JP2021004923A - Map data management device and map data management method - Google Patents

Abstract

To provide a map data management device with which it is possible to select an imaged image having been imaged in an environment where it can be used for the updating of map data.SOLUTION: A map data management device 2 is designed to manage map data and comprises an acquisition unit 231 for acquiring, from a moving vehicle equipped with an imaging device, an imaged image having been imaged by the imaging device, a condition acquisition unit 232 for acquiring an environment condition pertaining to the imaging environment of the imaged image, a determination unit 233 for determining whether or not the acquired image which is the imaged image acquired by the acquisition unit 231 satisfies the environment condition, and a data generation unit 235 for generating updating data to update the map data, on the basis of the acquired image having been determined as satisfying the environment condition by the determination unit 233.SELECTED DRAWING: Figure 3

Description

The present invention relates to a map data management device for managing map data and a map data management method.

Conventionally, a technique for updating map data based on a captured image is known. In Patent Document 1, map information (map data) having the same position as an image on a map is compared with traffic information in the image recognized by analyzing the image, and the map information is updated based on the comparison result. The technology is disclosed.

Japanese Unexamined Patent Publication No. 2019-040175

However, even if the conventional technique is used, the map data may not be updated in some cases. For example, if an object existing at the imaged location is shielded for some reason and does not appear in the image (hereinafter referred to as "occlusion"), the object cannot be recognized from the image. Therefore, when updating the map data, it is necessary to select an image captured in an environment where the probability of occlusion or the like is low, that is, an image captured in an environment that can be used to update the map data. there were.

Therefore, the present invention has been made in view of these points, and a map data management device and a map data management method capable of selecting an image captured in an environment that can be used for updating map data are provided. One of the purposes is to provide.

The map data management device according to the first aspect of the present invention is a map data management device that manages map data, and is an image acquisition unit that acquires an image captured by the image pickup device from a moving body including the image pickup device. A condition acquisition unit that acquires environmental conditions related to the imaging environment of the captured image, and a determination unit that determines whether or not the imaging environment of the acquired image that is the captured image acquired by the image acquisition unit satisfies the environmental conditions. And a data generation unit that generates update data for updating the map data based on the acquired image that the determination unit determines that the environmental condition is satisfied.

The condition acquisition unit may acquire a shielding condition indicating a condition of the ratio of the size of the shielding object to the size of the entire captured image as the environmental condition, and the determination unit may acquire the shielding condition with respect to the size of the entire acquired image. It may be determined whether or not the ratio of the size of the shielded object existing in the acquired image satisfies the shielding condition.

The map data management device may further have a traffic information acquisition unit that acquires traffic information indicating a traffic situation, and the condition acquisition unit may include a traffic condition that indicates a traffic condition condition in an imaging environment of the captured image. May be acquired as the environmental condition, or the determination unit may determine in the traffic information whether or not the traffic condition in the imaging environment of the acquired image satisfies the traffic condition.

The condition acquisition unit may acquire the weather condition indicating the condition of the weather condition in the imaging environment of the captured image as the environmental condition, and the determination unit may acquire the weather condition in the imaging environment of the acquired image as the weather. It may be determined whether or not the condition is satisfied.

The map data management device may further have a recognition unit that recognizes an object existing in the acquired image, and the condition acquisition unit may determine the reliability of the object when the object is recognized from the captured image. The reliability condition indicating the condition may be acquired as the environmental condition, and the determination unit determines whether or not the reliability of the object when the recognition unit recognizes the object from the acquired image satisfies the reliability condition. You may judge.

The map data management method according to the second aspect of the present invention is a map data management method for managing map data executed by a computer, in which an image captured by the image pickup device is captured from a moving body provided with the image pickup device. The step of acquiring, the step of acquiring the environmental conditions related to the imaging environment of the captured image, the step of determining whether or not the imaging environment of the acquired image which is the acquired image satisfies the environmental conditions, and the environmental conditions. It has a step of generating update data for updating the map data based on the acquired image determined to satisfy the condition.

