JP2022055146A - Information processing device, information processing method, and information processing program - Google Patents

Abstract

To provide an information processing device, an information processing method, and an information processing program that improve the accuracy of map matching.SOLUTION: An information processing system includes: a storage unit that stores map information about road map; an acquisition unit that obtains vehicle information about traveling of a vehicle; a normalization unit that generates travel information that is normalized with respect to a travel path of the vehicle according to a travel distance of the vehicle and the right/left turn operation of the vehicle, based on the vehicle information obtained by the acquisition unit; and a correction unit that corrects the travel distance of the vehicle in the travel information so that the travel information generated by the normalization unit and the road map based on the map information stored in the storage unit are associated with each other.SELECTED DRAWING: Figure 1

Description

The present invention relates to an information processing apparatus, an information processing method and an information processing program.

Conventionally, the navigation device acquires position information by using GNSS (Global Navigation Satellite System). The navigation device plots the position of the vehicle based on the acquired position information on the road map in order to use the position of the vehicle in navigation, for example (map matching process). Here, the technique described in Patent Document 1 utilizes vehicle information (for example, steering angle information and vehicle speed information) related to the running of a vehicle if a predetermined condition is satisfied when performing map matching processing. Correct the position with respect to the position on the road map.

Japanese Patent No. 6654265

The technique described in Patent Document 1 is a technique for correcting with vehicle information when estimating a traveling position of a vehicle. When performing map matching processing, it is necessary to estimate the position of the vehicle more accurately as in the technique described in Patent Document 1, but the position of the vehicle and the position on the road map are made to correspond accurately ( Map matching itself) is also necessary. Patent Document 1 does not disclose the exact correspondence between the position of the vehicle and the position on the road map, and improvement of the technique for map matching itself has been desired.

An object of the present invention is to provide an information processing device, an information processing method, and an information processing program that improve the accuracy of map matching.

One aspect of the information processing device is a storage unit that stores map information related to a road map, an acquisition unit that acquires vehicle information related to vehicle travel, and a vehicle mileage and a vehicle based on the vehicle information acquired by the acquisition unit. A normalization unit that generates normalized travel information regarding the vehicle's travel trajectory according to the right / left turn operation, the travel information generated by the normalization unit, and a road map based on the map information stored in the storage unit. It is provided with a correction unit for correcting the mileage of the vehicle in the travel information in association with the above.

In one aspect of the information processing device, the normalization unit generates travel information for each unit travel consisting of the progress of the vehicle and the right / left turn at the time of the progress based on the normalization process, and the correction unit. May perform map matching of the travel information on the road map for each unit travel.

In one aspect of the information processing device, the correction unit generates a correction parameter for correcting the mileage based on the mileage in the unit travel and the distance on the road map corresponding to the unit travel, and the next unit travel. In the subsequent association, the mileage may be associated with the road map by using the correction parameter.

In one aspect of the information processing device, the normalization unit may perform ternation as normalization based on the progress of the vehicle according to the shape of the road and the right / left turn of the vehicle.

In one aspect of the information processing device, reception in which at least one of a first section of a road having a good GNSS reception environment and a second section of a road having a poor GNSS reception environment for acquiring location information is recorded is recorded. A determination unit for determining whether the position of the vehicle is within the second section based on the environmental information and the position information when the position information of the vehicle is acquired by the acquisition unit is provided, and the normalization unit is the vehicle by the determination unit. Normalization may be performed when the position of is determined to be the second section.

In one aspect of the information processing method, a computer including a storage unit that stores map information related to a road map travels on a vehicle based on an acquisition step of acquiring vehicle information related to vehicle travel and vehicle information acquired by the acquisition step. Based on the normalization step that generates the driving information normalized with respect to the traveling trajectory of the vehicle according to the distance and the right / left turn operation of the vehicle, the traveling information generated by the normalization step, and the map information stored in the storage unit. Performs a correction step of correcting the mileage of the vehicle in the travel information in association with the road map.

One aspect of the information processing program is a storage function for storing map information related to a road map, an acquisition function for acquiring vehicle information regarding vehicle travel, and a vehicle travel based on the vehicle information acquired by the acquisition function. Based on the normalization function that generates normalized driving information regarding the vehicle's travel trajectory according to the distance and the vehicle's right / left turn operation, the travel information generated by the normalization function, and the map information stored in the storage function. By associating with a road map, a correction function for correcting the mileage of a vehicle in travel information is realized.

The information processing device of one aspect generates running information normalized with respect to the running locus of the vehicle according to the mileage of the vehicle and the right / left turn operation of the vehicle based on the vehicle information regarding the running of the vehicle, and the running information and the running information. Since the mileage of the vehicle in the travel information is corrected in association with the road map based on the map information, the accuracy of map matching can be improved.
The information processing method and the information processing program of one aspect can have the same effect as the information processing apparatus of one aspect described above.

It is a figure for demonstrating the information processing system which concerns on one Embodiment. It is a block diagram for demonstrating the information processing apparatus which concerns on one Embodiment. It is a figure for demonstrating an example of driving information. It is a figure for demonstrating an example of the normalized driving information. It is a figure for demonstrating an example of correspondence between the normalized driving information and a road map. It is a flowchart for demonstrating the information processing method which concerns on one Embodiment.

