JP2021039079A - Map information generator, map information generation method and map information generation program - Google Patents

Abstract

To provide a map information generator, a map information generation method and a map information generation program which can improve the accuracy of a map-matching process.SOLUTION: The map information generator comprises: a position information acquisition unit for acquiring latitude-longitude information, together with measurement time information, measured with regard to one traveling path of a vehicle by a GNSS positioning system while traveling; a CAN information acquisition unit for acquiring CAN information that is the vehicle control information on the vehicle; a matching unit for performing map-matching process of specifying a point indicated by the latitude-longitude information with respect to the position coordinate information on the map along the time series of the measurement time information and aligning positions on the map; and a traveling path generation unit for generating traveling path information in which the traveling path is specified on the map, by the map-matching process. The matching unit performs the map-matching process using at least one of steering angle information and vehicle speed of the CA information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a map information generator, a map information generation method, and a map information generation program.

As a navigation device mounted on a vehicle, a method of specifying the position of the vehicle by the coordinate information acquired from the GNSS positioning system is known.
However, since the traveling position calculated by the GNSS positioning system includes an error and is not necessarily plotted on the road, the traveling position is plotted by the map matching process that plots the position on the map based on the coordinate information acquired from the GNSS positioning system. Is widely used to correct on the road.
As a navigation device using such a map matching process, the following Patent Document 1 describes a plurality of links representing roads with line segments, a plurality of nodes represented by nodes connecting the plurality of links, and the like. The technology for identifying the link on which the vehicle is traveling and further identifying the traveling lane within the link is disclosed.

Japanese Unexamined Patent Publication No. 11-211491

However, in such a map matching process, once the map is corrected on the wrong road, the correction process may be continued with the wrong road as the traveling position.
Recently, while various services that utilize driving history are being studied, it has been required to improve the accuracy of map matching processing.

Therefore, an object of the present invention is to provide a map information generation device, a map information generation method, and a map information generation program capable of improving the accuracy of map matching processing.

The map information generator of one aspect acquires the latitude and longitude information measured by the GNSS positioning system while traveling on one travel route of the vehicle together with the measurement time information indicating the time when the latitude and longitude information is measured. The unit, the CAN information acquisition unit that acquires CAN information that is the vehicle control information of the vehicle, and the point indicated by the latitude / longitude information along the time series of the measurement time information are specified with respect to the position coordinate information of the map. The matching unit includes a matching unit that performs map matching processing for alignment on a map, and a travel route generation unit that generates travel route information whose travel route is specified on the map by map matching processing. Map matching processing is performed using at least one of the steering angle information and the vehicle speed among the CAN information.

The map information generation device of one aspect acquires the latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of the vehicle together with the measurement time information indicating the time when the latitude / longitude information is measured. The acquisition unit, the CAN information acquisition unit that acquires CAN information that is vehicle control information of the vehicle, and the point indicated by the latitude / longitude information along the time series of the measurement time information are specified with respect to the position coordinate information of the map. A matching unit that performs map matching processing for alignment on the map, a first generation unit that generates first travel route information whose travel route is specified on the map by map matching processing, and a time series. When the two points indicated by the latitude and longitude information in which the measurement time information is in the front-rear relationship satisfy the predetermined conditions, at least one of the steering angle information and the vehicle speed of the CAN information is used. A correction matching unit that performs correction map matching processing that corrects the position of the vehicle with respect to the position coordinate information of the map, a second generation unit that adds the position coordinate information corrected by the correction matching unit to the first travel route information, and To be equipped.

In the map information generation device of one aspect, the position coordinate information may be information indicating a road on which the vehicle can travel on the map.

In one aspect of the map information generator, the correction matching unit sets the latitude and longitude of which the measurement time information precedes in time series when two points are below or above a predetermined range or above a predetermined range as predetermined conditions. The position of the vehicle in the elapsed time may be estimated by adding the distance obtained by multiplying the information by the vehicle speed and the elapsed time from the measured time information.

In one aspect of the map information generator, the correction matching unit uses the acquired traffic regulation information to identify the traffic regulation section where traffic is restricted, excludes the traffic regulation section on the map, and then corrects the map. Matching processing may be performed.

In one aspect of the map information generation device, the position information acquisition unit obtains probe information from a traffic information collecting device that accumulates vehicle probe information as latitude / longitude information and measurement time information in one travel path of a specific vehicle. May be obtained.

In one aspect of the map information generation method, the computer acquires the latitude and longitude information measured by the GNSS positioning system while traveling on one travel route of the vehicle together with the measurement time information indicating the time when the latitude and longitude information is measured. The position information acquisition step to be performed, the CAN information acquisition step to acquire the CAN information which is the vehicle control information of the vehicle, and the points indicated by the latitude and longitude information along the time series of the measurement time information with respect to the position coordinate information of the map. A matching step that performs map matching processing that identifies and aligns on the map, and a travel route generation step that generates travel route information whose travel route is specified on the map by map matching processing are executed. In the matching step, map matching processing is performed using at least one of the steering angle information and the vehicle speed among the CAN information.

In one aspect of the map information generation method, the computer acquires the latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of the vehicle together with the measurement time information indicating the time when the latitude / longitude information is measured. The position information acquisition step to be performed, the CAN information acquisition step to acquire CAN information which is the vehicle control information of the vehicle, and the point indicated by the latitude / longitude information along the time series of the measurement time information with respect to the position coordinate information of the map. A matching step that performs map matching processing that identifies and aligns on the map, and a first generation step that generates first travel route information whose travel route is specified on the map by map matching processing. When the two points indicated by the latitude and longitude information in which the measurement time information is in the front-rear relationship along the series satisfy a predetermined condition, at least one of the steering angle information and the vehicle speed of the CAN information is displayed. A second generation that adds a correction matching step that performs a correction map matching process that corrects the position of the vehicle to the position coordinate information of the map and the position coordinate information corrected by the correction matching step to the first travel route information. Step and perform.