According to the present invention, as an example, it is possible to select an captured image captured in an environment that can be used for updating map data.

It is a figure for demonstrating the outline of the map data management system which is a premise in this embodiment. It is a figure for demonstrating the outline of the map data management system in this embodiment. It is a figure which shows the structure of the map data management apparatus. It is the figure which represented the list of the environmental conditions stored in the storage part schematically. It is the figure which represented the occlusion schematically. It is a flowchart which shows the processing flow of the map data management apparatus.

[Overview of the map data management system S, which is a prerequisite for this embodiment]
FIG. 1 is a diagram for explaining an outline of the map data management system S which is a premise in the present embodiment. The map data management system S is a system that generates update data for updating the map data by using the captured image captured by the image pickup device C included in the moving body V. The map data management system S includes a mobile terminal 1 and a map data management device 2.

The mobile terminal 1 is a terminal included in the mobile V, and is, for example, a mobile terminal (smartphone, tablet, etc.), car navigation, or the like. The mobile terminal 1 includes a GPS receiver and measures its own position, that is, the position of the mobile V at predetermined intervals. For example, each time the position of the moving body V is measured, the mobile terminal 1 transmits position information including the position coordinates indicating the position of the moving body V and the measurement date and time when the position is measured to the map data management device 2. ..

The mobile body V is a vehicle, for example, a vehicle (eg, a taxi, a delivery vehicle, etc.) used to provide a transportation service for transporting passengers or cargo. The moving body V is not limited to a vehicle, and may be, for example, a train, an airplane, a ship, a drone, a human being, an animal, or the like. As described above, the moving body V includes an image pickup device C. The image pickup device C is, for example, a camera, a mobile terminal with a camera function, a drive recorder, or the like. The image pickup device C may be a device integrated with the moving body V, or may be a retrofit device.

The mobile terminal 1 is electrically connected to the image pickup device C, and acquires the captured image captured by the image pickup device C. The captured image is, for example, a moving image. For example, when the time zone in which the mobile body V provides the transportation service is during the daytime, the mobile body terminal 1 causes the image pickup device C to capture an image captured during the day, and manages the captured image by map data at night. It is transmitted to the device 2. The mobile terminal 1 and the image pickup device C may be the same device.

The map data management device 2 is a device that manages map data, for example, a server. The map data is, for example, data for presenting a map around the moving body V in car navigation and guiding a route to a destination, and includes an object type, an object shape, an object position, and the like. .. Objects managed as map data are, for example, roads, road markings, road signs, buildings, and the like. The map data management device 2 manages a plurality of position information acquired from the mobile terminal 1 as a passage route of the mobile V.

In the example shown in FIG. 1, first, the mobile terminal 1 transmits the captured image captured by the imaging device C to the map data management device 2 ((1) in FIG. 1). The map data management device 2 executes an object recognition process on the captured image acquired from the mobile terminal 1 ((2) in FIG. 1). Specifically, the map data management device 2 recognizes an object existing in the captured image acquired from the mobile terminal 1.

Subsequently, the map data management device 2 executes the spatial data generation process ((3) in FIG. 1). Specifically, the map data management device 2 generates three-dimensional spatial data based on the information about the object recognized from the captured image. Subsequently, the map data management device 2 executes the map matching process ((4) in FIG. 1). Specifically, the map data management device 2 is in the map data of the object included in the spatial data generated by executing the spatial data generation process based on the passage path of the moving body V and the imaging date and time of the captured image. Identify the location.

Subsequently, the map data management device 2 executes the difference determination process ((5) in FIG. 1). Specifically, the map data management device 2 determines whether or not there is a difference between the spatial data and the map data at the position in the map data specified by executing the map matching process.

Then, the map data management device 2 executes the update data generation process ((6) in FIG. 1). Specifically, the map data management device 2 generates update data for updating the map data based on the result of determination by executing the difference determination process. The update data is, for example, data for adding a new object, changing the position of an object whose position has changed, or deleting an object that no longer exists.