Although the wording of "information" is used in this specification, the wording of "information" can be paraphrased as "data", and the wording of "data" can be paraphrased as "information".

First, the outline of the information processing system 1 will be described.
FIG. 1 is a diagram for explaining an information processing system 1 according to an embodiment.

The information processing system 1 includes a server 20 and an information processing device 30.
The server 20 stores various information. The server 20 stores vehicle information related to the running of the vehicle 10, such as CAN (Control Area Network) information generated by the vehicle 10 and probe information. In the vehicle information, position information regarding the position where the vehicle 10 has traveled may be recorded. The server 20 receives and stores vehicle information transmitted from the vehicle 10. The information stored in the server 20 is not limited to the above-mentioned information, but may be various other information.

The information processing device 30 may be, for example, a personal computer, a laptop, a server, or the like.
The information processing apparatus 30 acquires vehicle information (for example, position information) from the server 20 and performs normalization based on the vehicle information (position information). The information processing device 30 may, for example, normalize the travel locus of the vehicle 10 according to the mileage of the vehicle 10 and the right / left turn operation of the vehicle 10. That is, the information processing apparatus 30 may perform normalization in units (unit travel) of, for example, the mileage when the vehicle 10 travels along the road and the subsequent right or left turn. The information processing device 30 generates travel information as a result of normalization based on vehicle information (position information).
The information processing device 30 correlates the travel information generated as described above with the road map based on the map information, and corrects the travel distance of the vehicle 10 in the travel information. The information processing apparatus 30 uses the corrected mileage based on the corrected mileage, for example, when estimating the movement route of the vehicle 10.

Next, the information processing apparatus 30 will be described in detail.
FIG. 2 is a block diagram for explaining the information processing apparatus 30 according to the embodiment.

The information processing device 30 includes a communication unit 36, a storage unit 37, a display unit 38, an acquisition unit 32, a determination unit 33, a normalization unit 34, and a correction unit 35. The acquisition unit 32, the determination unit 33, the normalization unit 34, and the correction unit 35 may be realized as one function of the control unit 31 (for example, an arithmetic processing unit or the like) of the information processing unit 30.

The communication unit 36 is, for example, a device capable of transmitting and receiving various information. The communication unit 36 communicates with, for example, the server 20. The communication unit 36 may communicate with the vehicle 10, for example. The communication unit 36 may acquire vehicle information from the vehicle 10, for example. Further, the communication unit 36 may communicate with a mobile terminal (not shown), for example. The mobile terminal is, for example, a terminal such as a smartphone or a tablet used by a user. The communication unit 36 may acquire the position information acquired by the mobile terminal from the mobile terminal.

The storage unit 37 is, for example, a device capable of storing various information, programs, and the like. The storage unit 37 may store map information regarding a road map, for example. The map information regarding the road map may include information regarding the road network in addition to the above-mentioned road map. The road network is a method of expressing a road network including, for example, a node indicating a characteristic point of a road such as an intersection and a corner, and a link connecting the nodes to indicate the shape of the road.

The display unit 38 is a device capable of displaying characters, images, and the like. The display unit 38 may display, for example, various information (for example, characters and images) generated by the information processing apparatus 30.

The acquisition unit 32 acquires vehicle information regarding the running of the vehicle 10. The acquisition unit 32 acquires vehicle information from the server 20 via the communication unit 36. The acquisition unit 32 may acquire vehicle information from the vehicle 10 or a mobile terminal. Vehicle information includes location information. The position information may be, for example, information about a position acquired by using GNSS or the like in the vehicle 10.

Further, the vehicle information includes CAN information, probe information and the like. The CAN information may include, for example, information regarding the steering angle of the steering wheel that operates the vehicle 10 (steering angle information). Further, the CAN information may include information (angular velocity information) regarding the rotational speed (for example, angular velocity) when operating the steering wheel of the vehicle 10, for example. Further, the CAN information may include, for example, information (winker information) regarding the operation / blinking of the direction indicator (winker) of the vehicle 10.

The determination unit 33 uses the reception environment information in which at least one of the first section and the second section corresponding to the reception environment of the GNSS is recorded and the position information when the position information of the vehicle 10 is acquired by the acquisition unit 32. Based on this, it is determined whether the position of the vehicle 10 is within the second section. The first section is a section of a road where the reception environment of GNSS for acquiring position information is good. The second section is a section of a road where the reception environment of GNSS is poor.

The reception environment information may be stored in advance in, for example, a storage unit 37 or an external storage device (for example, a server or the like). The first section and the second section may be set based on, for example, the reception strength of the signal transmitted from the GNSS satellite, the number of satellites when the signal is received, and the like. The first section may be set, for example, when the reception intensity of the signal is equal to or higher than the threshold value, or when the number of satellites receiving the signal is equal to or higher than the threshold value. On the other hand, the second section may be set, for example, when the reception strength of the signal is less than the threshold value, or when the number of satellites receiving the signal is less than the threshold value. The first section and the second section may be set not only by the classification method as in the above example but also by another classification method.

