JP2023138717A - Travel track acquisition method - Google Patents

Abstract

To provide a travel track acquisition method capable of acquiring travel track information with high accuracy for a new route.SOLUTION: Travel track information with high accuracy can be acquired when a vehicle 10 travels on a new route by compensating a discontinuous portion using the amount of displacement, which is information unaffected by map matching, with a position of high reliability estimated by a position estimation unit 2 as a reference position. In comparison with a method generating travel track information on the basis of the amount of displacement only, a section for which travel track information is generated based on the amount of displacement is short and thereby an error included in the amount of displacement is less likely to be accumulated.SELECTED DRAWING: Figure 2

Description

The present invention relates to a traveling trajectory acquisition method.

BACKGROUND ART Conventionally, a method has been proposed for updating map data based on a travel trajectory of a vehicle (moving object) (see, for example, Patent Document 1). In the map data updating method described in Patent Document 1, a travel trajectory for which map matching is not possible is updated in a map database as a new road.

Japanese Patent Application Publication No. 2011-145159

However, when updating new road information to a map database as described in Patent Document 1, there is a possibility that the accuracy of the new road information becomes low. For example, after entering a new road from an already registered road, or before returning from a new road to an already registered road, even though you are driving on a new road, you may be driving on a registered road. A map matching result indicating that the vehicle is running may be obtained, and the driving trajectory based on the map matching may deviate from the actual driving trajectory. Therefore, when road information is determined based on the travel trajectory obtained by map matching, sufficient accuracy may not be obtained.

Therefore, an example of an object of the present invention is to provide a traveling trajectory acquisition method that can acquire highly accurate traveling trajectory information on a new route.

In order to solve the above-mentioned problems and achieve the purpose, the traveling trajectory acquisition method of the present invention according to claim 1 includes a position estimation step of estimating the absolute position of the moving object by a position estimating section disposed on the moving object. a generation step of generating traveling trajectory information of the moving object based on the absolute position and existing route information; and a displacement amount obtaining step of obtaining the displacement amount of the moving object using a displacement sensor disposed on the moving object. and a correction step of correcting the travel trajectory information, and in the correction step, when the travel trajectory information includes a discontinuous portion, the degree of coincidence with the absolute position in the existing route information is equal to or greater than a predetermined value. The present invention is characterized in that at least the discontinuous portion is corrected based on the amount of displacement with reference to the position where .

1 is a block diagram schematically showing a travel trajectory acquisition system according to an embodiment of the present invention. FIG. 3 is a plan view showing an example of travel trajectory information generated and corrected by the travel trajectory acquisition system.

Embodiments of the present invention will be described below. The traveling trajectory acquisition method according to the embodiment of the present invention includes a position estimation step of estimating the absolute position of the moving object by a position estimating unit disposed in the moving object, and a position estimation step of estimating the absolute position of the moving object based on the absolute position and existing route information. The method includes a generation step of generating traveling trajectory information, a displacement amount acquisition step of acquiring the displacement amount of the moving body by a displacement sensor disposed on the moving body, and a correction step of correcting the traveling trajectory information. In the correction step, when the traveling trajectory information includes a discontinuous portion, at least the discontinuous portion is corrected based on the amount of displacement, with a position in the existing route information where the degree of coincidence with the absolute position is equal to or greater than a predetermined value as a reference.

If the degree of coincidence between the existing route information and the estimated absolute position is greater than or equal to a predetermined value, the deviation between the actual position of the mobile object and the estimated absolute position is small, and the reliability of this absolute position is high. On the other hand, the amount of displacement of the moving body acquired by the displacement sensor is not affected by map matching. Therefore, according to the traveling trajectory acquisition method of the present embodiment, discontinuities can be corrected using information that is not affected by map matching, using a highly reliable absolute position as a reference, and a moving object can Highly accurate travel trajectory information can be obtained when traveling along a route. Furthermore, compared to a method of generating traveling trajectory information based only on the amount of displacement, the section in which traveling trajectory information is generated based on the amount of displacement is shorter, and errors included in the amount of displacement are less likely to accumulate.

In addition, a discontinuous part is a part where the line is interrupted when the travel trajectory information is represented by a line, and a discontinuous part is a part where the line is interrupted when the travel trajectory information is represented by a set of points. This is a part that is separated by a predetermined distance or more.

Preferably, the correction step is performed by an information processing device that acquires information from the moving object. Thereby, the processing load on the mobile object can be reduced.

In the correction step, the displacement amount may be integrated in a direction opposite to the moving direction of the moving body, or the displacement amount may be integrated in the moving direction.