In this way, the map data management device 2 generates update data based on the captured image. After that, the map data management device 2 updates the map data using the update data.

[Overview of the map data management system S1 in this embodiment]
FIG. 2 is a diagram for explaining an outline of the map data management system S1 according to the present embodiment. The map data management system S1 is a system that generates update data based on an captured image that can be used for updating map data.

In the example shown in FIG. 2, first, the mobile terminal 1 transmits the captured image captured by the imaging device C to the map data management device 2 ((1) in FIG. 2). The map data management device 2 acquires a captured image from the mobile terminal 1.

The map data management device 2 acquires the environmental conditions related to the imaging environment of the captured image ((2) in FIG. 2). The environmental condition is, for example, a condition for selecting an image captured in an environment that can be used for updating map data, that is, an image captured with a high probability of showing an object to be managed as map data.

The map data management device 2 determines whether or not the imaging environment of the captured image acquired from the mobile terminal 1 satisfies the environmental conditions ((3) in FIG. 2). Then, the map data management device 2 generates update data based on the captured image determined that the imaging environment satisfies the environmental condition ((4) in FIG. 2). By doing so, the map data management system S1 can select an captured image captured in an environment that can be used for updating the map data.
Hereinafter, the configuration of the map data management device 2 will be described.

[Configuration of map data management device 2]
FIG. 3 is a diagram showing the configuration of the map data management device 2. The map data management device 2 has a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is an interface for connecting to a network, and is configured to include, for example, a LAN (Local Area Network) controller.

The storage unit 22 is a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk. The storage unit 22 stores a program executed by the control unit 23. The storage unit 22 stores the map data. In addition, the storage unit 22 stores the environmental conditions.

FIG. 4 is a diagram schematically showing a list of environmental conditions stored in the storage unit 22. As shown in FIG. 4, the environmental conditions are set for each condition type. The condition type indicates the type of environmental condition. The condition content indicates, for example, the content set for determining whether or not the captured image has a high probability of showing an object to be managed as map data.

As shown in FIG. 4, the condition types include shielding conditions, traffic conditions, weather conditions, operating conditions, and reliability conditions. The shielding condition indicates a condition of the ratio of the size of the shielding object to the size of the entire captured image. Shielding objects are, for example, dynamic objects (moving objects) such as humans and vehicles. In the storage unit 22, for example, as the condition content of the shielding condition, the ratio of the size of the shielding object allowed to the size of the entire imaging screen is stored.

The traffic condition indicates the condition of the traffic condition in the imaging environment of the captured image. In the storage unit 22, for example, the presence or absence of traffic congestion is stored as the condition content of the traffic condition. The traffic condition may be, for example, a limit value of the length of the traffic jam.

The weather condition indicates the condition of the weather condition in the imaging environment of the captured image. The storage unit 22 stores, for example, whether or not the weather conditions are bad (precipitation or snowfall) and whether or not the weather conditions are backlit. The weather condition may be, for example, a limit value of the amount of rainfall per hour or the amount of snowfall per hour.

The operating conditions indicate the operating conditions of the moving body V at the time of imaging. For example, the storage unit 22 stores the presence / absence of the wiper operation and the presence / absence of the headlight lighting as the condition contents of the operating conditions.

The reliability condition indicates the condition of the reliability of the object when the object is recognized from the captured image. The storage unit 22 stores, for example, the limit value of the reliability of the object output as the execution result of the object recognition process as the condition content of the reliability condition.

Returning to FIG. 3, the control unit 23 is, for example, a CPU (Central Processing Unit). The control unit 23 functions as an acquisition unit 231, a condition acquisition unit 232, a determination unit 233, an image processing unit 234, and a data generation unit 235 by executing the program stored in the storage unit 22.

The acquisition unit 231 functions as an image acquisition unit that acquires an image captured by the image pickup device C from the mobile body V including the image pickup device C via the communication unit 21. Specifically, the acquisition unit 231 acquires an image captured by the imaging device C included in the moving body V from the moving body terminal 1 included in the moving body V via the communication unit 21.

