JP2017062166A - Electronic apparatus, setting method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a new link from obtained location information.SOLUTION: An information processing device 1 includes a CPU 11. The CPU 11 executes: acquisition processing for obtaining pieces of location information indicating a movement locus; determination processing for determining an elliptical area according to the distribution of the pieces of location information which are obtained by the acquisition processing; and setting processing for setting as a link the elliptical area which is determined by the determination processing, on the basis of a predetermined condition. This enables the information processing device 1 to determine an elliptical area from the collection of obtained pieces of location information and set a new link on the basis of the elliptical area.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electronic device, a setting method, and a program.

  Conventionally, there is a technique of performing map matching by reflecting a position obtained from a GPS (Global Positioning System) on map information including a road network composed of links and nodes, and displaying a current location (Patent Document 1). reference).

JP 2008-180551 A

  However, in the technique described in Patent Document 1 described above, roads that are not properly registered as roads in the road network are not displayed. Otherwise, there is a problem that the positioning data is displayed as it is, and the user is worried.

  The present invention has been made in view of such a situation, and an object thereof is to set a new link from acquired position information.

In order to achieve the above object, an electronic device of one embodiment of the present invention includes:
An acquisition process for acquiring position information representing a movement locus;
A determination process for determining an area on the map based on a distribution of positions on the map determined by the position information acquired by the acquisition process;
A setting process for setting the area determined by the determination process as a link based on a predetermined condition;
It is characterized by including a processing unit for executing the above.

  According to the present invention, a new link can be set from the acquired position information.

It is a block diagram which shows the hardware constitutions of the information processing apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows formation of the link of this embodiment. It is a schematic diagram which shows the example of a display in the registered map information. It is a functional block diagram which shows the functional structure for performing a road registration process among the functional structures of the information processing apparatus of FIG. It is a flowchart explaining the flow of the road registration process which the information processing apparatus of FIG. 1 which has the functional structure of FIG. 4 performs.

FIG. 1 is a block diagram showing a hardware configuration of an information processing apparatus according to an embodiment of the present invention.
The information processing apparatus 1 is configured as a personal computer (PC), for example.

  The information processing apparatus 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a bus 14, an input / output interface 15, a GPS unit 16, and an input unit. 17, an output unit 18, a storage unit 19, a communication unit 20, and a drive 21.

  The CPU 11 executes various processes according to a program recorded in the ROM 12 or a program loaded from the storage unit 19 to the RAM 13.

  The RAM 13 appropriately stores data necessary for the CPU 11 to execute various processes.

  The CPU 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output interface 15 is also connected to the bus 14. A GPS unit 16, an input unit 17, an output unit 18, a storage unit 19, a communication unit 20, and a drive 21 are connected to the input / output interface 15.

  The GPS unit 16 receives GPS signals from a plurality of GPS satellites St via a GPS receiving antenna. Based on the GPS signal received by the GPS unit 16, the CPU 11 acquires position information including the latitude, longitude, and altitude indicating the current position.

  The input unit 17 includes various buttons and the like, and inputs various types of information according to user instruction operations.

  The output unit 18 includes a display, a speaker, and the like, and outputs images and sounds.

  The storage unit 19 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various image data.

  The communication unit 20 controls communication performed with other devices (not shown) via a network including the Internet.

  A removable medium 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 21. The program read from the removable medium 31 by the drive 21 is installed in the storage unit 19 as necessary. The removable medium 31 can also store various data such as image data stored in the storage unit 19 in the same manner as the storage unit 19.

  The information processing apparatus 1 configured as described above has a function of setting a link from a plurality of position information distributions in a predetermined area and registering a new road in the map information.

なお、「σ_ｘ・σ_ｙ」はｘ，ｙ成分の偏差であり、「ｘ^２」はカイ二乗分布に応じた信用区間の値である。また、位置情報は、ｘ−ｙ座標系の２次元で特定されているためにカイ二乗分布の自由度を「２」としている。 FIG. 2 is a conceptual diagram illustrating the formation of a link according to the present embodiment.
For example, when the obtained position information from the GPS per second is mapped onto the map information, as shown in the example of FIG. 2A, the point P having a variation including a positioning error with respect to the actual road R Can be plotted as
In the case of forming a link, in this embodiment, an elliptical region (hereinafter referred to as “probability elliptical region”) Z _j is determined from the distribution with respect to the position information sequence P scattered in a predetermined area. .
In the present embodiment, the probability elliptic region Z _j is determined by obtaining a covariance matrix from the position information sequence P of a predetermined area and calculating a chi-square distribution with 2 degrees of freedom in Expression (1) below. .

