JP5708308B2 - Reference data acquisition device, reference data acquisition system, reference data acquisition method, and reference data acquisition program - Google Patents

Description

  The present invention relates to a reference data acquisition device, a reference data acquisition system, a reference data acquisition method, and a reference data acquisition program.

  Conventionally, in a car navigation system, it is performed to determine whether a vehicle has entered or exited from various facilities (such as a parking lot, a gas station, or a commercial facility). As a method for determining the entry and exit of vehicles to various facilities, for example, the location information of various facilities (for example, coordinate information such as latitude and longitude), GPS (Global Positioning System), a gyro sensor, etc. are used. A method of comparing the running trajectory of the vehicle is used.

  For example, based on the map data read from the map database, etc., the current position on the road of the own vehicle is calculated by aligning the traveling locus of the own vehicle on the road, the calculated current position, the gyro sensor, A position information utilization device that determines whether or not the host vehicle has stopped at a facility based on a detection signal from a steering sensor has been proposed (see, for example, Patent Document 1).

JP 2008-14713 A

  By the way, in order to reliably determine the entrance and exit of the vehicle to various facilities, as a method of specifying the current position of the vehicle with higher accuracy, a method of performing matching using a photographed image obtained by photographing the periphery of the vehicle is conceivable. . For example, reference data to be used for matching is prepared in advance, and when a predetermined feature point in a captured image obtained by photographing the periphery of the vehicle matches a feature point in any reference data, it is associated with the reference data The current position is specified as the current position of the vehicle.

  In this way, when matching is performed using captured images taken around the vehicle, the surrounding environment such as sunshine conditions, illuminance, and weather conditions at the time of shooting has some influence on the captured image, and matching with reference data is also possible. May have an impact. For this reason, it is desirable to prepare a plurality of types of reference data corresponding to the surrounding environment that may affect the captured image.

  However, when the reference data considering all the surrounding environments is prepared, the data size becomes enormous, and it is difficult to store all the reference data in the storage device of the in-vehicle device. In addition, it is conceivable that all reference data is stored in the center device, and the reference data is acquired from the center device via the network when determining whether the vehicle enters or leaves the various facilities. Depending on the communication situation at the time of entering or leaving the vehicle, necessary reference data may not be acquired. Alternatively, it may be possible to acquire reference data corresponding to various facilities that are expected to stop while traveling, but it is necessary to acquire the minimum necessary reference data in order to reduce communication costs.

  The present invention has been made in view of the above, and it is possible to acquire appropriate reference data corresponding to a surrounding environment that affects a captured image while suppressing an increase in communication cost required to acquire reference data. An object is to provide a reference data acquisition device, a reference data acquisition system, a reference data acquisition method, and a reference data acquisition program.

In order to solve the above-described problems and achieve the object, the reference data acquisition device according to claim 1 is a reference data acquisition device for acquiring reference data used for matching captured images obtained by photographing the periphery of a vehicle. A matching point specifying means for specifying a planned travel route of the vehicle and identifying a matching point that may match the captured image and the reference data in the specified planned travel route; identify the environment that affect for each of the matching points, the reference data corresponding to the peripheral environment with the specified, includes a reference data acquisition means for acquiring for each said matching point from the center apparatus, wherein the peripheral environment The reference data acquisition means is time or time when the vehicle reaches each matching point. Predicting a zone, identifying the surrounding environment for each of the matching points based on the predicted time or time zone, identifying the time when the surrounding environment changes while the vehicle is traveling on the planned travel route, The type of the reference data acquired for the matching point in the section where the vehicle reaches in the time zone before the specified time, and the matching point in the section where the vehicle reaches in the time zone after the time The type of the reference data is made different.

Further, the reference data acquisition device according to claim 2 is the reference data acquisition device according to claim 1, wherein the reference data acquisition means changes the surrounding environment while the vehicle is traveling on the planned travel route. In the section where the vehicle arrives at a predetermined time before and after the time, the type corresponding to the section where the vehicle reaches in the time zone before the time when the surrounding environment changes and the time after the time when the surrounding environment changes The reference data of both types is acquired with the type corresponding to the section that the vehicle reaches in the time zone.