The condition acquisition unit 232 acquires the environmental conditions stored in the storage unit 22. The condition acquisition unit 232 may acquire some of the plurality of environmental conditions stored in the storage unit 22, or acquire all of the plurality of environmental conditions stored in the storage unit 22. You may. The condition acquisition unit 232 acquires, for example, information indicating environmental conditions when the acquisition unit 231 acquires an captured image.

The determination unit 233 determines whether or not the acquired image, which is the captured image acquired by the acquisition unit 231, is an captured image captured in an environment that can be used for updating the map data. Specifically, the determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the environment condition acquired by the condition acquisition unit 232. More specifically, the determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the condition content included in the environmental conditions acquired by the condition acquisition unit 232. The details of the determination process performed by the determination unit 233 will be described later.

The determination unit 233 causes the image processing unit 234 to execute image processing based on the acquired image determined that the imaging environment satisfies the environmental condition. Specifically, the image processing unit 234 includes a recognition unit that executes object recognition processing, a spatial data generation unit that executes spatial data generation processing, a corresponding unit that executes map matching processing, and a difference determination that executes difference determination processing. It functions as a unit and executes image processing by executing each process. The image processing unit 234 can perform image processing using, for example, a known technique.

The data generation unit 235 generates update data for updating the map data based on the acquired image determined by the determination unit 233 to satisfy the environmental conditions. Specifically, the data generation unit 235 generates update data for updating the map data based on the result of the image processing unit 234 executing the image processing. More specifically, the data generation unit 235 generates map data based on the acquired image determined by the image processing unit 234 to have a difference between the spatial data generated by executing the spatial data generation process and the map data. Generate update data to be updated.

[Determination process]
As described above, the determination unit 233 is based on at least a part of the plurality of environmental conditions (shielding conditions, traffic conditions, weather conditions, and operating conditions) stored in the storage unit 22 shown in FIG. , It is determined whether or not the acquired image is an captured image captured in an environment that can be used for updating the map data. The determination process for each environmental condition will be described below.

(Shielding condition)
FIG. 5 is a diagram schematically showing occlusion. 5 (a) and 5 (b) are captured images taken at the same place. In the captured image shown in FIG. 5A, a traffic light T1, a pedestrian crossing T2, and a stop line T3 are shown as objects for which map data is to be managed. In the captured image shown in FIG. 5B, the truck M is shown in the foreground, and the traffic light T1, the pedestrian crossing T2, and the stop line T3 are hidden. When the image processing unit 234 executes the object recognition process using the captured image as shown in FIG. 5B, it recognizes the objects (traffic light T1, pedestrian crossing T2, and stop line T3) to be managed by the map data. It may not be possible. Therefore, the determination unit 233 is an captured image captured in an environment in which the acquired image can be used for updating map data based on the shielding condition indicating the condition of the ratio of the size of the shielding object to the size of the entire captured image. It may be determined whether or not it is.

Specifically, first, the condition acquisition unit 232 acquires the shielding condition stored in the storage unit 22 as an environmental condition. Then, the determination unit 233 determines whether or not the ratio of the size of the shielding object existing in the acquired image to the size of the entire acquired image satisfies the shielding condition.

For example, when the ratio of the size of the shielded object existing in the acquired image to the size of the entire acquired image is equal to or less than the value indicated by the condition content of the shielding condition (below the limit value), the determination unit 233 determines the imaging environment of the acquired image. Determines that meets the environmental conditions. On the other hand, when the ratio of the size of the shielded object existing in the acquired image to the size of the entire acquired image exceeds the value indicated by the condition content of the shielding condition, the determination unit 233 does not satisfy the environmental condition in the imaging environment of the acquired image. Is determined.