The map information generation program of one aspect acquires the latitude and longitude information measured by the GNSS positioning system while traveling on one travel route of the vehicle, together with the measurement time information indicating the time when the latitude and longitude information is measured. The position information acquisition function to acquire the position information, the CAN information acquisition function to acquire the CAN information which is the vehicle control information of the vehicle, and the point indicated by the latitude and longitude information along the time series of the measurement time information with respect to the position coordinate information of the map. A matching function that performs map matching processing that identifies and aligns on the map, and a travel route generation function that generates travel route information whose travel route is specified on the map by map matching processing are realized. In the matching function, map matching processing is performed using at least one of the steering angle information and the vehicle speed among the CAN information.

The computer has a position information acquisition function that acquires latitude / longitude information measured by the GNSS positioning system while driving for one travel route of the vehicle, together with measurement time information indicating the time when the latitude / longitude information was measured, and a vehicle. The CAN information acquisition function that acquires CAN information, which is vehicle control information, and the location indicated by the latitude / longitude information along the time series of measurement time information are specified with respect to the position coordinate information of the map, and the position on the map. A matching function that performs matching map matching processing, a first generation function that generates first travel route information whose travel route is specified on the map by map matching processing, and measurement time information before and after in time series. When the two points indicated by the latitude and longitude information that are related to each other satisfy the predetermined conditions, the position of the vehicle is displayed on the map using at least one of the steering angle information and the vehicle speed among the CAN information. A correction matching function that performs a correction map matching process that corrects the position coordinate information, and a second generation function that adds the position coordinate information corrected by the correction matching function to the first travel route information are realized.

In one aspect of the map information generation device, the matching unit performs map matching processing using CAN information which is vehicle control information of the vehicle. Therefore, even in a traveling environment where latitude and longitude information cannot be obtained by the positioning system, it is possible to estimate the position of the vehicle and identify the traveling route with high accuracy.

It is the schematic of the map information generation apparatus which concerns on one Embodiment. It is a block diagram explaining the structure of the map information generation apparatus shown in FIG. It is a flowchart explaining the process in the processing part shown in FIG. It is a figure explaining the 1st example of the success example in a map matching process. It is a figure explaining the 1st example of the failure example in the map matching process. It is a figure explaining the 2nd example of the success example in the map matching process. It is a figure explaining the 2nd example of the failure example in the map matching process. It is a figure explaining the error which occurs in the map matching process, and the case where the correction map matching process is performed in the vehicle traveling in a tunnel. It is a figure explaining the 1st example in the case which the correction map matching process is not performed. It is a figure explaining the 1st example in the case of performing a correction map matching process. It is a figure explaining the 2nd example when the correction map matching process is not performed. It is a figure explaining the 2nd example in the case of performing a correction map matching process. It is a schematic diagram explaining the steering angle information when a vehicle enters an underground parking lot. It is a figure explaining the reverse map matching process. It is an enlarged view of the rectangular broken line part shown in FIG. 14, (a) the figure which shows the 1st traveling route information before performing reverse map matching processing, (b) the second which was updated after performing reverse map matching processing. It is a figure which shows the traveling route information. It is a figure which shows the traveling path of the vehicle traveling at a junction. It is an enlarged view of the rectangular broken line part shown in FIG. It is a block diagram for demonstrating the modification of the map information generation apparatus shown in FIG.

Hereinafter, an embodiment of the present invention will be described.
FIG. 1 is a schematic view of a map information generation system 1 according to an embodiment.
The map information generation system 1 includes a vehicle 10, a server 20, and a map information generation device 30.
The vehicle 10 acquires the probe information of its own vehicle and transmits it to the server 20. Although only one vehicle 10 is shown in FIG. 1, there may be a plurality of vehicles 10.
The server 20 stores, for example, a plurality of probe information. Specifically, the server 20 is a traffic information collecting device that stores a plurality of probe information transmitted from one or a plurality of vehicles 10.

The map information generation device 30 is, for example, a device suitable for processing so-called big data and capable of processing a relatively large amount of information.
When a destination is set, the navigation device (not shown) mounted on the vehicle 10 guides the route to the destination. The map information generation device 30 causes the navigation device to display the processing content by performing wireless communication with the navigation device.

Next, the map information generation device 30 will be described in detail with reference to FIG.
FIG. 2 is a block diagram illustrating the configuration of the map information generation device 30.
As shown in FIG. 2, the map information generation device 30 includes a communication unit 40, a storage unit 50, and a processing unit 100.

The communication unit 40 communicates with the server 20 or the vehicle 10 via, for example, a communication network. The communication unit 40 acquires a plurality of probe information from the server 20 as an example based on the control of the map information generation device 30 (position information acquisition unit 110). The communication unit 40 may receive the probe information transmitted from the vehicle 10.

Here, the probe information is road traffic information generated by using information such as the position where the automobile actually travels and the vehicle speed.
The probe information includes at least traveling position information and identification information. The traveling position information is information regarding the traveling position of the vehicle 10. The identification information is information (vehicle ID) for identifying the vehicle 10. Further, the probe information may include measurement time information indicating the time when the latitude / longitude information is measured.

The storage unit 50 is a device that stores various information including map information, various control programs, and the like.
The storage unit 50 stores in advance a point set as a destination as an example of storing map information. The point set as the destination is a point set as the end point of the guide route (traveling route), and is specified by the position coordinate information on the map.