The reception environment information is, for example, information that identifies a first section (for example, a link that becomes the first section) of a road having a good reception environment of GNSS among roads of map information (for example, a road network). You may. Alternatively, the reception environment information is, for example, information that identifies a second section (for example, a link that becomes the second section) of a road having a poor reception environment of GNSS among roads of map information (for example, a road network). You may. In these cases, the reception environment information may be associated with, for example, the map information regarding the road map, or may be included in the map information regarding the road map.
The determination unit 33 determines that the vehicle 10 is in the second section when the vehicle 10 is located in a road section other than the first section when only the first section is recorded in the reception environment information. You may judge.

In the above-mentioned example, an example in which the reception environment information is stored in the storage unit 37 or the like has been described. However, when the information regarding the reception status of the GNSS signal (signal reception information) is recorded in the vehicle information, the determination unit 33 determines whether the position of the vehicle 10 is the second section based on the signal reception information. May be. For example, the determination unit 33 may determine that the position of the vehicle 10 is in the second section when the reception intensity of the signal based on the signal reception information is less than the threshold value. Further, the determination unit 33 may determine that the position of the vehicle 10 is in the second section when the number of satellites that have received the signal based on the signal reception information is less than the threshold value.

Based on the vehicle information acquired by the acquisition unit 32, the normalization unit 34 generates normalized travel information regarding the travel locus of the vehicle 10 according to the mileage of the vehicle 10 and the right / left turn operation of the vehicle 10. The mileage of the vehicle 10 may be, for example, the mileage when the vehicle 10 travels along the shape of the road (traveling straight or on a curve). The right / left turn operation of the vehicle 10 may be an operation when the vehicle 10 makes a right turn or a left turn at an intersection or the like. The normalization unit 34 may determine, for example, a right or left turn of the vehicle 10 based on steering angle information, angular velocity information, and the like. Further, the normalization unit 34 may determine, for example, a right / left turn based on the blinker information in addition to the steering angle information and the angular velocity information.

When the vehicle 10 turns right or left, for example, the rotation angle of the steering wheel per unit time becomes relatively large. For example, when the vehicle 10 makes a right turn or a left turn, the rotation angle of the steering wheel per unit time becomes larger than the rotation angle of the steering wheel per unit time when the vehicle 10 goes straight and travels on a curve. Therefore, the normalization unit 34 sets threshold values for the rotation speed (angular velocity) of the handle and the rotation angle of the handle, respectively, and based on the steering angle information and the angular velocity information, the rotation speed (angular velocity) of the handle and the handle. When the rotation angle exceeds the threshold value, it may be determined that the vehicle 10 is turning right or left. In this case, the normalization unit 34 determines that the rotation speed (angular velocity) of the handle and the rotation angle of the handle exceed the threshold value, and the winker is operated / blinking based on the winker information, the direction thereof. It may be determined that the driving operation (turn right or turn left) is being performed.

The normalization unit 34 is not limited to the above-mentioned example, and may determine a right turn or a left turn of the vehicle 10 based on the steering angle of the steering wheel. For example, the normalization unit 34 may determine that the vehicle 10 is turning right or left when the steering angle of the steering wheel exceeds the threshold value based on the steering angle information.
Alternatively, the normalization unit 34 may determine whether the vehicle 10 turns right or left based on the steering angle of the steering wheel and the operation / blinking of the blinker. For example, when the normalization unit 34 determines that the steering angle of the steering wheel exceeds the threshold value based on the steering angle information and the blinker is operated / blinking based on the blinker information, the vehicle 10 turns right. Alternatively, it may be determined that the vehicle is turning left.
The normalization unit 34 can determine that the vehicle 10 is making a right turn or a left turn by making a judgment as in the above-mentioned example, and when the vehicle 10 is changing lanes and the vehicle 10 is traveling on a curve of the road. It can be distinguished from the case of doing.

Based on the normalization process, the normalization unit 34 may generate travel information for each unit travel including the progress of the vehicle 10 and the right / left turn at the time of the progress. The normalization unit 34, for example, after the vehicle 10 makes a right turn or a left turn (for convenience, the first right / left turn), until the next time, the vehicle 10 makes a right turn or a left turn (for convenience, the second turn). The running information may be generated by grouping the running of the vehicle 10 (turning left or right) into one group as a unit running. That is, the normalization unit 34 generates travel information by grouping the second right / left turn and the mileage when traveling along the road immediately before the second turn into one group.

Here, the normalization unit 34 has a mileage from the first right / left turn to the second right / left turn based on various information recorded in the vehicle information such as the rotation speed of the axle. May be obtained.
Alternatively, the normalization unit 34, for example, when the vehicle 10 makes a second right / left turn, provides position information from the place where the vehicle 10 makes the first right / left turn to the place where the vehicle 10 makes the second right / left turn. You may get it. For example, the normalization unit 34 may acquire the mileage of the vehicle 10 from the first right / left turn to the second right / left turn based on the acquired position information.

Further, the normalization unit 34 sets the direction in which the vehicle 10 travels after the second (first) right / left turn (right turn or left turn direction) as at least one of the steering wheel rotation direction and the blinker operation / blinking direction. It may be acquired based on.
Alternatively, the normalization unit 34 may acquire the direction of turning left or right of the vehicle 10 based on the position information.