The determination unit 233 uses, for example, the result of the image pickup device C recognizing the object (for example, the size of the dynamic object in the captured image), and the size of the shielded object existing in the acquired image with respect to the size of the entire acquired image. You may calculate the percentage of the image. For example, the imaging device C is provided with an object recognition function that recognizes an object while capturing an captured image, and information about an object (for example, an object) that is the result of the acquisition unit 231 recognizing the object together with the captured image. (Type, size of object in captured image, etc.) may be acquired from the mobile terminal 1.

Further, the determination unit 233 uses, for example, the result recognized by the image processing unit 234 by executing the object recognition process (for example, the size of a dynamic object in the acquired image) to the size of the entire acquired image. The ratio of the size of the shielded object existing in the acquired image may be calculated. By doing so, the map data management device 2 can select an acquired image with a low probability that occlusion will occur for an object for which map data is to be managed.

(Traffic conditions)
For example, if congestion occurs on the route through which the moving body V passes, the distance from another moving body V passing in front of the moving body V may be shortened. In such an imaging environment, it is highly probable that occlusion will occur because the other moving body V is greatly reflected in the captured image. Therefore, the determination unit 233 determines whether or not the environment is likely to cause occlusion with respect to the object for which the map data is to be managed, based on the traffic conditions indicating the conditions of the traffic conditions in the imaging environment of the captured image. You may judge.

In this case, the acquisition unit 231 may further function as a traffic information acquisition unit that acquires traffic information indicating a traffic situation. The traffic information includes, for example, information indicating the presence or absence of traffic congestion. The acquisition unit 231 may acquire traffic information from an external service (for example, a VICS (registered trademark) center) that provides traffic information, for example.

In this case, first, the condition acquisition unit 232 acquires the traffic conditions stored in the storage unit 22 as environmental conditions. Then, the determination unit 233 determines whether or not the traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information acquired by the acquisition unit 231. The determination unit 233 calculates the moving speed of the moving body V based on the position coordinates and the measurement date and time included in each of the plurality of position information corresponding to the moving body V from which the acquired image is acquired, and the calculated moving body. Based on the moving speed of V, it may be determined whether or not the traffic condition in the imaging environment of the acquired image satisfies the traffic condition.

For example, when the determination unit 233 satisfies the condition content of the shielding condition (for example, the traffic condition is no congestion), that is, the traffic information acquired by the acquisition unit 231 does not cause congestion in the acquisition environment of the acquired image. When indicating that, it is determined that the imaging environment of the acquired image satisfies the environmental condition. On the other hand, when the determination unit 233 does not satisfy the condition content of the shielding condition, that is, when the traffic information acquired by the acquisition unit 231 indicates that congestion has occurred in the acquisition environment of the acquired image, the acquisition environment of the acquired image is changed. Judge that the environmental conditions are not met. By doing so, the map data management device 2 can select an acquired image with a low probability of occurrence of occlusion.

(Weather conditions)
For example, when the weather condition at the time of imaging is bad weather such as rain or snow, the accuracy of recognizing the object in the object recognition process may be low. Therefore, the determination unit 233 determines whether or not the acquired image is an captured image captured in an environment that can be used for updating the map data, based on the weather conditions indicating the conditions of the weather condition in the imaging environment of the captured image. May be determined. In this case, the acquisition unit 231 may further function as a weather information acquisition unit that acquires weather information indicating the weather condition from an external service that provides the past weather condition.

In this case, first, the condition acquisition unit 232 acquires the weather conditions stored in the storage unit 22 as environmental conditions. Then, the determination unit 233 may determine whether or not the weather condition in the imaging environment of the acquired image satisfies the weather condition based on the weather information acquired by the acquisition unit 231.

The determination unit 233 determines, for example, the weather condition when the condition content of the weather condition (for example, the weather condition is sunny or cloudy) is satisfied, that is, when the acquired image is acquired in the weather information acquired by the acquisition unit 231. When indicates that is sunny or cloudy, it is determined that the imaging environment of the acquired image satisfies the environmental condition. On the other hand, when the determination unit 233 does not satisfy the condition content of the weather condition, that is, when the weather information acquired by the acquisition unit 231 indicates that the weather condition when the acquired image is acquired is rain or snow. It is determined that the imaging environment of the acquired image does not satisfy the environmental conditions.