For example, the map information generation device 30 transmits the map information stored in the storage unit 50 to the vehicle 10 via the communication unit 40 as described above, and makes the map information used by the navigation device of the vehicle 10. You may.
Further, the map information generation device 30 may record the map information on a recording medium such as an external memory or an optical disk, for example. In this case, the vehicle 10 may read the map information recorded on the recording medium and use the map information in the navigation device.

The processing unit 100 is a processor having a function of performing various processes in the map information generation device 30. The processing unit 100 may be realized by a logic circuit (hardware) or a dedicated circuit formed in an integrated circuit (IC (Integrated Circuit) chip, LSI (LargeScaleIntegration)) or the like, or may be realized by using a CPU (CentralProcessingUnit) and a memory. It may be realized by software.

The processing unit 100 includes an information acquisition unit 110, a map matching unit 120, a traveling route generation unit 130, and an alert unit 140.
The information acquisition unit 110 acquires various types of information via the communication network. The information acquisition unit 110 includes a position information acquisition unit 111 and a CAN information acquisition unit 112.

The position information acquisition unit 111 acquires latitude / longitude information measured by the GNSS positioning system during travel for one travel path of the vehicle 10 together with measurement time information indicating the time when the latitude / longitude information was measured.
The position information acquisition unit 111 may acquire a plurality of probe information from the departure point to the destination.

The vehicle 10 can record the traveling position information of the vehicle 10 by using, for example, a GNSS (Global Navigation Satellite System) positioning system (hereinafter, simply referred to as a positioning system). By continuously or intermittently acquiring the position information, the vehicle 10 can record the position information (traveling position information) of the route on which the vehicle 10 has traveled in the probe information.

The vehicle 10 records a vehicle ID (identification information) for distinguishing the own vehicle from another vehicle in the probe information.
The vehicle 10 records, for example, information (measurement time information) regarding the time when the traveling position information is acquired (or the traveling position information is recorded as probe information) in the probe information.
The information recorded in the probe information is not limited to the above example, but is acquired by information on the on / off of the wiper, information on the on / off of the headlight, and various sensors arranged in the vehicle 10. Information may be included.

Here, when the vehicle 10 generates the probe information, the vehicle 10 may record the destination set by the navigation device in the probe information. For example, when the navigation device is used, the vehicle 10 may record the point (coordinates) away from the link indicating the road in the probe information based on the traveling position information.
Further, the position information acquisition unit 111 receives probe information from the server 20 (traffic information collecting device) that stores the probe information of the vehicle 10 as latitude / longitude information and measurement time information in one traveling route of one specific vehicle 10. To get.

The CAN information acquisition unit 112 acquires CAN information which is vehicle control information of the vehicle 10. The CAN information is vehicle control information including at least steering angle information indicating a steering angle and traveling speed estimated from the number of rotations of wheels.

The map matching unit 120 includes a matching unit 121, a correction matching unit 122, and an inverse matching unit 123.
The matching unit 121 specifies a point indicated by the latitude / longitude information with respect to the position coordinate information of the map along the time series of the measurement time information, and performs a map matching process for alignment on the map.

Specifically, the matching unit 121 specifies which of the roads (links) indicated by the map information is located at the position indicated by the probe information. At this time, the matching unit 121 performs the map matching process so as to be located on the road connected to the road on which the vehicle 10 existed in front of the vehicle 10.

Then, when it is determined that the latitude / longitude information indicated by the probe information is not located on any road due to this inconsistency (when it is determined that the distance is more than a predetermined distance), it is determined that the map matching has failed. However, the map matching process is performed so that it is located on the nearest road without considering the connection with the road that has existed until then.
Further, the matching unit 121 performs map matching processing using at least one of the steering angle information and the vehicle speed in the CAN information.

The correction matching unit 122 has the steering angle information and the vehicle speed of the CAN information when the two points indicated by the latitude / longitude information in which the measurement time information has a front-rear relationship in the time series satisfy a predetermined condition. Using at least one of them, a correction map matching process for correcting the position of the vehicle 10 with respect to the position coordinate information of the map is performed.

Specifically, the direction of travel of the vehicle is specified by the steering angle, and the position is specified assuming that the vehicle has traveled a distance specified by the vehicle speed. For example, when the steering angle is 10 degrees to the right and the vehicle speed is 40 km, the correction matching unit 122 shifts the position of the vehicle 10 after 1 second from the current position along the trajectory of the curve according to the steering angle. It is estimated that it exists at a position of 11 m.
The details of the predetermined conditions for starting the correction map matching process will be described later.

In the map matching process by the matching unit 121, the inverse matching unit 123 so that the two points indicated by the latitude / longitude information in which the measurement time information has a front-back relationship along the time series are discontinuous in the position coordinate information. When specified, map matching processing is performed in reverse time series.
Here, as a cause of being specified to be discontinuous, when it is determined that the latitude / longitude information indicated by the probe information is not located on any road (if it is separated from the road by a predetermined distance or more). When it is determined), when the positional relationship between the front and back becomes equal to or higher than a predetermined threshold value, and the like. Further, the time-series reverse order means that the measurement time information traces back from the new latitude / longitude information to the old latitude / longitude information.
In the following description, the map matching process performed in the reverse order of the time series is referred to as a reverse map matching process.

At this time, the reverse matching unit 123 performs the reverse map matching process starting from the position trust point. A position-reliable point is a point after the point indicated by the latitude / longitude information specified so that the two points indicated by the latitude / longitude information having a front-back relationship in the traveling route are discontinuous in the position coordinate information. The latitude / longitude information indicates that the distance from the position coordinate information on the map specified by the matching unit 121 is within a predetermined distance, and the position is a reliable point. The position reliability point may be the end point in the traveling path of the vehicle 10. The end point on the travel route refers to the last point on the route set on the map. Another specific example of the position reliability point is a place where the vehicle 10 reaches the destination, that is, a place where the engine of the vehicle 10 is turned off.