As normalization, the normalization unit 34 may perform ternation based on the progress of the vehicle 10 according to the shape of the road and the right / left turn of the vehicle 10. As an example, the normalization unit 34 sets a "0" value for traveling along the road, sets a "1" value for a right turn of the vehicle 10, and sets a "-1" value for a left turn of the vehicle 10. It may be possible to perform ternaryization and normalization. The normalization unit 34 is not limited to the above-mentioned example, and various values may be set to perform ternary conversion.

Further, the determination unit 33 described above determines whether or not the movement path of the vehicle 10 acquired based on the vehicle information (position information) includes the second section, that is, whether or not the position of the vehicle 10 is in the second section. It is possible to judge. In this case, the normalization unit 34 may normalize the vehicle information when the determination unit 33 determines that the position of the vehicle 10 is the second section. That is, the normalization unit 34 may perform normalization when the position of the vehicle 10 is within the second section (only the second section of the movement path of the vehicle 10).

Since it is considered that the information processing apparatus 30 can acquire accurate position information when the vehicle 10 is located in the first section, for example, when the position information is map-matched to the road map, and the movement route of the vehicle 10. It is considered that it is not necessary (or less) to correct the position information when estimating. On the other hand, when the vehicle 10 is located in the second section, the information processing device 30 cannot acquire accurate position information as compared with the case where the vehicle 10 is located in the first section. Therefore, for example, the position information is mapped on the road map. It is considered necessary to correct the position information at the time of matching and at the time of estimating the movement route of the vehicle 10. Therefore, as described above, the normalization unit 34 may perform normalization when the position of the vehicle 10 is determined to be the second section by the determination unit 33.

The correction unit 35 performs map matching based on the travel information generated by the normalization unit 34 and the road map based on the map information stored in the storage unit 37. That is, the correction unit 35 corrects the mileage of the vehicle 10 in the travel information by associating the travel information generated by the normalization unit 34 with the road map based on the map information stored in the storage unit 37. When the position of the vehicle 10 is associated with the road map, the correction unit 35 first associates, for example, a right turn or a left turn based on the traveling information with an intersection of the road map. Next, the correction unit 35 determines, for example, the mileage of the vehicle 10 along the immediately preceding road shape in which the right or left turn of the vehicle 10 is associated with the intersection of the road map, based on the distance of the road on the road map. to correct.

As an example, the correction unit 35 may associate, for example, the traveling direction of the vehicle 10 after the first right / left turn described above with the road on the road map extending in the traveling direction. .. Next, the correction unit 35 may associate the progress of the vehicle 10 with the road (for example, a link or the like) on the road map according to the mileage of the vehicle 10 based on the travel information. That is, for example, the correction unit 35 associates the mileage of the vehicle 10 from the first right / left turn to the second right / left turn with the distance of the road on the road map based on the travel information, and maps the road. You may specify the point of the second right / left turn above. The correction unit 35 may specify, for example, the intersection on the road map closest to the point of the second right / left turn. For example, when there is no road in the direction of travel of the vehicle 10 at the intersection on the road map closest to the point of the second right / left turn on the road map, the correction unit 35 makes the second right / left turn on the road map. You may specify the intersection on the road map in which the vehicle 10 has a right turn or left turn direction (traveling direction) closest to the point.

When the correction unit 35 identifies an intersection on the road where the vehicle 10 turns left or right as described above, the distance of the road on the road map (the distance from the first right or left turn on the road map to the second right or left turn). ) May be used to correct the mileage of the vehicle 10 based on the travel information (the distance from the first right / left turn to the second right / left turn based on the travel information).

In this case, the correction unit 35 may perform map matching of the travel information on the road map for each unit travel. For example, each time the vehicle 10 makes a right turn or a left turn, the correction unit 35 may associate the movement route of the immediately preceding vehicle 10 with the road on the road map. The mileage of the movement route of the vehicle 10 is corrected based on the distance of the road on the road map.

The correction unit may generate a correction parameter (correction coefficient) for correcting the mileage based on the mileage in the unit mileage and the distance on the road map corresponding to the unit mileage. The correction unit 35 may associate the mileage with the road map (perform map matching) by using the correction parameter at the time of the association after the next unit travel. That is, the correction unit 35 associates the unit travel of the vehicle 10 with the road map once or a plurality of times, so that the travel distance of the movement route of the vehicle 10 is based on the distance of the road on the road map. A correction parameter for correction may be generated. As an example, the correction unit 35 may generate a correction parameter by dividing the travel distance of the movement route of the vehicle 10 by the distance of the road on the road map. The correction unit 35 is not limited to the above-mentioned example, and the correction parameter may be calculated by another calculation formula. When the correction parameter is calculated, the correction unit 35 multiplies the mileage in the unit travel of the vehicle 10 by the correction parameter when associating the unit travel of the vehicle 10 with the road map, and then performs the association to travel. The mileage of the vehicle 10 in the information may be corrected.

The correction unit 35 may, for example, correct the mileage of the vehicle 10 described above for each unit travel. In this case, the correction unit 35 may use, for example, the correction parameter generated in the first unit travel when associating the travel information with the road map in the next unit travel (second unit travel).
The correction unit 35 is not limited to the case where the correction parameter is generated for each unit run and the case where the correction parameter is generated as in the above example (when the correction parameter is updated every time the correction parameter is generated), for example, the correction parameter is generated. The arithmetic mean of the correction parameters may be calculated and the arithmetic mean correction parameter may be generated each time. In this case, the correction unit 35 may use the latest arithmetic mean correction parameter when associating the travel information with the road map in the next unit travel.