Moreover, the reference data acquisition device according to claim 3 is the reference data acquisition device according to claim 2, wherein the reference data acquisition means predicts a point where the vehicle reaches at a time when the surrounding environment changes. The predetermined time is determined based on the prediction accuracy.

The reference data acquisition device according to claim 4 is the reference data acquisition device according to claim 3, wherein the reference data acquisition unit is configured to obtain a time from a departure time of the vehicle to a time when the surrounding environment changes. Based on this, the prediction accuracy is determined.

Further, the reference data acquisition device according to claim 5 is the reference data acquisition device according to any one of claims 1 to 4 , wherein the reference data acquisition unit is configured such that the periphery of the vehicle is in the daytime or nighttime. For each matching point, at least one of which is applicable and the weather around the vehicle is specified as the surrounding environment.

The reference data acquisition system according to claim 6 is a reference data acquisition system including a center device and a reference data acquisition device for acquiring reference data used for matching a captured image obtained by photographing the periphery of the vehicle. The center device includes reference data storage means for storing the reference data and type information for specifying the type of the reference data corresponding to the surrounding environment that affects the captured image in association with each other. The reference data acquisition device specifies a planned traveling route of the vehicle, and a matching point identifying unit that identifies a matching point where the captured image and the reference data may be matched in the identified planned traveling route. And specifying the surrounding environment that affects the captured image for each matching point, and corresponding to the specified surrounding environment Reference data acquisition means for acquiring another reference data for each matching point from the reference data storage means of the center device, wherein the surrounding environment changes according to time, and the reference data The acquisition means predicts the time or time zone when the vehicle reaches each matching point, specifies the surrounding environment for each matching point based on the predicted time or time zone, and the vehicle is scheduled to travel The time at which the surrounding environment changes during traveling on the route is specified, the type of the reference data acquired for the matching point in the section where the vehicle reaches in the time zone before the specified time, and the time after the time Different from the type of the reference data acquired for the matching point in the section that the vehicle reaches in the time zone

The reference data acquisition method according to claim 7 is a reference data acquisition method for acquiring reference data used for matching of captured images obtained by photographing the periphery of the vehicle, wherein the matching point specifying means includes the vehicle A matching point identifying step for identifying a scheduled travel route, identifying a matching point that may match the captured image and the reference data in the identified planned travel route, and a reference data acquisition unit, the captured image A reference data acquisition step that specifies a surrounding environment that affects the matching spot for each matching point, and obtains reference data corresponding to the specified surrounding environment from the center device for each matching spot. , And changes according to time, and in the reference data acquisition step, each matching point The time or time zone when the vehicle arrives is predicted, the surrounding environment is specified for each of the matching points based on the predicted time or time zone, and the surrounding environment is detected while the vehicle is traveling on the planned travel route. The changing time is specified, and the type of the reference data acquired for the matching point in the section where the vehicle reaches in the time zone before the specified time, and the vehicle arrives in the time zone after the time. The type of the reference data acquired for the matching point in the section is made different.

The reference data acquisition program according to claim 8 is a reference data acquisition program for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle, wherein the computer is connected to the planned travel route of the vehicle. And a matching point specifying means for specifying a matching point that may match the captured image and the reference data in the specified scheduled travel route, and the matching surrounding environment that affects the captured image. A reference data acquisition program for specifying each point and functioning as reference data acquisition means for acquiring the reference data corresponding to the specified surrounding environment from the center device for each matching point. The reference data acquisition unit is configured to change each match. Predicting the time or time zone when the vehicle arrives at a point, identifying the surrounding environment for each of the matching points based on the predicted time or time zone, and while the vehicle is traveling on the planned travel route, The time when the environment changes is specified, the type of the reference data acquired for the matching point in the section where the vehicle reaches in the time zone before the specified time, and the vehicle in the time zone after the time The type of the reference data acquired for the matching point in the reaching section is made different.