The travel route generation unit 130 generates travel route information in which the travel route is specified on the map by map matching processing. The travel route generation unit 130 includes a first generation unit 131, a second generation unit 132, and an update unit 133.
In the first generation unit 131, the travel route is specified on the map by the map matching process, that is, the latitude / longitude information of the vehicle 10 acquired along the travel route is aligned with the position coordinate information on the map. First travel route information is generated.

The second generation unit 132 adds the position coordinate information corrected by the correction matching unit 122 to the first travel route information. In addition, the second generation unit 132 generates the second travel route information whose travel route is specified on the map by the map matching process performed by the inverse matching unit 123.
Then, the update unit 133 updates the first travel route information with the second travel route information.

When the alert unit 140 is specified in the map matching process so that the two points indicated by the latitude / longitude information in which the measurement time information has a front-back relationship in the time series are discontinuous in the position coordinate information. , The confirmation of the moving image or the like taken by the video recording device mounted on the vehicle 10 at a predetermined time including the measurement time information corresponding to the latitude / longitude information is urged.
The alert unit 140 may prompt the confirmation of the image data and the voice data recorded by the recording device mounted on the vehicle 10 instead of the moving image.

Next, the processing content of the processing unit 100 in the map information generation device 30 will be described with reference to FIG. FIG. 3 is a flowchart illustrating processing in the processing unit 100.
As shown in FIG. 3, first, the position information acquisition unit 111 in the processing unit 100 reads the probe information (ST10).

Next, the position information acquisition unit 111 reads the map information (ST20).
Map information is expressed as position coordinate information. The position coordinate information is information indicating a road on which the vehicle 10 can travel on a map. Specifically, the map information is represented by a link and a node which is a contact point between the links, and each link and each node can be used. The position coordinate information where the link or node is located is associated with each.
Here, the position information acquisition unit 111 may acquire the traffic regulation information at the same time as acquiring the map information. The traffic regulation information is information indicating the section on the map whose traffic is restricted by the traffic regulation. The latest information on traffic regulation information is updated from moment to moment.

Next, the matching unit 121 performs the map matching process (ST30). In the map matching process, the points indicated by the latitude and longitude information are specified with respect to the position coordinate information of the map along the time series of the measurement time information, and the alignment on the map is performed.
The matching unit 121 uses CAN information, which is vehicle control information of the vehicle 10, and estimates the steering angle information or the traveling direction of the vehicle 10 from the CAN information, and performs map matching processing.
Further, the matching unit 121 can also perform the map matching process after specifying the traffic regulation section where the traffic is restricted by using the acquired traffic regulation information and excluding the traffic regulation section on the map.

Here, the map matching process will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram illustrating a first example of a successful example in the map matching process. FIG. 5 is a diagram illustrating a first example of a failure example in the map matching process.
In FIGS. 4 and 5, the circles indicate the latitude / longitude information specified by the positioning system, and the triangles indicate the map matching result as a result of aligning the latitude / longitude information with respect to the position coordinate information on the map. It points to the first travel route information of the generated vehicle 10.

As shown in FIG. 4, when the road is curved, the map matching process can be performed so that the position coordinates of the vehicle 10 change along the shape of the road. Then, when the map matching process is performed in this way, the first generation unit 131 generates the first travel route information A in which the travel route is specified on the map.
By the way, since the latitude / longitude information obtained from the positioning system contains a lot of errors, when map matching is performed on the position coordinates of the map, the traveling route is divided as shown in FIG. 5, for example. Error may occur.

In this example, where the road is originally an elevated highway and the curved road is a regular route, map matching processing is performed on a general road going straight, and the first travel route information A1 is created. It was. Then, after a certain point, the position coordinates on the regular route are specified, and the traveling route is specified along the curve of the road from there, so that the first traveling route information separated from the first traveling route information A1 is obtained. A2 is generated.

Such an error in the map matching process will be described with reference to FIGS. 6 and 7 with reference to other examples. In this example, the expressway R1 and the general road R2 are laid in parallel. FIG. 6 is a diagram illustrating a second example of a successful example in the map matching process. FIG. 7 is a diagram illustrating a second example of a failure example in the map matching process.

In FIGS. 6 and 7, the circles indicate the latitude / longitude information specified by the positioning system, and the triangles indicate the map matching results as a result of aligning the latitude / longitude information with respect to the position coordinate information on the map. It points to the first travel route information of the generated vehicle 10.
In the example shown in FIG. 6, when the highway R1 and the general road R2 are parallel to each other by performing map matching processing on the latitude / longitude information acquired from the positioning system and specifying the position coordinates on the map. Even if there is, the travel route can be specified smoothly.

On the other hand, in the example shown in FIG. 7, the first travel route information A1 and A2 are divided because the map matching process for the position coordinates on the expressway R1 is changed to the map matching process for the general road from the middle. It is expressed.
As described above, the causes of the error in the map matching process include the error of the positioning system described above and the driving environment in which the position information cannot be acquired from the positioning system. In addition, other causes include the fact that the position coordinate information of a plurality of roads laid at intersection or in parallel are close to each other, and the influence of the sampling rate during high-speed driving.

Then, as shown in FIG. 3, in order to eliminate the error that occurs in such a map matching process, in the processing unit 100 of the map information generation device 30 of the present invention, the correction matching process (ST40) by the correction matching unit 122, And the reverse map matching process (ST50) is performed by the reverse matching unit 123. This point will be described in detail.