The correction unit 35 may make corrections based on generating one correction parameter during one trip (one vehicle information) in which the vehicle 10 moves from the departure place to the destination, and a plurality of correction parameters may be used. It may be corrected based on the generation of. When the correction unit 35 generates a plurality of correction parameters in one trip, for example, when there are a plurality of second sections in one trip, the correction unit 35 may generate correction parameters in each second section.

The control unit 31 controls the output unit to output the movement route of the vehicle 10 based on the result associated with the correction unit 35, that is, the result of associating the traveling information with the road map using the correction parameter. May be good. The output unit may be, for example, the communication unit 36, the storage unit 37, and the display unit 38 described above.
That is, the control unit 31 may transmit the movement route of the vehicle 10 to the server 20 via the communication unit 36.
Further, the control unit 31 may store the movement route in the storage unit 37.
Further, the control unit 31 may display the movement route on the display unit 38.
Further, the control unit 31 may control the output unit described above so as to output the traveling information obtained by normalizing the vehicle information. In this case, the control unit 31 may control the above-mentioned output unit so as to output the travel information and the travel route by associating the travel information with the travel route.

Next, an embodiment of the information processing apparatus 30 will be described.
FIG. 3 is a diagram for explaining an example of traveling information. FIG. 4 is a diagram for explaining an example of normalized travel information. Here, the vertical axis of FIG. 4 shows ternary values, and the horizontal axis of FIG. 4 shows the mileage of the vehicle 10. FIG. 5 is a diagram for explaining an example of the correspondence between the normalized travel information and the road map.

First, the information processing device 30 acquires vehicle information regarding the traveling of the vehicle 10 by the acquisition unit 32. Next, the information processing device 30 normalizes the vehicle information by the normalization unit 34 and generates running information. In this case, first, the normalization unit 34 divides the vehicle information for each unit travel.
As an example shown in FIG. 3, the normalization unit 34 divides the progress (mileage) of the vehicle 10 according to the shape of the road and the right turn or the left turn of the vehicle 10 immediately after that as one group. In the case illustrated in FIG. 3, the normalization unit 34 generates the first unit run by running 30 m along the road and then turning left at the intersection. As the next unit run, the normalization unit 34 generates a second unit run by running 10 m along the road and then turning left at the intersection. As the next unit run, the normalization unit 34 generates a third unit run by running 10 m along the road and then turning right at the intersection.

Next, the normalization unit 34 performs normalization in order to simplify the vehicle information. As shown in FIG. 4 as an example, the normalization unit 34 may normalize the vehicle information to three values, for example. In this case, for example, the normalization unit 34 sets a "0" value for traveling along the road, a "1" value for a right turn, and a "-1" value for a left turn.

The normalization unit 34 is not limited to the above example, and may be divided into unit traveling from vehicle information by another processing method. For example, the normalization unit 34 first quantifies the value based on the vehicle information, and then indicates a portion having a value of "1" or "-1" indicating a right turn or a left turn, and traveling along the road immediately before the portion. It may be divided into unit runs so that the parts having a value of "0" are united into one.
The normalization unit 34 may generate travel information for each unit travel.

Next, the information processing device 30 corrects the mileage of the vehicle 10 in the travel information by associating the travel information with the road map by the correction unit 35.
For example, as illustrated in FIG. 5A, the correction unit 35 associates the position indicated by the traveling information (for example, the position information of the intersection that has turned right or left) with the position information of the intersection on the road map. Set the starting point A.

Next, as illustrated in FIG. 5B, the correction unit 35 associates the travel information of the first unit travel with the road map. The correction unit 35 identifies an intersection (point B) on the road map based on the mileage from the starting point A in the first unit travel to the intersection where the next right or left turn is made, and the first unit travel. Corresponds to the road map.

In this case, the correction unit 35 may determine whether the direction of the right turn or the left turn of the vehicle 10 recorded in the travel information of the first unit travel can proceed at the intersection shown on the road map. For example, in the case of this embodiment, the correction unit 35 determines whether or not the road exists in the direction in which the vehicle 10 turns left at the intersection on the corresponding road map because the vehicle 10 turns left in the first unit travel. You may do it. In the case illustrated in FIG. 5B, in the correction unit 35, the vehicle 10 is turning left at the first unit travel R1, and the road exists in the left turn direction of the vehicle 10 at the intersection of the point B. The intersection of point B may be determined as the intersection of the right turn or the left turn recorded in the first unit run. On the other hand, when the correction unit 35 does not have a road in the right turn or left turn direction of the vehicle 10 at the intersection X (not shown) of the road map corresponding to the traveling information, the correction unit 35 is the closest intersection Y (not shown) to the intersection X. An intersection where a road exists in the right or left turn direction of the vehicle 10 (not shown) may be estimated as an intersection on a road map corresponding to travel information. For example, when the correction unit 35 estimates such an intersection Y, the correction unit 35 changes the estimation result according to the result of associating the second and subsequent unit travel information with the road map (for example). The estimated intersection Y may be changed).

