit 31 (S155).

  As a result, the travel link determination unit 33 extracts a confirmed link from one or a plurality of candidate links. In particular, when there are a plurality of candidate links, the confirmed link can be determined based on the immediately preceding link corresponding to the immediately preceding vehicle position.

  The above-described embodiments of the present invention are examples for explaining the present invention, and are not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

11 Probe Data Receiving Unit 13 Probe Data Storage Unit 21 Map Data Storage Unit 23 Division Search Area Generation Unit 25 Division Search Area Data Storage Unit 31 Link Match Processing Unit 33 Traveling Link Determination Unit 35 Interpolation Processing Unit 37 Link Travel Time Calculation Unit 39 Link Travel time output unit 41 Daily link travel time storage unit 43 Statistical link travel time storage unit 45 Statistical processing unit

Claims (8)

A map data storage unit for storing map data in which position coordinates are defined in link units;
A position data storage unit that stores moving object position data including moving object position coordinates at different times;
Candidate link extracting means for comparing one or a plurality of candidate links for each moving body position coordinate by comparing the moving body position coordinates included in the moving body position data with the position coordinates of the link defined in the map data. When,
A confirmed link extracting means for extracting one link as a confirmed link from one or a plurality of candidate links extracted by the candidate link extracting means;
Interpolating means for interpolating the discontinuous section when the moving path formed by the confirmed link extracted by the confirmed link extracting means and considered to have moved by the moving body is discontinuous, If the number of connected links is N or less (N is a natural number of 3 or more) and there is only one interpolation path connecting the discontinuous sections, and the number of links connected in series with the only interpolation path is N−2 or less, A travel link confirmation device comprising: the interpolation means for interpolating the discontinuous section using the only interpolation route as a confirmed link. The confirmed link extracting means includes
When one link is extracted with respect to the first moving body position coordinate, the extracted link is extracted as a confirmed link of the first moving body position coordinate, and the first link is extracted by the candidate link extracting means. When a plurality of links are extracted with respect to the moving body position coordinates, the position is determined according to the second moving body position coordinates upstream from the first moving body position coordinates among the extracted links. The travel link confirmation device according to claim 1, wherein a link connected to one link is extracted as a confirmed link of the first moving body position coordinates. The confirmed link extracting means includes
When a plurality of links are extracted for the first moving body position by the candidate link extracting means, a link connected to the determined link of the second moving body position is determined among the extracted links. The travel link determination device according to claim 2, which is extracted as a link. The confirmed link extracting means includes
When a plurality of travel links are extracted for the first moving body position by the candidate link extracting means, a link connected to the nearest link of the second moving body position among the plurality of extracted links The travel link confirming device according to claim 2, wherein: is extracted as a confirmed link. Divided search area data that stores data related to a plurality of divided search areas, and stores divided search area data in which position coordinates in each divided search area and link identification information included in each divided search area are stored in association with each other. A storage unit;
The candidate link extraction means selects a divided search area to which each moving object position coordinate belongs based on the position coordinates in each divided search area, and the position coordinates of the links included in the selected divided search area; The travel link determination device according to any one of claims 1 to 4, wherein one or a plurality of candidate links for each moving body position coordinate is extracted by comparison. A map database that defines position coordinates in link units;
A storage unit for storing position data including a plurality of moving body positions indicating positions of the moving body at different times;
Candidate links that compare the plurality of moving body positions with position coordinates of links defined in the map database and extract one or a plurality of links considered to have moved the moving body with respect to each moving body position Extraction means;
A confirmed link extracting means for extracting one link as a confirmed link from one or a plurality of candidate links extracted by the candidate link extracting means;
Interpolating means for interpolating the discontinuous section when the moving path formed by the confirmed link extracted by the confirmed link extracting means and considered to have moved by the moving body is discontinuous, If the number of connected links is N or less (N is a natural number of 3 or more) and there is only one interpolation path connecting the discontinuous sections, and the number of links connected in series with the only interpolation path is N−2 or less, The interpolation means for interpolating the discontinuous section using the only interpolation path as a definite link;
A link travel time calculating device comprising: a confirmed link extracted by the confirmed link extracting means; and a link travel time calculating means for calculating a travel time of a confirmed link of the interpolation route interpolated by the interpolation means. An apparatus including a map data storage unit that stores map data in which position coordinates are defined in units of links, and a position data storage unit that stores mobile body position data including mobile body position coordinates at different times,
Comparing the moving body position coordinates included in the moving body position data with the position coordinates of the links defined in the map data, and extracting one or more candidate links for each moving body position coordinate;
From the extracted one or more candidate links, one link is extracted as a confirmed link,
When the moving path formed by the extracted deterministic link is considered to be discontinuous, the number of links connected in series is N (N is a natural number of 3 or more) and the discontinuous section. If there is only one interpolation path connecting the two and the number of links connected in series with the only interpolation path is N-2 or less, the unique interpolation path is extracted as a determined link. A computer program for determining a travel link,
In an apparatus comprising a map data storage unit that stores map data in which position coordinates are defined in units of links, and a position data storage unit that stores mobile body position data including mobile body position coordinates at different times,
Comparing the moving body position coordinates included in the moving body position data with the position coordinates of the links defined in the map data, and extracting one or more candidate links for each moving body position coordinate;
Extracting one link as a confirmed link from the one or more extracted candidate links;
When the moving path formed by the extracted deterministic link is considered to be discontinuous, the number of links connected in series is N (N is a natural number of 3 or more) and the discontinuous section. A computer program that executes the step of extracting the only interpolation path as a definite link if there is only one interpolation path connecting the two and the number of links connected in series of the only interpolation path is N-2 or less. .

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