First, the correction matching process by the correction matching unit 122 will be described with reference to FIGS. 8 to 12. FIG. 8 is a diagram illustrating an error that occurs in the map matching process and a case where the correction map matching process is performed in the vehicle 10 traveling in the tunnel.
FIG. 9 is a diagram illustrating a first example when the correction map matching process is not performed. FIG. 10 is a diagram illustrating a first example in the case of performing the correction map matching process. FIG. 11 is a diagram illustrating a second example when the correction map matching process is not performed. FIG. 12 is a diagram illustrating a second example in the case of performing the correction map matching process (ST40: see FIG. 3).

In addition, in FIG. 9 and FIG. 11, the circle mark indicates the first traveling route information specified by the map matching process. The circles in FIGS. 10 and 12 are added to the first travel route information and the travel route information specified by the correction map matching process.

As shown in the upper figure of FIG. 8, for example, when the vehicle 10 travels in the tunnel, the latitude / longitude information from the positioning system may not be acquired in the tunnel. In such a case, the coordinate values of the latitude / longitude information are accumulated as abnormal values. In FIG. 8, for the sake of explanation, latitude / longitude information having an abnormal coordinate value is arranged near the entrance and exit of the tunnel.
Here, as shown in the lower figure of FIG. 8, the correction matching unit 122 identifies the position of the vehicle 10 based on the vehicle speed calculated from the CAN information and the elapsed time from the time when the tunnel entrance is passed. , An appropriate position in the tunnel can be specified as the position of the vehicle 10 for each traveling time instead of the abnormal values arranged at the entrance and the exit of the tunnel.

That is, the correction matching unit 122 sets the latitude and longitude in which the measurement time information precedes in a time series when the two points are equal to or less than a predetermined range (distance) or greater than or equal to a predetermined range (distance) as a predetermined condition. The position of the vehicle 10 in the elapsed time is estimated by adding the distance obtained by multiplying the information by the vehicle speed and the elapsed time from the measured time information.

For example, as shown in FIG. 9, when traveling in a tunnel on the seabed, if the correction map map matching process is not performed, the position coordinates of the vehicle 10 in the tunnel cannot be specified.
Therefore, in the first route information A1 generated by the first generation unit 131, a blank portion in which the traveling position is not specified is formed.

On the other hand, in the map information generation device 30 of the present invention, as shown in FIG. 10, the correction matching unit 122 specifies the position coordinates on the map of the vehicle 10 in the tunnel by using the vehicle speed and the like of the CAN information.
Then, the second generation unit 132 adds the travel route information A2 specified by the correction map matching to the first route information A1, so that the travel route can be specified without forming a blank portion.

Next, another example will be described. Even when it cannot be specified as the position coordinates of the vehicle 10 in the tunnel as shown in FIG. 11, the correction matching unit 122 performs the correction map matching process using the vehicle speed of the CAN information and the like.
As a result, as shown in FIG. 12, with respect to the traveling route A2 whose position cannot be specified by the positioning system, the position coordinates of the vehicle 10 can be specified and added to the first traveling route information A1 in chronological order.

Further, in the correction matching, the steering angle information in the CAN information can be used for the map matching process. This point will be described with reference to FIG.
FIG. 13 is a schematic view illustrating steering angle information when the vehicle 10 enters the underground parking lot.

As shown in FIG. 13, in the underground parking lot, latitude / longitude information from the positioning system may not be acquired. When the position information cannot be obtained from the positioning system in this way, when the vehicle speed is below a certain level and the steering angle is above a certain threshold value, it can be estimated that the vehicle has entered the parking lot.
Then, by using the vehicle speed and the steering angle information together, the position coordinates of the vehicle 10 in the parking lot can be specified.

In addition, the correction matching unit 122 may specify the traffic regulation section where traffic is restricted by using the acquired traffic regulation information, exclude the traffic regulation section on the map, and then perform the correction map matching process. it can.
As a result, it is possible to grasp the roads whose traffic is restricted in real time and perform highly accurate correction map matching processing.

Next, the reverse map matching process (ST50: see FIG. 3) by the reverse matching unit 123 will be described.
The reverse map matching process is performed on, for example, travel history data after travel. As a result, the running history data can be updated and an accurate running history can be obtained. Not limited to such an aspect, the reverse matching unit 123 may perform the reverse map matching process in real time during traveling.

In the reverse matching unit 123, when an error occurs on the travel path, that is, in the map matching process, the position coordinates are two points indicated by the latitude and longitude information in which the measurement time information has a front-back relationship along the time series. When the information is specified to be discontinuous, the reverse map matching process is performed.

In the reverse map matching process, the end point of the traveling route is set as the position trust point, and the map matching process is performed in the reverse order in time series with this end point as the starting point. The position-reliable point does not have to be the end point of the travel route, and may be a point after the point where the map matching processing error occurs in the travel route and the position can be trusted.

This reverse map matching process will be specifically described with reference to FIGS. 14 and 15. FIG. 14 is a diagram illustrating a reverse map matching process (ST50: see FIG. 3). 15 is an enlarged view of the rectangular broken line portion shown in FIG. 14, FIG. 15 (a) is a diagram showing the first traveling route information before the reverse map matching process is performed, and FIG. 15 (b) is the reverse. It is a figure which shows the 2nd traveling route information which was updated after performing a map matching process.

In addition, in FIG. 14 and FIG. 15A, the circle mark indicates the first traveling route information.
Then, in FIGS. 15 (b), 16 and 17, the circles indicate the second travel route information generated by the second generation unit 132 and updated by the update unit 133. There is.