“Σ _x · σ _y ” is the deviation of the x and y components, and “x ² ” is the value of the confidence interval corresponding to the chi-square distribution. Further, since the position information is specified in two dimensions in the xy coordinate system, the degree of freedom of the chi-square distribution is “2”.

The major axis of the determined probability elliptical area Z _j and the direction of the link, the minor axis direction while regarding the road width, along the short axis size and length axis and generally the ratio of the minor axis road and the surrounding road conditions It is determined whether or not to set as a link by determining whether or not it matches. At this time, the reliability as a link of the probability elliptical area _Zj is also determined. The reliability is determined by the degree of deviation in the probability elliptical region Z _j .

If the conditions of the general road and the surrounding roads are not met, the determined probability elliptical area Z _j is set as shown in FIG. Are divided into predetermined groups (in this embodiment, two groups). The probability ellipse area Z _j is determined again from the position information sequence P belonging to each group. Thereafter, as shown in FIG. 2C to FIG. 2E, the probability ellipse region Z _j is determined a plurality of times until it can be set as a link. By repeating the division, the probability elliptical region Z _j converges and the reliability increases.

When the conditions of a general road and surrounding roads are met, it is set as a link and registered as a new road in the map information. Map matching or the like can be used using map information in which new roads are registered.
If it is determined that the convergence has been achieved to some extent using an index such as variance (the reliability has increased), the processing is ended as a road probability ellipse area group and registered as a road at once, or the probability ellipse area The first principal component obtained from the eigenvector may be used to uniquely determine the road and register it each time.

  As a result, the information processing apparatus 1 can identify roads that do not exist at the time of creation of existing map information from the travel history of cars and the like that are accumulated every day, and therefore can provide highly immediate map information. .

FIG. 3 is a schematic diagram showing a display example with registered map information.
By the above-described method, the new road registered in the map information is displayed differently from the road registered in the map information as shown in FIG. In the example of FIG. 3A, the new road is displayed as a two-dot chain line. Further, as shown in FIG. 3B, a new road may be displayed in the finally determined probability ellipse area _Zj , and may be displayed differently depending on the reliability.

FIG. 4 is a functional block diagram showing a functional configuration for executing road registration processing among the functional configurations of the information processing apparatus 1.
The road registration process is a series of steps in which a probability ellipse area is calculated from position information from the acquired travel history, a link is set based on the probability ellipse area, and the set link is registered in the map information as a road. Refers to processing.

When executing the road registration process, as shown in FIG. 4, in the CPU 11, the trajectory information acquisition unit 51, the region determination unit 52, the reliability determination unit 53, the region determination unit 54, and the region division unit 55 are performed. And the road registration part 56 functions.
Further, a trajectory information storage unit 71 and a map information storage unit 72 are set in one area of the storage unit 19.

  The trajectory information storage unit 71 sequentially stores position information (hereinafter referred to as “trajectory information”) that is a vehicle travel trajectory (GPS trajectory data) collected from an external network such as the Internet.

  The map information storage unit 72 stores map information constructed based on a road network composed of road information including links and nodes.

  The trajectory information acquisition unit 51 acquires trajectory information from the trajectory information storage unit 71. Since the trajectory information is sequentially accumulated, the trajectory information acquisition unit 51 acquires trajectory information each time processing is performed. The trajectory information storage unit 71 sequentially accumulates trajectory information from the outside, and the trajectory information acquisition unit 51 acquires updated trajectory information each time it is acquired.

なお、「σ_ｘ・σ_ｙ」はｘ，ｙ成分の偏差であり、「ｘ^２」はカイ二乗分布に応じた信用区間の値である。 The region determination unit 52 determines a region (in this embodiment, a probability elliptic region having an elliptical shape) from the distribution with respect to the trajectory information. As a result, a probability ellipse region as shown in FIGS. 2A to 2E is determined.
Specifically, the region determination unit 52 generates a covariance matrix that represents the distribution of trajectory data.
In addition, the region determination unit 52 uses the generated covariance matrix to obtain a chi-square distribution with two degrees of freedom using Equation (1) because it is a two-dimensional position coordinate x, y. As a result, a probability ellipse area Z _j that is an ellipse area is determined.