On the other hand, the traveling trajectory acquisition system according to the present embodiment includes a position estimating unit that is placed in a moving object and estimates the absolute position of the moving object, and a position estimation unit that estimates the absolute position of the moving object, and obtains traveling trajectory information of the moving object based on the absolute position and existing route information. The present invention includes a generation unit that generates information, a displacement sensor that is disposed on a moving body to obtain the amount of displacement of the moving body, and a correction unit that corrects travel trajectory information. When the traveling trajectory information includes a discontinuous portion, the correction unit corrects at least the discontinuous portion based on the amount of displacement, with a position in the existing route information where the degree of coincidence with the absolute position is a predetermined value or more as a reference.

The traveling trajectory acquisition device according to the present embodiment also includes a position estimating unit that is disposed on a moving object and estimates the absolute position of the moving object, and a position estimation unit that estimates the absolute position of the moving object, and obtains traveling trajectory information of the moving object based on the absolute position and existing route information. The present invention includes a generation unit that generates information, a displacement sensor that is disposed on a moving body to obtain the amount of displacement of the moving body, and a correction unit that corrects travel trajectory information. When the traveling trajectory information includes a discontinuous portion, the correction unit corrects at least the discontinuous portion based on the amount of displacement, with a position in the existing route information where the degree of coincidence with the absolute position is a predetermined value or more as a reference.

According to the travel trajectory acquisition system and travel trajectory acquisition device of the present embodiment, similarly to the above-described travel trajectory acquisition method, discontinuous Therefore, highly accurate travel trajectory information can be obtained when the moving object travels on a new route. Note that each component of the travel trajectory acquisition system and the travel trajectory acquisition device may be provided in one device, or may be provided in each of a plurality of physically separated devices.

Examples of the present invention will be specifically described below. As shown in FIG. 1, the travel trajectory acquisition system (travel trajectory acquisition device) 1 of this embodiment includes a position estimation section 2, a displacement amount acquisition section 3, a storage section 4, a vehicle-side control section 5, and a server. and a side control section 6. The position estimation unit 2, the displacement acquisition unit 3, the storage unit 4, and the vehicle-side control unit 5 are provided in the vehicle 10 as a moving body, and the server-side control 6 is provided in an external server ( (information processing device) 20. Note that the vehicle 10 may be a general vehicle or a measurement vehicle intended for generating map data.

The position estimating unit 2 estimates the current position (absolute position) of the vehicle 10, and may be, for example, a GPS receiving unit that receives radio waves transmitted from a plurality of GPS (Global Positioning System) satellites. The position estimating unit 2 acquires latitude and longitude information as the current position of the vehicle 10 (position estimating step).

The displacement amount acquisition section 3 is for acquiring the displacement amount of the vehicle 10 (displacement amount acquisition step), and includes, for example, a vehicle speed pulse acquisition section that acquires the vehicle speed pulse of the vehicle 10, and an azimuth displacement amount of the vehicle 10. It is sufficient that the sensor includes a gyro sensor for measuring the acceleration of the vehicle 10 and an acceleration sensor for acquiring the acceleration of the vehicle 10.

The storage unit 4 is composed of, for example, a hard disk or a nonvolatile memory, and stores map data. The map data includes existing route information indicating routes that vehicles can travel. Note that the map data stored in the storage unit 4 may be updated as appropriate based on information acquired from the external server 20.

The vehicle-side control unit 5 is composed of a CPU (Central Processing Unit) equipped with a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and manages the overall control of the external server 20. The vehicle-side control unit 5 performs map matching based on the absolute position (latitude and longitude information) estimated by the position estimation unit 2 and the existing route information stored in the storage unit 4, and obtains travel trajectory information of the vehicle 10. Generate (generation process). That is, the vehicle-side control section 5 functions as a generation section.

The vehicle 10 is provided with a communication section 11. The communication unit 11 includes a circuit, an antenna, and the like for communicating with networks such as the Internet and public lines, and communicates with the external server 20 to transmit and receive information. Note that the communication unit 11 may only transmit information to the external server 20.

In addition to the server-side control unit 6, the external server 20 includes a storage unit main body 21 and a communication unit 22, and is physically separated from the vehicle 10 and is connected via a network such as the Internet. It is configured to be able to communicate with the vehicle 10, and to collect and store information from the vehicle 10. Although FIG. 1 shows the external server 20 communicating with one vehicle 10, the external server 20 is capable of communicating with a plurality of vehicles.

The server-side control unit 6 is composed of a CPU (Central Processing Unit) equipped with memory such as RAM (Random Access Memory) and ROM (Read Only Memory), and is in charge of overall control of the external server 20, as will be described later. , processes the information acquired from the vehicle 10, and stores the processed information in the storage main body 21.

The storage unit main body 21 is composed of, for example, a hard disk or a nonvolatile memory, stores map data, and is read and written under control from the server-side control unit 6.