The weather conditions are not limited to bad weather such as rain or snow. For example, even if the weather conditions are fine, when the image pickup device C takes an image in a backlit situation, the captured image becomes overexposed or the entire captured image becomes dark, so that the object is recognized in the object recognition process. The accuracy can be low. Therefore, the determination unit 233 is an captured image captured in an environment in which the acquired image can be used for updating map data based on the weather conditions indicating that the weather condition when the acquired image is captured is not backlit. It may be determined whether or not it is.

The determination unit 233 determines the acquired image based on, for example, the traveling direction of the moving body V (direction of the imaging device C) specified by the passage path of the moving body V and the inclination of the sun at the date and time when the acquired image was captured. It may be determined whether or not the weather condition at the time when is acquired is backlit. As described above, the map data management device 2 can improve the accuracy of recognizing an object in the object recognition process by selecting the acquired image captured in the imaging environment satisfying the weather conditions.

(Operating conditions)
For example, when the image is taken while the wiper included in the moving body V is operating, the probability that the wiper shields the object is high. Further, when the headlight included in the moving body V is imaged in a lit state, the entire captured image may be darkened. When the image processing unit 234 executes the object recognition process using the acquired image captured in such an operating state of the moving body V, the accuracy of recognizing the object may be low. Therefore, the determination unit 233 determines whether or not the acquired image is an captured image captured in an environment that can be used for updating the map data, based on the operating conditions indicating the operating conditions of the moving body V at the time of imaging. May be determined. In this case, the acquisition unit 231 may acquire information (for example, CAN (Controller Area Network) data) indicating the history of the operation status of the mobile body V together with the captured image from the mobile terminal 1.

In this case, first, the condition acquisition unit 232 acquires the operating conditions stored in the storage unit 22 as environmental conditions. Then, the determination unit 233 determines whether or not the operation status of the moving body V when the acquired image is captured in the CAN data acquired by the acquisition unit 231 satisfies the operation condition.

The determination unit 233 satisfies, for example, the condition content of the operating condition (for example, the wiper is not operating and the headlight is not lit), that is, the acquired image in the CAN data acquired by the acquisition unit 231. When the headlight of the moving body V is not lit and the wiper is not operating when the image is taken, it is determined that the imaging environment of the acquired image satisfies the environmental condition. On the other hand, the determination unit 233 may turn on the headlight of the moving body V or wiper when the condition content of the operating condition is not satisfied, that is, when the acquired image is captured in the CAN data acquired by the acquisition unit 231. If it indicates that is operating, it is determined that the imaging environment of the acquired image does not satisfy the environmental conditions. As described above, the map data management device 2 can improve the accuracy of recognizing an object in the object recognition process by selecting the acquired image captured in the imaging environment satisfying the operating conditions.

(Processing result condition)
Even if the determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the environmental condition based on the processing result condition indicating the condition of the result of executing each process included in the image processing by the image processing unit 234. Good. The determination unit 233 is imaged in an environment in which the acquired image can be used for updating map data, for example, with the reliability condition indicating the condition of the reliability of the object when the object is recognized from the captured image as the processing result condition. It may be determined whether or not the image is a captured image. In this case, the image processing unit 234 may output the reliability (for example, a numerical value of 100 steps) when the object existing in the acquired image is recognized as a result of recognizing the object existing in the acquired image.

In this case, first, the condition acquisition unit 232 acquires the processing result condition stored in the storage unit 22 as an environmental condition. Then, the determination unit 233 determines whether or not the reliability of the object when the image processing unit 234 recognizes the object from the acquired image satisfies the processing result condition (reliability condition).