“Σ _x · σ _y ” is the deviation of the x and y components, and “x ² ” is the value of the confidence interval corresponding to the chi-square distribution.

The reliability determination unit 53 determines the reliability indicating the degree of convergence of each probability elliptical region. In the present embodiment, the reliability is determined based on the deviation of the probability ellipse area. In the present embodiment, the reliability and the value of the deviation σ are equivalent, and the higher the value of the deviation σ, the higher the reliability.
Specifically, the reliability determination unit 53 determines the region reliability corresponding to the deviation σ in the probability elliptical region Z _j .

  The region determination unit 54 determines the possibility of division in the determination-target probability elliptical region from the number of pieces of trajectory information (number of samples) belonging to the probability elliptical region, the deviation in the probability elliptical region, and the like.

Specifically, the region determination unit 54 determines whether or not the deviation (σ _j value) of the probability elliptic region Z _j is smaller than the threshold E (deviation of the region Z _j : σ _j value <threshold E).
The threshold E is determined from a general road width and a surrounding road width. For example, in the case of an urban road, a precise value is required because high accuracy is required in relation to surrounding roads. However, in the case of a mountain road, etc., even if the value is increased, the width can be increased. Good. When the road density (network density) is low, the threshold value may be increased. The threshold value E may be set from experience, experiment, or the like.
That is, the region determination unit 54 determines whether the probability elliptical region _Zj is a road as a road by determining whether or not the width of the probability elliptical region _Zj is larger than the road width (threshold E) that can be roughly trusted. It is determined whether division is required instead of an area that has validity or reliability, and whether to be registered as a road if reliability is sufficient.

Further, the region determination unit 54 determines whether or not the number of data in the probability elliptical region Z _j is larger than the threshold N (the number of data in the region Z _j > threshold N). Note that the threshold N is a predetermined number (preferably a plurality of times away from each other) in order to avoid a case where there is only one trajectory data and the reliability is low when dividing the probability elliptical area Z _j . Multiple trajectory data).

The region determining unit 54, to the covariance matrix in the probability elliptical region Z _j, by inverting the matrix to calculate the eigenvalues and eigenvectors showing the long axis and the ratio of the minor axis of the ellipse of the probability elliptical region Z _j . Thus, it is possible to calculate the elliptical flat degree of probability elliptical region Z _j.

Further, the region determination unit 54 determines whether or not the ratio of the eigenvalues of the major axis and the minor axis of the ellipse in the probability ellipse region Z _j is larger than the threshold T (ratio of each eigenvalue> threshold T). The threshold T is set to a value that is a ratio as a normal road because a long road has a certain degree of flatness as a condition for division. The threshold value T may be set uniformly according to the road shape, or set to a small value according to the number of divisions.
That is, for example, in the case ellipse flattened condition probability elliptical region Z _j, such a ratio of the minor axis side of the elliptical shape of the probability elliptical region Z _j is greater than the major axis side is the ratio is not suitable for the road Is determined to be unsuitable for the division of the probability ellipse area Z _j , and the trajectory data is accumulated again so that the predetermined number of trajectory data is obtained.

  The area dividing unit 55 divides the probability ellipse area into a predetermined number of groups and distributes the trajectory information scattered in the probability ellipse area. In this embodiment, it divides | segments into two groups and division | segmentation is performed so that each group may overlap a predetermined number.

Specifically, the region dividing unit 55 provisionally divides the original data in regions Z _j and Z _{j + 1 in} which the first principal component is divided into two groups. In addition, the area dividing unit 55 determines that the provisionally divided area Z _j ... Is obtained when the ratio of the eigenvalues of the major axis and the minor axis of the ellipse in the probability elliptic area Z _j and the number of samples in the divided area satisfy a predetermined condition. Z _{j + 1} is determined as a divided region.