The communication unit 22 includes a circuit, an antenna, and the like for communicating with a network such as the Internet or a public line, and communicates with the vehicle 10 to transmit and receive information.

In the travel trajectory acquisition system 1 as described above, the server-side control unit 6 acquires travel trajectory information from the vehicle 10, and if, for example, a predetermined number of pieces of latitude and longitude information are not located on the existing route, a new route exists. Update the map data. At this time, since the travel trajectory information is obtained by map matching, it may be influenced by existing route information and may deviate from the actual travel trajectory. A specific example will be explained below.

As shown in FIG. 2, the vehicle 10 travels eastward on the main road LN1 at and around the intersection C where the main road LN1 extending east-west and the main road LN2 extending north-south intersect, Assume that after passing through section A1 located southwest of intersection C, the vehicle enters main road LN2 and travels north. The actual travel trajectory at this time is shown by a dashed line.

On the other hand, the travel trajectory information generated by the vehicle-side control unit 5 is as shown by a solid line. While traveling in section A1, the latitude and longitude information acquired by the position estimation unit 2 is not located on the existing route, so map matching may not be established or an incorrect map matching result may be obtained. In the illustrated example, an erroneous map matching result is obtained indicating that while the vehicle is traveling southward in section A1, the vehicle is traveling on road LN3 located on the west side of section A1. In addition, a discontinuous part is formed between a part located on the main road LN1 and a part located on the road LN3 in the travel trajectory information, and a discontinuous part is formed between the part located on the section A1 and the part located on the main road LN2. A discontinuous portion is formed between the portion located at .

When the travel trajectory information generated based on the absolute position and the existing route information includes a discontinuous portion, the server-side control unit 6 corrects the travel trajectory information (correction step). That is, the server-side control unit 6 functions as a correction unit.

In addition, a discontinuous part is a part where the line is interrupted when the travel trajectory information is represented by a line, and a discontinuous part is a part where the line is interrupted when the travel trajectory information is represented by a set of points. This is a part that is separated by a predetermined distance or more. Whether or not it is a discontinuous portion can be determined, for example, by determining whether the interval between two adjacent points included in the traveling trajectory information is larger than the amount of movement of the vehicle 10 calculated based on the vehicle speed pulse by a predetermined value or more. You can decide.

When the travel trajectory information includes a discontinuous portion, the server-side control unit 6 determines that the distance between the travel trajectory information obtained by map matching and the absolute position (latitude and longitude) acquired by the position estimation unit 2 is a predetermined value. Determine the range within. For example, if the position estimation unit 2 is a GPS reception unit, one absolute position is estimated by the GPS reception unit receiving radio waves from a GPS satellite once. It may be determined whether the distance of the absolute position from the travel trajectory information is within a predetermined value. Any position within the range determined in this manner becomes a highly reliable reference position.

Since map matching generates travel trajectory information using existing route information, the method of determining the reference position by comparing travel trajectory information and absolute position as described above is based on the existing route information and the estimated absolute position. This is an example for determining a position (reference position) where the degree of coincidence with the position is greater than or equal to a predetermined value.

In the example shown in FIG. 2, when the vehicle 10 enters the main road LN2 from the section A1, the absolute position is located on the existing route, map matching is performed normally, and the vehicle 10 enters the main road LN2 from the section A1. Information on the driving trajectory where the vehicle is located can be obtained. Thereby, the reference position P1 is determined on the main road LN2.

Next, the server-side control unit 6 generates a new trajectory by integrating the displacement amount acquired by the displacement amount acquisition unit 3 from the reference position to before and after the discontinuous portion. The server-side control unit 6 determines a range in which the distance between the new trajectory and the traveling trajectory information is equal to or less than a predetermined value, and sets an arbitrary position within this range as the end position. The server-side control unit 6 corrects the traveling trajectory information by replacing the range from the reference position to the end position in the traveling trajectory information with a new trajectory.

In the example shown in FIG. 2, a new trajectory (double-dashed line) is generated along the actual travel trajectory by integrating the amount of displacement in the direction opposite to the traveling direction from the reference position P1. The new trajectory overlaps the traveling trajectory information on the main road LN1. An arbitrary position within this overlapping range becomes the end position P2. Therefore, the corrected travel trajectory information is represented by a solid line upstream from the end position P2 (west side in the figure), a chain double-dashed line, and a solid line downstream from the reference position P1 (north side in the figure). Ru.

In the example shown in FIG. 2, the reference position P1 is determined on the downstream side of the two discontinuous parts, and the end position is determined on the upstream side. In addition to determining the position, an end position may also be determined downstream. In addition, reference positions are determined on the upstream and downstream sides of the two discontinuities, and a new trajectory is generated by integrating the amount of displacement from each of the two reference positions, and the two new trajectories are connected. You may. That is, the direction in which the amount of displacement is integrated may be the same direction as the traveling direction, or may be the opposite direction.