The determination unit 233 acquires, for example, when the reliability when the image processing unit 234 recognizes an object from the acquired image exceeds the value (limit value) indicated by the condition content of the processing result condition stored in the storage unit 22. It is determined that the image imaging environment satisfies the environmental conditions. On the other hand, when the reliability when the image processing unit 234 recognizes the object from the acquired image is equal to or less than the value indicated by the condition content of the processing result condition stored in the storage unit 22, the determination unit 233 captures the acquired image. Determine that the environment does not meet the environmental conditions. By doing so, the map data management device 2 can improve the accuracy of each process including the spatial data generation process executed after the object recognition process.

(Other)
On a route with less traffic, the map data management device 2 may acquire an image of the route less frequently. For example, the map data management device 2 corresponds to the route in the map data when the captured image of the route with a small traffic volume is acquired and the captured image does not satisfy the above-mentioned traffic conditions and other environmental conditions. Cannot generate update data to update the range to be used. As a result, the difference in update frequency between the range of map data corresponding to the passage with high traffic and the range of map data corresponding to the passage with low traffic can be large. Therefore, the condition acquisition unit 232 may acquire the environmental conditions based on the update status of the predetermined range in the map data.

For example, the map data is associated with date data indicating the update status of the predetermined range for each predetermined range (for example, the section from the first intersection to the second intersection which is the next intersection after the first intersection). ing. The date data includes an update date that is the date on which image processing such as object recognition processing is executed. For example, the date data includes update dates corresponding to the number of times the image processing is executed in the past. In this case, the condition acquisition unit 232 is associated with a predetermined range in the map data corresponding to the captured image after the image processing unit 234 executes the map matching process based on the captured image acquired by the acquisition unit 231. Environmental conditions may be acquired based on the date data.

The condition acquisition unit 232 stores, for example, when the period from the last update date to the present included in the date data associated with the predetermined range in the map data corresponding to the captured image exceeds the predetermined period threshold value. The environmental conditions stored in 22 may be acquired. Further, the condition acquisition unit 232 is, for example, when the number of updates indicated by the number of update dates included in the date data associated with the predetermined range in the map data corresponding to the captured image is equal to or less than the predetermined number threshold value. , The environmental conditions stored in the storage unit 22 may be acquired. By doing so, the map data management device 2 reduces the difference in update frequency between the range of map data corresponding to the passage with heavy traffic and the range of map data corresponding to the passage with low traffic. Can be done.

The map data management device 2 has a predetermined range of map data that needs to be updated (for example, a predetermined range in which the period from the last update date to the present exceeds a predetermined period threshold value, or an update. When there is a predetermined range in which the number of times is equal to or less than the predetermined number of times threshold value), the moving body V may be allowed to pass through the update required range. In this case, the control unit 23 may further have a route management unit (not shown) that notifies the mobile terminal 1 of the route indicating the update required range.

For example, when the driver of the mobile body V first searches for a route to the destination on the mobile terminal 1, the route management unit performs the current operation of the mobile body V from the mobile terminal 1 via the communication unit 21. Acquires the position information indicating the position and the information indicating the destination input by the driver. Then, the route management unit notifies the mobile terminal 1 of the route from the current position of the mobile V to the destination and includes the update-required range, so that the route passing through the update-required range is transmitted to the mobile. Present to V.

The route management unit may request the mobile V to pass the update range by, for example, notifying the mobile terminal 1 of the route indicating the update range. When the mobile terminal 1 notified of the route indicating the update required range, when passing through the route, the map data management device 2 provides the captured image and the response information indicating that the captured image is the requested captured image. May be sent to. After that, the data generation unit 235 may generate update data based on the captured image acquired by the acquisition unit 231 together with the response information. In this way, by letting the moving body V pass through the update required range, the map data management device 2 updates the map data to the latest state, that is, the gap between the virtual space managed as the map data and the real space is reduced. The possible period can be shortened.

[Processing of map data management device 2]
Subsequently, the processing flow of the map data management device 2 will be described. FIG. 6 is a flowchart showing a processing flow of the map data management device 2. This flowchart starts when the acquisition unit 231 acquires an image captured by the image pickup device C included in the mobile body V from the mobile terminal 1 included in the mobile body V via the communication unit 21. (S1).