Further, the area dividing unit 55 determines whether or not the number of trajectory data in each temporary divided area is a threshold value N / 2 (in the temporarily divided area Z _j · Z _{j + 1} , the number of data> threshold value N / 2). That is, the area dividing unit 55 determines whether or not the number of trajectory data in each temporary divided area is more than a predetermined number. In the present embodiment, since the divided areas are overlapped, a value corresponding to the overlap is added to the threshold value N / 2.

The road registration unit 56 adds the determined link as a road to the map information in the map information storage unit 72 and registers it.
Specifically, when the region determination unit 54 determines that the deviation (σ _j value) of the probability ellipse region Z _j is larger than the threshold value E, the road registration unit 56, based on the probability ellipse region Z _j , Register the road. The road registration unit 56 registers a road based on the long axis in the probability elliptical area determined as a link.

FIG. 5 is a flowchart for explaining the flow of road registration processing executed by the information processing apparatus 1 of FIG. 1 having the functional configuration of FIG.
The road registration process is started by an operation for starting the road registration process to the input unit 17 by the user.

  In step S <b> 11, the trajectory information acquisition unit 51 acquires trajectory information in a predetermined area from the trajectory information storage unit 71. The trajectory information storage unit 71 sequentially stores trajectory information from the outside. The trajectory information storage unit 71 sequentially accumulates trajectory information from the outside, and the trajectory information acquisition unit 51 acquires updated trajectory information each time it is acquired.

  In step S12, the region determination unit 52 generates a covariance matrix representing the distribution of trajectory data.

なお、「σ_ｘ・σ_ｙ」はｘ，ｙ成分の偏差であり、「ｘ^２」はカイ二乗分布に応じた信用区間の値である。 In step S13, the region determination unit 52 uses the generated covariance matrix to obtain a chi-square distribution with two degrees of freedom using Equation (1) because it is a two-dimensional position coordinate x, y. As a result, a probability ellipse area Z _j that is an ellipse area is determined.

“Σ _x · σ _y ” is the deviation of the x and y components, and “x ² ” is the value of the confidence interval corresponding to the chi-square distribution.

In step S14, the reliability determining unit 53 put the probability elliptical region Z _j, determines an area reliability corresponding to the deviation sigma. In the present embodiment, since the reliability and the value of the deviation σ have an equivalent relationship, the higher the value of the deviation σ, the higher the reliability.

In step S15, the region determination unit 54 determines whether or not the deviation (σ _j value) of the probability ellipse region Z _j is smaller than the threshold E (deviation of the region Z _j : σ _j value <threshold E). The threshold E is determined from a general road width and a surrounding road width. For example, in the case of an urban road, a precise value is required because high accuracy is required in relation to surrounding roads. However, in the case of a mountain road, etc., even if the value is increased, the width can be increased. Good. When the road density (network density) is low, the threshold value may be increased.
That is, the region determination unit 54 determines whether the probability elliptical region _Zj is a road as a road by determining whether or not the width of the probability elliptical region _Zj is larger than the road width (threshold E) that can be roughly trusted. It is determined whether division is required instead of an area that has validity or reliability, and whether to be registered as a road if reliability is sufficient.

If the deviation of the probability ellipse area Z _j is smaller than the threshold E, YES is determined in step S15, and the process proceeds to step S22. Step S22 will be described later.
On the other hand, when the deviation of the probability elliptical area Z _j is equal to or greater than the threshold value E, it is determined as NO in Step S15, and the process proceeds to Step S16.

In step S <b> 16, the region determination unit 54 determines whether or not the number of data in the probability elliptic region Z _j is greater than the threshold value N (the number of data items in the region Z _j > the threshold value N). Note that the threshold N is a predetermined number (preferably a plurality of times away from each other) in order to avoid a case where there is only one trajectory data and the reliability is low when dividing the probability elliptical area Z _j . Multiple trajectory data).

If the number of data in the probability ellipse area Z _j is greater than the threshold value N, there is a sufficient amount of trajectory data to divide the probability ellipse area Z _j , so YES is determined in step S16, and the process proceeds to step S17.
On the other hand, if the number of data in the probability ellipse area Z _j is equal to or less than the threshold value N, it is determined as NO in step S16, and there is no trajectory data number sufficient to divide the probability ellipse area Z _j. In order to accumulate data, the process returns to step S11.