As explained above, the server-side control unit 6 generates and corrects travel trajectory information. An appropriate position of the corrected travel trajectory information may be stored in the storage main body 21 as a feature point (node).

With the above configuration, the highly reliable position estimated by the position estimating unit 2 is used as the reference position, and the discontinuous part is corrected using the amount of displacement, which is information that is not affected by map matching, so that the vehicle 10 can be newly It is possible to obtain highly accurate travel trajectory information when traveling along a specific route. Furthermore, compared to a method of generating traveling trajectory information based only on the amount of displacement, the section in which traveling trajectory information is generated based on the amount of displacement is shorter, and errors included in the amount of displacement are less likely to accumulate.

Further, by executing the correction process by the server-side control unit 6 of the external server 20, the processing load on the vehicle-side control unit 5 can be reduced.

Note that the present invention is not limited to the above-mentioned embodiments, but includes other configurations that can achieve the object of the present invention, and the present invention also includes the following modifications.

For example, in the embodiment described above, the server-side control unit 6 of the external server 20 executes the correction process, but the vehicle-side control unit 5 may execute the correction process. At this time, the vehicle-side control unit 5 may cause the storage unit 4 to store the corrected travel trajectory information, or may transmit it to the external server 20.

In addition, in the embodiment described above, the reference position is determined by comparing the travel trajectory information and the absolute position, but the reference position is determined by comparing the existing route information and the absolute position (for example, whether they are within a predetermined distance or not). The reference position may be determined by determining whether the

In addition, the best configuration, method, etc. for carrying out the present invention have been disclosed in the above description, but the present invention is not limited thereto. That is, although the present invention has been specifically illustrated and described primarily with respect to specific embodiments, modifications may be made to the embodiments described above without departing from the spirit and scope of the invention. , materials, quantities, and other detailed configurations, those skilled in the art can make various modifications. Therefore, the descriptions that limit the shapes, materials, etc. disclosed above are provided as examples to facilitate understanding of the present invention, and do not limit the present invention. Descriptions of names of members that exclude some or all of the limitations such as these are included in the present invention.

1 Travel trajectory acquisition system (travel trajectory acquisition device)
2 Position estimation section 3 Displacement amount acquisition section (displacement sensor)
5 Vehicle side control section (generation section)
6 Server side control unit (correction unit)
10 Vehicle (mobile object)
20 External server (information processing device)

Claims (5)

a position estimating step of estimating the absolute position of the moving object by a position estimating unit disposed in the moving object;
a generation step of generating travel trajectory information of the mobile object based on the absolute position and existing route information;
a displacement amount obtaining step of obtaining a displacement amount of the moving body using a displacement sensor disposed on the moving body;
a correction step of correcting the travel trajectory information,
In the correction step, when the traveling trajectory information includes a discontinuous portion, at least the discontinuous portion is determined based on the displacement amount with respect to a position in the existing route information where the degree of coincidence with the absolute position is equal to or greater than a predetermined value. A travel trajectory acquisition method characterized by correcting continuous portions. The travel trajectory acquisition method according to claim 1, wherein the correction step is executed by an information processing device that acquires information from the moving object. 3. The travel trajectory acquisition method according to claim 1, wherein in the correction step, the displacement amount is integrated in a direction opposite to a traveling direction of the moving body. a position estimating unit disposed on a moving body to estimate the absolute position of the moving body;
a generation unit that generates traveling trajectory information of the mobile object based on the absolute position and existing route information;
a displacement sensor disposed on the moving body to obtain the amount of displacement of the moving body;
A correction unit that corrects the travel trajectory information,
When the traveling trajectory information includes a discontinuous portion, the correction unit is configured to correct at least the discontinuous portion based on the displacement amount, with reference to a position in the existing route information where the degree of coincidence with the absolute position is equal to or greater than a predetermined value. A travel trajectory acquisition system characterized by correcting continuous parts. a position estimating unit disposed on a moving body to estimate the absolute position of the moving body;
a generation unit that generates traveling trajectory information of the mobile object based on the absolute position and existing route information;
a displacement sensor disposed on the moving body to obtain the amount of displacement of the moving body;
A correction unit that corrects the travel trajectory information,
When the traveling trajectory information includes a discontinuous portion, the correction unit is configured to correct at least the discontinuous portion based on the displacement amount, with reference to a position in the existing route information where the degree of coincidence with the absolute position is equal to or greater than a predetermined value. A travel trajectory acquisition device characterized by correcting continuous portions.

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