Next, the correction unit 35 sequentially associates the second and subsequent unit travel travel information with the road map. As a result, as illustrated in FIG. 5C, the correction unit 35 associates the travel information of all the unit travels R1 to R4 with the road map.

The correction unit 35 generates the correction parameter P1 by associating the travel information of the first unit travel R1 with the road map, for example, and at least the unit travel R2 of the subsequent unit travels R2 to R4 travels. The correction parameter P1 may be used for associating the information with the road map.
Similarly, the correction unit 35 generates the correction parameter P2 by associating the travel information of the second unit travel R2 with the road map, for example, and at least the unit travel R3 of the subsequent unit travels R3 to R4. The correction parameter P2 may be used for associating the travel information with the road map.
For example, when associating the travel information of the unit travel R3 with the road map, the correction unit 35 uses the arithmetic mean correction parameter P12 generated by calculating the arithmetic mean of the correction parameter P1 and the correction parameter P2. May be good.
The correction unit 35 is not limited to the correction parameters of the above-mentioned example, and may use correction parameters generated by various methods.

Next, the information processing method according to the embodiment will be described.
FIG. 6 is a flowchart for explaining an information processing method according to an embodiment.

In step ST101, the acquisition unit 32 acquires vehicle information from the server 20. The acquisition unit 32 may acquire vehicle information from the vehicle 10 or a mobile terminal, for example.

In step ST102, the determination unit 33 sets the vehicle 10 in a section (second section) where the reception environment of GNSS is poor, based on the vehicle information acquired in step ST101 and the reception environment information stored in the storage unit 37 or the like. Is located. When the vehicle 10 is located in the second section (Yes), the process proceeds to step ST103. If the vehicle 10 is not located in the second section (No), the process may be terminated.

In step ST103, the normalization unit 34 normalizes according to the progress (mileage) of the vehicle 10 and the right / left turn of the vehicle 10 based on the vehicle information acquired in step ST101. For example, the normalization unit 34 may perform normalization for each unit travel including the progress of the vehicle 10 and the right / left turn at the time of the progress. As normalization, the normalization unit 34 may perform ternation based on the progress of the vehicle 10 according to the shape of the road and the right / left turn of the vehicle 10. The normalization unit 34 generates running information as a result of the normalization.

In step ST104, the correction unit 35 performs map matching on the road map with the travel information generated in step ST103. That is, the correction unit 35 associates the traveling information with the road map based on the map information stored in the storage unit 37. In this case, when making this association, the correction unit 35 may correct the mileage of the vehicle 10 recorded in the travel information (for example, the mileage for each unit travel) with the distance of the road on the road map. .. That is, the correction unit 35 may generate a correction parameter for correcting the mileage based on the mileage in the unit travel and the distance on the road map corresponding to the unit travel. The correction unit 35 may associate the mileage with the road map by using the correction parameter at the time of the association after the next unit travel.

Next, the effect of this embodiment will be described.
The information processing apparatus 30 has a storage unit 37 that stores map information related to a road map, an acquisition unit 32 that acquires vehicle information related to the travel of the vehicle 10, and a travel vehicle 10 based on the vehicle information acquired by the acquisition unit 32. The normalization unit 34 that generates normalized travel information regarding the travel locus of the vehicle 10 according to the distance and the right / left turn operation of the vehicle 10, the travel information generated by the normalization unit 34, and the storage unit 37 are stored. It is provided with a correction unit 35 that corrects the mileage of the vehicle 10 in the travel information in association with the road map based on the map information.
Since the information processing device 30 normalizes the travel locus (movement route) of the vehicle 10 based on the vehicle information, it is easy to associate the travel information based on the travel of the vehicle 10 with the road map based on the map information. Can be done. Further, the information processing apparatus 30 can improve the accuracy of map matching by correcting the mileage of the vehicle 10 by the correction unit 35. That is, the information processing device 30 may have a problem such as recording the movement history of the vehicle 10 on the road where the vehicle 10 is not actually traveling by correcting the mileage of the vehicle 10 by the correction unit 35. It can be suppressed.
Therefore, the information processing device 30 can improve the estimation accuracy of the movement path of the vehicle 10.
Further, the information processing apparatus 30 can make various services use the result corrected by the correction unit 35. As an example, the information processing apparatus 30 can be used for providing services according to the movement route of the vehicle 10, analyzing big data related to the movement of the vehicle 10, and the like.

In the information processing apparatus 30, the normalization unit 34 may generate travel information for each unit travel composed of the progress of the vehicle 10 and the right / left turn at the time of the progress, based on the normalization process. .. In this case, the correction unit 35 may perform map matching of the travel information on the road map for each unit travel.
As a result, the information processing apparatus 30 can easily associate the travel information with the road map for each unit travel, and can improve the accuracy of the association.