In the traveling route shown in FIG. 14, map match processing is performed from the end point (GOAL) to the start point (START). This point will be described in detail with reference to FIG.
In the travel route shown in FIG. 15A, a part of the travel route was laid in parallel with the expressway due to an error in the map matching process even though the vehicle was actually traveling on the expressway. The first travel route information A1, A2, and A3 specified on the general road were generated.
In this first travel history information, in the position coordinate information of the vehicle 10 traveling from the lower side to the upper side of the map, a map matching error is detected in the process of changing the direction toward the right side, and the original It is in a map-matched state on the highway.

Then, when reverse map matching is performed on the travel history in which an error occurs in such map matching processing, the latitude / longitude information and the position coordinate information on the map are aligned in the reverse order of the travel route from the end point. ..
In this case, unlike the forward map matching process during traveling, the starting point (starting point: that is, the point reached by reverse map matching) of the vehicle 10 is determined in the process of performing reverse map matching. Further, the first map matching process identifies where the latitude / longitude information preceded by the measurement time information is located. Therefore, it is easy to determine what kind of route should be followed to make the route continuous from the end point to the start point, and it is possible to perform highly accurate map matching processing.
Then, based on the information obtained by the reverse map matching process, the second generation unit 132 generates the second travel route information A4 as shown in FIG. 15 (b).

Further, the reverse matching unit 123 can also perform map matching processing after specifying a traffic regulation section whose traffic is restricted by using the acquired traffic regulation information and excluding the traffic regulation section on the map. ..
As a result, accurate reverse map matching processing can be performed by excluding the portion where the vehicle 10 cannot travel on the actual road from the traveling route.

Further, the reverse matching unit 123 can use CAN information which is vehicle control information of the vehicle 10 and can perform reverse map matching processing by estimating the traveling direction of the vehicle 10 from the steering angle information in the CAN information. ..
The use of CAN information in such reverse map matching will be described with reference to FIGS. 16 and 17. FIG. 16 is a diagram showing a travel path of the vehicle 10 traveling at the junction. FIG. 17 is an enlarged view of the rectangular broken line portion shown in FIG.

As shown in FIGS. 16 and 17, an error in the map matching process is likely to occur on a road whose traveling direction meanders, such as a junction of an expressway. Since the vehicle 10 is traveling at high speed, not only the sampling rate interval of the positioning system affects, but also the roads themselves intersect and the links represented by the position coordinate information on the map overlap. Because there is.

Here, if the steering angle at a certain point is specified by using the steering angle information in the CAN information, the subsequent traveling direction of the vehicle 10 can be estimated. As a result, the link of the road on which the vehicle 10 should travel after that can be specified, and the reverse map matching process with high accuracy can be performed.

Then, as shown in FIG. 3, finally, the update unit 133 performs an update process of updating the first travel route information with the second travel route information (ST60). As a result, the highly accurate second travel route information can be used as the travel history of the vehicle 10 instead of the first travel route information in which the error has occurred.

As the use of the travel history of the vehicle 10, for example, it can be used for non-life insurance. For example, when the vehicle 10 is involved in an accident, there is a request to check the traveling history of the vehicle 10 to confirm whether the driving of the vehicle 10 is appropriate. In such a case, highly accurate travel history information is required.

Further, the map information generation device 30 of the present invention includes an alert unit 140 as a function of supplementing the travel history information. The alert unit 140 confirms a moving image or the like taken by a video recording device mounted on the vehicle 10 for a portion (pending portion) in which the content of the first traveling route information and the second traveling route information are different. Prompt.

Here, the pending part is that in the first map matching process, the two points indicated by the latitude and longitude information in which the measurement time information has a front-back relationship along the time series are discontinuous in the position coordinate information. When specified, it refers to a predetermined time including measurement time information corresponding to the latitude / longitude information. That is, by confirming whether or not the driving of the vehicle 10 was appropriate in the pending portion, it is confirmed whether or not there was an inappropriate portion for driving the vehicle 10 such as reverse driving or entering a prohibited area. be able to.

As described above, according to the map information generation device 30 according to the present embodiment, in the map matching process performed by the matching unit 121, each of the latitude and longitude information in which the measurement time information has a front-back relationship along the time series is shown. When the two points are specified to be discontinuous in the position coordinate information, the reverse matching unit 123 performs the reverse map matching process in the reverse order of the time series starting from the position trust point.

Therefore, by performing the reverse map matching process while tracing the travel history from behind, if an error occurs in the regular matching process, the error can be corrected.
Then, the update unit 133 updates the initially matched first travel route information with the second travel route information matched by the reverse matching unit 123, so that the accuracy of the map matching process can be improved.

Further, since the position coordinate information is information indicating the road on which the vehicle 10 can travel on the map, the road on which the vehicle 10 should travel even if there is an error in the latitude / longitude information acquired from the positioning system. The upper position can be pinpointed accurately.

Further, since the position-reliable point is the end point in the traveling path of the vehicle 10, the point finally reached in the traveling path is set as the starting point of the reverse map matching, so that the reverse map matching with high accuracy is performed as the position is reliable. be able to.

Further, the matching unit 121 and the reverse matching unit 123 perform map matching processing using the acquired traffic regulation information. Therefore, the road on which the vehicle 10 cannot travel can be excluded from the travel route, and errors that occur in the map matching process can be less likely to occur.

Further, the matching unit 121 and the reverse matching unit 123 use the CAN information which is the vehicle control information of the vehicle 10 and estimate the traveling direction of the vehicle 10 from the steering angle information in the CAN information to perform the map matching process. .. Therefore, even in a traveling environment where latitude / longitude information cannot be obtained by the positioning system, the position of the vehicle 10 can be estimated, and a traveling route can be specified with high accuracy.

Further, the position information acquisition unit 111 acquires probe information as latitude / longitude information and measurement time information in one travel path of one specific vehicle 10 from a traffic information collecting device that stores probe information of the vehicle 10. Therefore, the latitude / longitude information and the measurement time information of the specific vehicle 10 can be accurately acquired.