The condition acquisition unit 232 acquires the environmental conditions related to the imaging environment of the captured image (S2). The condition acquisition unit 232 acquires, for example, information indicating the environmental conditions stored in the storage unit 22. The determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the environment condition acquired by the condition acquisition unit 232 (S3).

When the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental conditions acquired by the condition acquisition unit 232 (NO in S3), the determination unit 233 ends the process. On the other hand, when the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental condition acquired by the condition acquisition unit 232 (YES in S3), the image processing unit 234 determines the environmental condition by the determination unit 233. Image processing is executed based on the acquired image determined to satisfy (S4).

Then, the data generation unit 235 generates update data for updating the map data based on the acquired image determined by the determination unit 233 to satisfy the environmental condition (S5). Specifically, the data generation unit 235 generates update data for updating the map data based on the result of the image processing unit 234 executing the image processing.

[Effects in this embodiment]
As described above, the map data management system S1 determines whether or not the imaging environment of the captured image captured by the imaging device C included in the moving body V satisfies the environmental condition, and determines that the imaging environment satisfies the environmental condition. Update data is generated based on the captured image. By doing so, the map data management system S1 can select an captured image captured in an environment that can be used for updating the map data.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. is there. For example, all or a part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination has the effect of the original embodiment.

1 Mobile terminal 2 Map data management device 21 Communication unit 22 Storage unit 23 Control unit 231 Acquisition unit 232 Condition acquisition unit 233 Judgment unit 234 Image processing unit 235 Data generation unit C Imaging device S Map data management system V Mobile

Claims (6)

A map data management device that manages map data
An image acquisition unit that acquires an image captured by the image pickup device from a moving body provided with the image pickup device, and an image acquisition unit.
A condition acquisition unit that acquires environmental conditions related to the imaging environment of the captured image, and
A determination unit that determines whether or not the imaging environment of the acquired image, which is the captured image acquired by the image acquisition unit, satisfies the environmental conditions.
A data generation unit that generates update data for updating the map data based on the acquired image determined by the determination unit to satisfy the environmental conditions.
Map data management device with. The condition acquisition unit acquires a shielding condition indicating a condition of the ratio of the size of the shielding object to the size of the entire captured image as the environmental condition.
The determination unit determines whether or not the ratio of the size of the shielded object existing in the acquired image to the size of the entire acquired image satisfies the shielding condition.
The map data management device according to claim 1. It also has a traffic information acquisition department that acquires traffic information that indicates traffic conditions.
The condition acquisition unit acquires the traffic condition indicating the condition of the traffic condition in the imaging environment of the captured image as the environmental condition.
In the traffic information, the determination unit determines whether or not the traffic condition in the imaging environment of the acquired image satisfies the traffic condition.
The map data management device according to claim 1 or 2. The condition acquisition unit acquires weather conditions indicating the conditions of the weather conditions in the imaging environment of the captured image as the environmental conditions.
The determination unit determines whether or not the weather condition in the imaging environment of the acquired image satisfies the weather condition.
The map data management device according to any one of claims 1 to 3. Further having a recognition unit that recognizes an object existing in the acquired image,
The condition acquisition unit acquires, as the environmental condition, a reliability condition indicating the condition of the reliability of the object when the object is recognized from the captured image.
The determination unit determines whether or not the reliability of the object when the recognition unit recognizes the object from the acquired image satisfies the reliability condition.
The map data management device according to any one of claims 1 to 4. Computer runs,
It is a map data management method that manages map data.
A step of acquiring an image captured by the image pickup device from a moving body provided with the image pickup device, and
The step of acquiring the environmental conditions related to the imaging environment of the captured image, and
A step of determining whether or not the imaging environment of the acquired image, which is the acquired image, satisfies the environmental conditions, and
A step of generating update data for updating the map data based on the acquired image determined to satisfy the environmental condition, and
Map data management method with.

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