In the information processing apparatus 30, the correction unit 35 generates a correction parameter for correcting the mileage based on the mileage in the unit travel and the distance on the road map corresponding to the unit travel, and after the next unit travel. At the time of associating, the mileage and the road map may be associated with each other by using the correction parameter.
The information processing apparatus 30 facilitates the correspondence between the result of correcting the mileage by using the correction parameter and the road map, and can improve the accuracy of the correspondence.
In the information processing apparatus 30, the normalization unit 34 may perform ternation as normalization based on the progress of the vehicle 10 according to the shape of the road and the right / left turn of the vehicle 10.
As a result, the information processing apparatus 30 simplifies the traveling of the vehicle 10 by normalizing the traveling of the vehicle 10 with three values. Therefore, the traveling information based on the traveling of the vehicle 10 and the road based on the map information are simplified. It is possible to easily associate it with a map.

The information processing apparatus 30 acquires reception environment information in which the first section of a road having a good GNSS reception environment and the second section of a road having a poor GNSS reception environment for acquiring location information are recorded. A determination unit 33 for determining whether the position of the vehicle 10 is within the second section may be provided based on the position information when the position information of the vehicle 10 is acquired by the unit 32. In this case, the normalization unit 34 may perform normalization when the position of the vehicle 10 is determined by the determination unit 33 as the second section.
The information processing device 30 normalizes the second section and associates the traveling information with the road map. Therefore, the information processing apparatus 30 can associate the traveling locus (moving path) of the vehicle 10 even when the reception environment of the GNSS is poor, and the result corrected by the correction unit 35 can be used for various services. ..

In the information processing method, a computer including a storage unit 37 that stores map information related to a road map travels on the vehicle 10 based on an acquisition step of acquiring vehicle information related to the traveling of the vehicle 10 and the vehicle information acquired by the acquisition step. A normalization step that generates normalized travel information regarding the travel locus of the vehicle 10 according to the distance and a right / left turn operation of the vehicle 10, travel information generated by the normalization step, and a map stored in the storage unit 37. A correction step of correcting the mileage of the vehicle 10 in the travel information is executed in association with the road map based on the information.
Since the information processing method normalizes the traveling locus (moving route) of the vehicle 10 based on the vehicle information, it is possible to easily associate the traveling information based on the traveling of the vehicle 10 with the road map based on the map information. can. Further, the information processing method can improve the accuracy of map matching by correcting the mileage of the vehicle 10 by the correction step. That is, the information processing method corrects the mileage of the vehicle 10 by the correction step, thereby suppressing the possibility of problems such as recording the movement history of the vehicle 10 on the road where the vehicle 10 is not actually traveling. be able to.
Therefore, the information processing method can improve the estimation accuracy of the movement path of the vehicle 10.
Further, the information processing method can make various services use the result corrected by the correction step. As an example, the information processing method can be used for providing a service according to the movement route of the vehicle 10, analyzing big data related to the movement of the vehicle 10, and the like.

The information processing program has a storage function for storing map information related to a road map in a computer, an acquisition function for acquiring vehicle information regarding the running of the vehicle 10, and a mileage of the vehicle 10 based on the vehicle information acquired by the acquisition function. The normalization function that generates the normalized running information about the running locus of the vehicle 10 according to the right / left turn operation of the vehicle 10, the running information generated by the normalizing function, and the map information stored in the storage function. A correction function for correcting the mileage of the vehicle 10 in the travel information is realized by associating with the road map based on the vehicle.
Since the information processing program normalizes the traveling locus (moving route) of the vehicle 10 based on the vehicle information, it is possible to easily associate the traveling information based on the traveling of the vehicle 10 with the road map based on the map information. can. Further, the information processing program can improve the accuracy of map matching by correcting the mileage of the vehicle 10 by the correction function. That is, the information processing program corrects the mileage of the vehicle 10 by the correction function, thereby suppressing the possibility of problems such as recording the movement history of the vehicle 10 on the road where the vehicle 10 is not actually traveling. be able to.
Therefore, the information processing program can improve the estimation accuracy of the movement path of the vehicle 10.
Further, the information processing program can make various services use the result corrected by the correction function. As an example, the information processing program can be used for providing services according to the movement route of the vehicle 10, analyzing big data related to the movement of the vehicle 10, and the like.

Each part of the information processing apparatus 30 described above may be realized as a function of a computer's arithmetic processing unit or the like. That is, even if the acquisition unit 32, the determination unit 33, the normalization unit 34, and the correction unit 35 of the information processing device 30 are realized as acquisition functions, determination functions, normalization functions, and correction functions by a computer arithmetic processing unit or the like, respectively. good.
The information processing program can realize each of the above-mentioned functions in a computer. The information processing 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 information processing apparatus 30 may be realized by an arithmetic processing unit of a computer or the like. The arithmetic processing unit or the like is configured by, for example, an integrated circuit or the like. Therefore, each part of the information processing apparatus 30 may be realized as a circuit constituting an arithmetic processing unit or the like. That is, the acquisition unit 32, the determination unit 33, the normalization unit 34, and the correction unit 35 of the information processing device 30 are realized as an acquisition circuit, a determination circuit, a normalization circuit, and a correction circuit constituting a computer arithmetic processing unit or the like. May be good.
Further, the communication unit 36, the storage unit 37, and the display unit 38 of the information processing device 30 may be realized as, for example, a communication function including a function of an arithmetic processing unit or the like, a storage function, and a display function. Further, the communication unit 36, the storage unit 37, and the display unit 38 of the information processing apparatus 30 may be realized as a communication circuit, a storage circuit, and a display circuit by being configured by, for example, an integrated circuit or the like. Further, the communication unit 36, the storage unit 37, and the display unit 38 of the information processing device 30 may be configured as a communication device, a storage device, and a display device by being configured by, for example, a plurality of devices.