In addition, the map information generation device 30 includes an alert unit 140 that prompts confirmation of a moving image or the like taken by the video recording device for a pending portion of the travel history in which an error has occurred in the map matching process. Therefore, it is possible to confirm whether or not the error in the map matching process is caused by the poor driving of the vehicle 10.

Further, the map information generation device 30 adds the correction matching unit 122 that performs the correction map matching process and the position coordinate information corrected by the correction matching unit 122 to the first travel route information to provide the second travel route information. It includes a second generation unit 132 to be created. Therefore, even in an environment where latitude / longitude information cannot be obtained from the positioning system, the second generation unit 132 adds the position coordinate information corrected by the correction matching unit 122, so that the travel position of the vehicle 10 is added to the travel history. It is possible to obtain a highly accurate travel history without creating a blank portion that cannot be specified.

Further, when the correction matching unit 122 sets the two points below or below a predetermined range or above a predetermined range as a predetermined condition, the vehicle speed is relative to the latitude / longitude information in which the measurement time information is preceded by the time series. And the distance multiplied by the elapsed time from the measurement time information are added to estimate the position of the vehicle 10 in the elapsed time. As a result, it is possible to clarify the part of the traveling route that requires the correction map matching process.

It should be noted that the above-described configuration is only one embodiment, and various changes and functions can be aggregated or separated within a range that does not deviate from the gist of the present invention.
For example, in the present embodiment, the map information generation device 30 is configured to be a device different from the navigation device mounted on the vehicle 10, but the present embodiment is not limited to such a mode. A part of the function of the map information generation device 30 may be realized by a control unit mounted on the navigation device.

Further, in the above embodiment, the correction matching unit 122 shows the configuration in which the map matching process is performed using the CAN information, but the present invention is not limited to such an embodiment. By consolidating the functions of the correction matching unit 122 into matching, the matching unit 121 having a function as the correction matching unit 122 may perform map matching processing using CAN information.

Further, in the above embodiment, the configuration including the matching unit 121, the correction matching unit 122, and the inverse matching unit 123 is shown as the functions of the map matching unit 120, but the present invention is not limited to such an embodiment. The map matching unit 120 of the map information generation device 30 may have, for example, only the functions of the matching unit 121 and the correction matching unit 122, or may have only the functions of the matching unit 121 and the inverse matching unit 123.

Further, each part of the map information generation device 30 described above may be realized as a function of a computer arithmetic processing unit or the like. That is, the information acquisition unit 110, the map matching unit 120, the travel route generation unit 130, and the alert unit 140 in the processing unit 100 of the map information generation device 30 have an information acquisition function, a map matching function, and the like by a computer arithmetic processing unit or the like. It may be realized as a travel route generation function and an alert function, respectively.

In such a case, the information acquisition function includes a position information acquisition function and a CAN information acquisition function, and the map matching function includes a matching function, a correction matching function, and an inverse matching function. Then, the traveling route generation unit 130 includes a first generation function, a second generation function, and an update function.

Further, the map information generation program can realize each of the above-mentioned functions on a computer. The map information generation program may be recorded on a non-temporary recording medium that can be read by a computer, such as an external memory or an optical disk.

Further, as described above, each part of the map information generation device 30 may be realized by a computer arithmetic processing unit or the like. The arithmetic processing unit or the like is composed of, for example, an integrated circuit or the like. Therefore, each part of the map information generation device 30 may be realized as a circuit constituting an arithmetic processing unit or the like. That is, as shown in FIG. 18, the processing unit 100 of the map information generation device 30 may be realized as a processing circuit 100a constituting a computer arithmetic processing unit or the like. In this case, the processing circuit 100a includes an information acquisition circuit 110a, a map matching circuit 120a, a travel path generation circuit 130a, and an alert circuit 140a.

Further, the communication unit 40 and the storage unit 50 of the map information generation device 30 may be realized as the communication circuit 40a and the storage circuit 50a as shown in FIG. 18 by being configured by, for example, an integrated circuit or the like. Good. Further, the communication unit 40 and the storage unit 50 of the map information generation device 30 may be configured as a communication device and a storage device, for example, by being composed of a plurality of devices.

1 Map information generation system 10 Vehicle 20 Server 30 Map information generation device 40 Communication unit 50 Storage unit 100 Processing unit 110 Information acquisition unit 111 Position information acquisition unit 112 CAN information acquisition unit 120 Map matching unit 121 Matching unit 122 Correction matching unit 123 Reverse Matching unit 130 Travel route generation unit 131 First generation unit 132 Second generation unit 133 Update unit 140 Alert unit

Claims (19)