In step S _< b> 17, the region determination unit 54 obtains an inverse matrix for the covariance matrix in the probability elliptic region Z _j , and obtains an eigenvalue and an eigenvector indicating the ratio between the major axis and the minor axis of the ellipse in the probability ellipse region Z _j. calculate. Thus, it is possible to calculate the elliptical flat degree of probability elliptical region Z _j.

In step S18, the region determination unit 54 determines whether or not the ratio of the eigenvalues of the major axis and the minor axis of the ellipse in the probability ellipse region _Zj is greater than the threshold T (ratio of each eigenvalue> threshold T). The threshold T is set to a value that is a ratio as a normal road because a long road has a certain degree of flatness as a condition for division. The threshold value T may be set uniformly according to the road shape, or set to a small value according to the number of divisions.
That is, for example, in the case ellipse flattened condition probability elliptical region Z _j, such a ratio of the minor axis side of the elliptical shape of the probability elliptical region Z _j is greater than the major axis side is the ratio is not suitable for the road Is determined to be unsuitable for the division of the probability ellipse area Z _j , and the trajectory data is accumulated again so that the predetermined number of trajectory data is obtained.

When the ratio of each eigenvalue is larger than the threshold T, because of the number of locus data sufficient to divide the probability elliptical region Z _j, it is determined as YES in step S18, the process proceeds to step S19.
On the contrary, when the ratio of each eigenvalue is equal to or smaller than the threshold T is, because there is no number locus data sufficient to divide the probability elliptical region Z _j, it is determined as NO in step S18, the process returns to step S11.

In step S19, the region dividing unit 55 provisionally divides the original data in the region Z _j · Z _{j + 1 in} which the first principal component is divided into two groups. In the present embodiment, the two groups are configured to overlap the probability ellipse area Z _j without being completely divided into two.

In step S20, the region dividing unit 55 determines whether or not the number of trajectory data in each temporary divided region is a threshold value N / 2 (temporarily divided regions _Zj · _{Zj + 1} in the number of data> threshold value N / 2). To do. That is, the area dividing unit 55 determines whether or not the number of trajectory data in each temporary divided area is more than a predetermined number. In the present embodiment, since the divided areas are overlapped, a value corresponding to the overlap is added to the threshold value N / 2.

If the number of data in the temporarily divided region Z _j · Z _{j + 1} is greater than the threshold value N, there is a number of trajectory data sufficient to divide the probability elliptical region Z _j , so that the determination in step S20 is YES, and the process is step Proceed to S21.
On the other hand, if the number of data in the temporarily divided region Z _j · Z _{j + 1} is equal to or smaller than the threshold value N, it is determined as NO in step S20, and there is no trajectory data number sufficient to divide the probability elliptical region Z _j. Therefore, the process returns to step S11 to accumulate the trajectory data again.

In step S _<b> 21, the region dividing unit 55 determines the temporarily divided region Z _j · Z _{j + 1} as the divided region. After that, the processing is performed for each area after step S11.

  In step S22, the road registration unit 57 registers as a road. Thereafter, the road registration process ends.

Therefore, the information processing apparatus 1 uses a large amount of position information such as GPS as collective intelligence, defines a probability ellipse including the position information, and each time the number of samples included in the defined probability ellipse reaches a threshold value, By dividing the probability ellipse into a plurality of ellipses, the position of the correct road is determined or the shape of the correct road is corrected, and a new road is registered.
Further, in the information processing apparatus 1, the degree of convergence of the ellipse can be used as the existence probability of the road, and it can be visualized and used by the user or used as an index for map matching.

Thereby, in the information processing apparatus 1, the following effects can be produced.
(1) A new road can be generated from information actually passing through a road that cannot be covered by an existing map.
(2) Since it can be generated based on GPS data in various environments and position measurement data by various other methods, a road network can be generated with a certain degree of accuracy under the central limit theorem.
(3) If the road has a certain amount of traffic, the road that changes over time can be identified if there is time to collect information, and the information is provided within a short time delay from the opening of the road. be able to.
(4) An objective network independent of the author of map data can be generated.
(5) Since collective intelligence is used, investment in field surveys and surveying equipment is not required.