1 Information processing system 10 Vehicle 20 Server 30 Information processing device 31 Control unit 32 Acquisition unit 33 Judgment unit 34 Normalization unit 35 Correction unit 36 Communication unit 37 Storage unit 38 Display unit

Claims (15)

A storage unit that stores map information related to road maps,
The acquisition unit that acquires vehicle information related to the running of the vehicle,
Based on the vehicle information acquired by the acquisition unit, a normalization unit that generates normalized travel information regarding the vehicle's travel locus according to the vehicle's mileage and the vehicle's right / left turn operation.
A correction unit that corrects the mileage of the vehicle in the travel information by associating the travel information generated by the normalization unit with a road map based on the map information stored in the storage unit.
Information processing device equipped with. Based on the normalization process, the normalization unit generates running information for each unit running consisting of the progress of the vehicle and the right / left turn at the time of the progress.
The information processing device according to claim 1, wherein the correction unit performs map matching of the travel information on a road map for each unit travel. The correction unit generates a correction parameter for correcting the mileage based on the mileage in the unit travel and the distance on the road map corresponding to the unit travel, and when associating after the next unit travel. , The information processing apparatus according to claim 2, wherein a mileage and a road map are associated with each other by using a correction parameter. The information processing device according to any one of claims 1 to 3, wherein the normalization unit performs ternification based on the progress of the vehicle according to the shape of the road and the right / left turn of the vehicle as normalization. .. The reception environment information in which at least one of the first section of the road having a good GNSS reception environment for acquiring the location information and the second section of the road having a poor GNSS reception environment is recorded, and the acquisition unit A determination unit for determining whether the position of the vehicle is within the second section based on the position information when the position information of the vehicle is acquired is provided.
The information processing device according to any one of claims 1 to 4, wherein the normalization unit performs normalization when the position of the vehicle is determined to be the second section by the determination unit. A computer equipped with a storage unit that stores map information related to road maps,
The acquisition step to acquire vehicle information about the running of the vehicle,
Based on the vehicle information acquired by the acquisition step, a normalization step that generates normalized travel information regarding the vehicle's travel locus according to the vehicle's mileage and the vehicle's right / left turn operation.
A correction step for correcting the mileage of the vehicle in the travel information by associating the travel information generated by the normalization step with a road map based on the map information stored in the storage unit.
Information processing method to execute. The normalization step generates running information for each unit running consisting of the progress of the vehicle and the right / left turn at the time of the progress based on the normalization process.
The information processing method according to claim 6, wherein the correction step is map matching of the travel information to a road map for each unit travel. The correction step generates a correction parameter for correcting the mileage based on the mileage in the unit mileage and the distance on the road map corresponding to the unit mileage, and when associating after the next unit mileage. The information processing method according to claim 7, wherein the mileage and the road map are associated with each other by using the correction parameter. The information processing method according to any one of claims 6 to 8, wherein the normalization step is normalized by performing ternation based on the progress of the vehicle according to the shape of the road and the right / left turn of the vehicle. .. The reception environment information in which at least one of the first section of the road having a good GNSS reception environment for acquiring the location information and the second section of the road having a poor GNSS reception environment is recorded, and the acquisition step A determination step for determining whether the position of the vehicle is within the second section based on the position information when the position information of the vehicle is acquired is provided.
The information processing method according to any one of claims 6 to 9, wherein the normalization step performs normalization when the position of the vehicle is determined to be the second section by the determination step. On the computer
A memory function that stores map information related to road maps,
The acquisition function to acquire vehicle information related to the running of the vehicle, and
Based on the vehicle information acquired by the acquisition function, a normalization function that generates normalized travel information regarding the vehicle's travel locus according to the vehicle's mileage and the vehicle's right / left turn operation.
A correction function for correcting the mileage of a vehicle in the travel information by associating the travel information generated by the normalization function with a road map based on the map information stored in the storage function.
Information processing program that realizes. The normalization function generates running information for each unit running consisting of the progress of the vehicle and the right / left turn at the time of the progress based on the normalization process.
The information processing program according to claim 11, wherein the correction function performs map matching of the travel information on a road map for each unit travel. The correction function generates a correction parameter for correcting the mileage based on the mileage in the unit mileage and the distance on the road map corresponding to the unit mileage, and when associating after the next unit mileage. The information processing program according to claim 12, wherein the mileage and the road map are associated with each other by using the correction parameter. The information processing program according to any one of claims 11 to 13, wherein the normalization function performs ternary conversion based on the progress of the vehicle according to the shape of the road and the right / left turn of the vehicle as normalization. .. With the reception environment information recorded at least one of the first section of the road where the reception environment of GNSS is good for acquiring the location information and the second section of the road where the reception environment of GNSS is poor, and the acquisition function. It is equipped with a determination function to determine whether the position of the vehicle is within the second section based on the position information when the position information of the vehicle is acquired.
The information processing program according to any one of claims 11 to 14, wherein the normalization function performs normalization when the position of the vehicle is determined to be the second section by the determination function.

Images