A position information acquisition unit that acquires latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition unit that acquires CAN information that is vehicle control information of the vehicle, and a CAN information acquisition unit.
A matching unit that specifies a point indicated by the latitude / longitude information with respect to the position coordinate information of the map along the time series of the measurement time information and performs map matching processing for alignment on the map.
By the map matching process, the travel route includes a travel route generation unit that generates travel route information specified on the map.
The matching unit is a map information generation device that performs the map matching process using at least one of the steering angle information and the vehicle speed among the CAN information. A position information acquisition unit that acquires latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition unit that acquires CAN information that is vehicle control information of the vehicle, and a CAN information acquisition unit.
A matching unit that specifies a point indicated by the latitude / longitude information with respect to the position coordinate information of the map along the time series of the measurement time information and performs map matching processing for alignment on the map.
A first generation unit that generates first travel route information in which the travel route is specified on the map by the map matching process.
When the two points indicated by the latitude / longitude information in which the measurement time information is in the front-rear relationship along the time series satisfy a predetermined condition, at least one of the steering angle information and the vehicle speed of the CAN information A correction matching unit that performs correction map matching processing that corrects the position of the vehicle with respect to the position coordinate information of the map using either one.
A map information generation device including a second generation unit that adds the position coordinate information corrected by the correction matching unit to the first travel route information. The map information generation device according to claim 2, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. As the predetermined condition, the correction matching unit refers to the latitude / longitude information in which the measurement time information precedes in time series when the two points are equal to or less than a predetermined range or equal to or more than a predetermined range. The map information generation device according to claim 2 or 3, wherein the position of the vehicle in the elapsed time is estimated by adding a distance obtained by multiplying the vehicle speed by the elapsed time from the measured time information. The correction matching unit identifies a traffic regulation section whose traffic is restricted by using the acquired traffic regulation information, excludes the traffic regulation section on the map, and then performs the correction map matching process. Item 4. The map information generation device according to any one of Items 2 to 4. 2. The position information acquisition unit acquires the probe information as the latitude / longitude information and the measurement time information in one traveling route of a specific vehicle from a traffic information collecting device that stores the probe information of the vehicle. The map information generation device according to any one of 5 to 5. The computer
A position information acquisition step for acquiring latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition step for acquiring CAN information which is vehicle control information of the vehicle, and
A matching step in which a point indicated by the latitude / longitude information is specified with respect to the position coordinate information of the map along the time series of the measurement time information, and a map matching process for alignment on the map is performed.
By the map matching process, the travel route generation step of generating the travel route information specified on the map by the travel route is executed.
In the matching step, a map information generation method in which the map matching process is performed using at least one of the steering angle information and the vehicle speed among the CAN information. The computer
A position information acquisition step for acquiring latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition step for acquiring CAN information which is vehicle control information of the vehicle, and
A matching step in which a point indicated by the latitude / longitude information is specified with respect to the position coordinate information of the map along the time series of the measurement time information, and a map matching process for alignment on the map is performed.
A first generation step in which the travel route generates first travel route information specified on the map by the map matching process.
When the two points indicated by the latitude / longitude information in which the measurement time information is in the front-rear relationship along the time series satisfy a predetermined condition, at least one of the steering angle information and the vehicle speed of the CAN information A correction matching step that performs a correction map matching process that corrects the position of the vehicle with respect to the position coordinate information of the map using either one.
A map information generation method for executing a second generation step of adding the position coordinate information corrected by the correction matching step to the first travel route information. The map information generation method according to claim 7 or 8, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. In the correction matching step, as the predetermined condition, when the two points are equal to or less than a predetermined range or greater than or equal to a predetermined range, the latitude / longitude information in which the measurement time information is preceded in time series is The map information generation method according to claim 8 or 9, wherein the position of the vehicle in the elapsed time is estimated by adding a distance obtained by multiplying the vehicle speed by the elapsed time from the measured time information. In the correction matching step, the traffic regulation section whose traffic is restricted is specified by using the acquired traffic regulation information, the traffic regulation section on the map is excluded, and then the correction map matching process is performed. Item 8. The map information generation method according to any one of Items 8 to 10. In the position information acquisition step, the probe information is acquired as the latitude / longitude information and the measurement time information in one traveling route of a specific vehicle from a traffic information collecting method that accumulates the probe information of the vehicle. The map information generation method according to any one of 1 to 11. On the computer
A position information acquisition function that acquires latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition function that acquires CAN information that is vehicle control information of the vehicle, and
A matching function that specifies a point indicated by the latitude / longitude information with respect to the position coordinate information of the map along the time series of the measurement time information and performs a map matching process for alignment on the map.
By the map matching process, a travel route generation function in which the travel route generates travel route information specified on the map is realized.
In the matching function, a map information generation device that performs the map matching process using at least one of the steering angle information and the vehicle speed among the CAN information. On the computer
A position information acquisition function that acquires latitude / longitude information measured by the GNSS positioning system while traveling on one travel route of a vehicle together with measurement time information indicating the time when the latitude / longitude information was measured.
A CAN information acquisition function that acquires CAN information that is vehicle control information of the vehicle, and
A matching function that specifies a point indicated by the latitude / longitude information with respect to the position coordinate information of the map along the time series of the measurement time information and performs a map matching process for alignment on the map.
By the map matching process, the first generation function for generating the first travel route information in which the travel route is specified on the map, and
When the two points indicated by the latitude / longitude information in which the measurement time information is in the front-rear relationship along the time series satisfy a predetermined condition, at least one of the steering angle information and the vehicle speed of the CAN information A correction matching function that performs correction map matching processing that corrects the position of the vehicle with respect to the position coordinate information of the map using either one, and
A map information generation device that realizes a second generation function that adds position coordinate information corrected by the correction matching function to the first travel route information. The map information generation device according to claim 13 or 14, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. In the correction matching function, as the predetermined condition, when the two points are equal to or less than a predetermined range or equal to or larger than a predetermined range, the latitude / longitude information in which the measurement time information is preceded in a time series is The map information generation device according to claim 14 or 15, wherein the position of the vehicle in the elapsed time is estimated by adding a distance obtained by multiplying the vehicle speed by the elapsed time from the measured time information. The correction matching function uses the acquired traffic regulation information to specify a traffic regulation section whose traffic is restricted, excludes the traffic regulation section on the map, and then performs the correction map matching process. Item 4. The map information generation device according to any one of Items 14 to 16. The position information acquisition function acquires the probe information as the latitude / longitude information and the measurement time information in one traveling route of a specific vehicle from a traffic information collecting device that stores the probe information of the vehicle. The map information generation device according to any one of 17 to 17. A storage medium for storing the map information generation program according to any one of claims 13 to 18.

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