<Modification>
Of the road information registered in the above-described embodiment, each probability ellipse area and the reliability defined according to the number of samples constituting the probability ellipse area, the variance of the ellipse, and the like are color-coded, for example, FIG. As shown in (b), it can be configured to be displayed on the map information and visualized to the viewer of the map information.
Thus, by confirming the color-coded display in the plurality of elliptical areas together with the reliability, it is possible to grasp the existence of the road that is not in the map information and the reliability of the road.
Alternatively, the registered road information may be displayed as a road on the map information. At this time, the display may be different from the road officially registered in the map information, or may be displayed in different colors according to the reliability of the entire road connecting the predetermined sections.

<Other variations>
By using the road information registered in the above-described embodiment for map matching, it can be used for a technique based on a probability model.
Specifically, the position of a moving body such as an automobile is map-matched to the probability ellipse area group in the road information. At that time, the adsorption strength of matching is changed according to the reliability of each probability elliptical region, or the reliability of the probability elliptical region is treated as a likelihood.
Thereby, the road which is not registered in map information and an actual position can be matched, and the map display without a sense of incongruity can be provided to a user.

The information processing apparatus 1 configured as described above includes a CPU 11.
CPU11 performs the acquisition process which acquires the positional information showing a movement locus | trajectory.
In addition, the CPU 11 executes a determination process for determining an area on the map based on the distribution of positions on the map determined by the position information acquired by the acquisition process.
Further, the CPU 11 executes a setting process for setting the area determined by the determination process as a link based on a predetermined condition.
Thereby, in the information processing apparatus 1, a region can be determined from the acquired set of position information, and a new link can be set based on the region.

The region determined from the acquired set of position information has an elliptical shape.
Thereby, in the information processing apparatus 1, since the area | region determined from the set of the acquired positional information is elliptical shape, a new link can be set easily.

In the setting process, the CPU 11 executes a process of setting the major axis direction in the elliptical area, which is the elliptical area determined by the determination process, as the link direction.
Thereby, in the information processing apparatus 1, the major axis direction in the elliptical region can be set as the link direction, and a new link can be set from the acquired position information. The minor axis direction of the elliptical region can be set as the link width (road width).

In the setting process, the CPU 11 executes a process of setting the elliptical area as a link when the length in the minor axis direction of the elliptical area matches a road condition for the link.
Thereby, in the information processing apparatus 1, the minor axis direction of the elliptical area is set as the link width (road width), and for example, the setting of the link can be determined from the road width of a general road or the road width of a surrounding road. Therefore, a link with high accuracy can be set.

In the setting process, the CPU 11 executes a process of setting the elliptical area as a link when the ratio between the length of the major axis of the elliptical area and the length of the minor axis matches a condition as a road corresponding to the link. .
Thereby, in the information processing apparatus 1, the ratio of the major axis length and the minor axis length of the elliptical area is compared with, for example, the road width of a general road or the road width of a surrounding road. Since the setting can be determined, a link with high accuracy can be set.

The CPU 11 further executes a dividing process for dividing the position information belonging to the elliptical area into a plurality of groups.
In the determination process, a process of determining a new elliptical area is executed according to the distribution of position information belonging to each group divided by the division process.
Thereby, in the information processing apparatus 1, a link with higher accuracy can be set by dividing position information belonging to the elliptical area into groups and determining a new elliptical area.

The CPU 11 further executes a calculation process for calculating a covariance matrix of the acquired position information.
In the determination process, a process of determining an elliptical region is performed by calculating a chi-square distribution with two degrees of freedom for the covariance matrix calculated by the calculation process.
As a result, in the information processing apparatus 1, it is possible to set a link with higher accuracy by determining an elliptical area based on the chi-square distribution.

In the determination process, the CPU 11 executes a process of determining the reliability of the set link based on the deviation in the distribution of position information.
Thereby, in the information processing apparatus 1, in order to determine the reliability of a link based on a deviation, the degree of roadiness can be expressed.

The CPU 11 further executes display processing for displaying the determined reliability for each reliability in the map information.
Thereby, in the information processing apparatus 1, the reliability can be visually displayed.

Further, the CPU 11 executes link processing for making a matching destination link in map matching based on the reliability.
Thereby, in the information processing apparatus 1, the reliability can be used as a selection element of a matching destination with another link.

The CPU 11 further executes a registration process in which the determined link is added and registered in advance to the map information in which the network is represented by the link and the node.
Thereby, in the information processing apparatus 1, the link set to the existing map information can be newly added as a road, and the information obtained from the travel history of a car or the like can be immediately reflected in the map information.

  In addition, this invention is not limited to the above-mentioned embodiment, The deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention.

For example, in the above-described embodiment, only xy coordinates, which are position information on a two-dimensional plane used for existing map information, are used, but in addition, altitude information is included in a three-dimensional space. It is also possible to apply.
Further, in the above-described embodiment, the position information from the travel history of the car obtained from others is used as the trajectory information. However, a GPS measurement function is provided, and the own travel history is used or the self-other information is combined. It may be used. In this case, the trajectory information may be weighted according to the position information acquired by itself or the reliability of the positioning subject.

In the above-described embodiment, the information processing apparatus 1 to which the present invention is applied has been described by taking a personal computer (PC) as an example, but is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a road registration processing function. Specifically, for example, the present invention includes a notebook personal computer, a cloud computer, a printer, a television receiver, a video camera, a digital camera, a portable navigation device, a mobile phone, a smartphone, a portable game machine, a wearable device, Applicable to ships, aircraft, construction machinery, etc.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIG. 4 is merely an example, and is not particularly limited. That is, it is sufficient that the information processing apparatus 1 has a function capable of executing the above-described series of processing as a whole, and what functional block is used to realize this function is not particularly limited to the example of FIG. .
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.

When a series of processing is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

  The recording medium including such a program is not only constituted by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body in order to provide the program to the user, but also in a state of being incorporated in the apparatus main body in advance. It is comprised with the recording medium etc. which are provided in this. The removable medium 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disc is composed of, for example, a CD-ROM (Compact Disk-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) Disc (Blu-ray Disc), and the like. The magneto-optical disk is configured by an MD (Mini-Disk) or the like. In addition, the recording medium provided to the user in a state of being preliminarily incorporated in the apparatus main body includes, for example, the ROM 12 in FIG. 1 in which a program is recorded, the hard disk included in the storage unit 19 in FIG.

  In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in time series along the order, but is not necessarily performed in time series, either in parallel or individually. The process to be executed is also included.

  As mentioned above, although several embodiment of this invention was described, these embodiment is only an illustration and does not limit the technical scope of this invention. The present invention can take other various embodiments, and various modifications such as omission and replacement can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in this specification and the like, and are included in the invention described in the claims and the equivalent scope thereof.

The invention described in the scope of claims at the beginning of the filing of the present application will be appended.
[Appendix 1]
An acquisition process for acquiring position information representing a movement locus;
A determination process for determining an area on the map based on a distribution of positions on the map determined by the position information acquired by the acquisition process;
A setting process for setting the area determined by the determination process as a link based on a predetermined condition;
An electronic device provided with a processing unit for executing.
[Appendix 2]
The electronic device according to appendix 1, wherein the region has an elliptical shape.
[Appendix 3]
The electronic device according to attachment 2, wherein in the setting process, the processing unit executes a process of setting a major axis direction in the elliptical region determined by the determination process as a link direction.
[Appendix 4]
The processing unit executes a process of setting the elliptical area as a link when a length in a minor axis direction of the elliptical area matches a road condition for the link in the setting process. The electronic device according to 2 or 3.
[Appendix 5]
In the setting process, when the ratio between the length of the major axis and the length of the minor axis of the elliptical region matches a condition as a road corresponding to a link, the processing unit determines the elliptical region. The electronic device according to any one of appendices 2 to 4, which executes a process of setting as a link.
[Appendix 6]
The processing unit further executes a dividing process for dividing position information belonging to the elliptical region into a plurality of groups,
The electron according to any one of appendices 2 to 5, wherein in the determination process, a process for determining a new elliptical area is executed according to the distribution of the position information belonging to each group divided by the division process. machine.
[Appendix 7]
The processing unit further executes a calculation process for calculating a covariance matrix of the acquired position information,
Any one of appendices 2 to 6, wherein in the determination process, a process for determining the elliptical region is performed by calculating a chi-square distribution with two degrees of freedom for the covariance matrix calculated by the calculation process. The electronic device as described in.
[Appendix 8]
The electronic device according to any one of appendices 2 to 7, wherein the processing unit executes a process of determining reliability of a set link based on a deviation in the distribution of the position information in the determination process.
[Appendix 9]
The electronic device according to appendix 8, wherein the processing unit further executes display processing for displaying the determined reliability by reliability in map information.
[Appendix 10]
The electronic device according to appendix 8 or 9, wherein the processing unit further executes a link process for making a matching destination link in map matching based on the reliability.
[Appendix 11]
The electronic device according to any one of appendices 1 to 10, wherein the processing unit further executes a registration process for registering the determined link in addition to map information in which a network is represented in advance by a link and a node.
[Appendix 11]
A setting method executed in an electronic device including a processing unit, wherein the processing unit
Obtain location information that represents the movement trajectory,
Based on the distribution of the position on the map determined by the acquired position information, determine an area on the map,
A setting method for setting the determined area as a link based on a predetermined condition.
[Appendix 12]
To the computer that controls the electronic equipment,
An acquisition step of acquiring position information representing a movement locus;
A determination step for determining an area on the map based on a distribution of positions on the map determined by the position information acquired by the acquisition step;
A setting step for setting the area determined by the determination step as a link based on a predetermined condition;
A program that executes

  DESCRIPTION OF SYMBOLS 1 ... Information processing apparatus, 11 ... CPU, 12 ... ROM, 13 ... RAM, 14 ... Bus, 15 ... I / O interface, 16 ... Imaging part, 17 ... Input unit, 18 ... output unit, 19 ... storage unit, 20 ... communication unit, 21 ... drive, 31 ... removable media, 51 ... trajectory information acquisition unit, 52 ... Area determination unit, 53 ... reliability determination unit, 54 ... area determination unit, 55 ... area division unit, 56 ... road registration unit, 71 ... trajectory information storage unit, 72 ...・ Map information storage unit 72

Claims (13)

An acquisition process for acquiring position information representing a movement locus;
A determination process for determining an area on the map based on a distribution of positions on the map determined by the position information acquired by the acquisition process;
A setting process for setting the area determined by the determination process as a link based on a predetermined condition;
An electronic device provided with a processing unit for executing.   The electronic device according to claim 1, wherein the region has an elliptical shape.   The electronic device according to claim 2, wherein the processing unit sets, in the setting process, a major axis direction in the elliptical region determined by the determination process as a link direction.   The processing unit sets the elliptical region as a link when a length in a minor axis direction of the elliptical region matches a road condition for the link in the setting process. The electronic device as described in.   In the setting process, when the ratio between the length of the major axis and the length of the minor axis of the elliptical region matches a condition as a road corresponding to a link, the processing unit determines the elliptical region. The electronic apparatus according to claim 2, wherein the electronic apparatus is set as a link. The processing unit further executes a dividing process for dividing position information belonging to the elliptical region into a plurality of groups,
6. The determination process according to claim 2, wherein in the determination process, a process for determining a new elliptical area is executed according to the distribution of the position information belonging to each group divided by the division process. The electronic device described. The processing unit further executes a calculation process for calculating a covariance matrix of the acquired position information,
In the determination process, a process of determining the elliptical region by calculating a chi-square distribution with two degrees of freedom is performed on the covariance matrix calculated by the calculation process. The electronic device according to any one of the above.   The electronic device according to any one of claims 2 to 7, wherein the processing unit executes a process of determining a reliability of the set link based on a deviation in the distribution of the position information in the determination process. machine.   The electronic device according to claim 8, wherein the processing unit further executes display processing for displaying the determined reliability by reliability in map information.   10. The electronic device according to claim 8, wherein the processing unit further executes a link process for making a matching destination link in map matching based on the reliability. 10.   The electronic device according to any one of claims 1 to 10, wherein the processing unit further executes a registration process in which the determined link is registered in addition to map information in which a network is represented in advance by a link and a node. machine. A setting method executed by an electronic apparatus including a processing unit, wherein the processing unit is
Obtain location information that represents the movement trajectory,
Based on the distribution of the position on the map determined by the acquired position information, determine an area on the map,
A setting method for setting the determined area as a link based on a predetermined condition. To the computer that controls the electronic equipment,
An acquisition step of acquiring position information representing a movement locus;
A determination step for determining an area on the map based on a distribution of positions on the map determined by the position information acquired by the acquisition step;
A setting step for setting the area determined by the determination step as a link based on a predetermined condition;
A program that executes

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