Reference data acquiring apparatus according to claim 1, the reference data acquisition system of claim 6, the reference data acquisition method according to claim 7, and according to the reference data acquisition program according to claim 8, reference data The acquisition unit specifies the surrounding environment that affects the captured image for each matching point, and acquires reference data corresponding to the specified surrounding environment for each matching point. It is possible to acquire only reference data suitable for matching, and to acquire appropriate reference data corresponding to the surrounding environment that affects the captured image while suppressing an increase in communication cost required for acquiring the reference data. it can.
The surrounding environment changes according to the time, and the reference data acquisition means predicts the time or time zone when the vehicle reaches each matching point, and based on the predicted time or time zone, the surrounding environment Therefore, appropriate reference data corresponding to the surrounding environment that changes according to the time can be acquired for each matching point.
Further, the reference data acquisition means specifies the time when the surrounding environment changes while the vehicle is traveling on the planned travel route, and acquires the reference data for the matching point in the section where the vehicle reaches in the time zone before the specified time. And the type of reference data acquired for matching points in the section where the vehicle arrives in the time zone after the time, so appropriate reference data corresponding to the surrounding environment of the section where each matching point exists Can be acquired for each matching point.

Further, according to the reference data acquisition device of the second aspect , the reference data acquisition unit is configured so that the vehicle arrives at a predetermined time before and after the time when the surrounding environment changes while the vehicle is traveling on the planned travel route. Both the type corresponding to the section where the vehicle arrives in the time zone before the time when the surrounding environment changes and the type corresponding to the section where the vehicle arrives in the time zone after the time when the surrounding environment changes Since the reference data is acquired, both types of reference data can be acquired for sections where it is unknown which type of reference data is more appropriate. Even if it exists, it becomes possible to perform matching using the reference data of the type corresponding to the actual surrounding environment.

Further, according to the reference data acquisition device of claim 3, the reference data acquisition means is configured to change the time when the surrounding environment changes based on the prediction accuracy when the point where the vehicle arrives at the time when the surrounding environment changes. Since the predetermined time before and after is determined, as a section for acquiring both types of reference data, a section of an appropriate length according to the prediction accuracy when predicting a point where the vehicle arrives at a time when the surrounding environment changes is used. Both types of reference data can be acquired only in necessary sections.

According to the reference data acquisition device of the fourth aspect, the reference data acquisition means reaches the vehicle at the time when the surrounding environment changes based on the time from the departure time of the vehicle to the time when the surrounding environment changes. Since the prediction accuracy when predicting a point is determined, an interval with an appropriate length according to the time from the departure time of the vehicle to the time when the surrounding environment changes is set as the interval for acquiring both types of reference data Both types of reference data can be acquired only in a necessary section.

Further, according to the reference data acquisition device of claim 5, the reference data acquisition means determines whether the periphery of the vehicle corresponds to daytime or nighttime, and at least one of the weather around the vehicle, As the surrounding environment is specified for each matching point, it is possible to acquire only reference data suitable for matching in consideration of whether the surroundings of the vehicle fall during the day or night, or the weather around the vehicle. .

It is a block diagram which illustrates the reference data acquisition system concerning an embodiment. It is a flowchart of a reference data acquisition process.

  Hereinafter, embodiments of a reference data acquisition device, a reference data acquisition system, a reference data acquisition method, and a reference data acquisition program according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited by this embodiment.

(Constitution)
First, the configuration of the reference data acquisition system according to the embodiment will be described. FIG. 1 is a block diagram illustrating a reference data acquisition system according to this embodiment. As shown in FIG. 1, the reference data acquisition system 1 includes a reference data acquisition device 60 and a center device 3.

(Configuration-reference data acquisition device)
The reference data acquisition device 60 is mounted on the vehicle 2 and includes a control unit 61 and a data recording unit 62 as shown in FIG. In addition, the route search unit 10, the current position detection processing unit 20, the operation unit 30, the display 40, and the communication unit 50 are connected to the reference data acquisition device 60.

(Configuration-reference data acquisition device-control unit)
The control unit 61 is a control unit that controls the reference data acquisition device 60. Specifically, the CPU, various programs interpreted and executed on the CPU (basic control programs such as an OS, and started on the OS). A computer including an application program for realizing a specific function) and an internal memory such as a RAM for storing the program and various types of data (the same applies to the control unit 80 of the center device 3 described later). . In particular, the reference data acquisition program according to the present embodiment is installed in the reference data acquisition device 60 via an arbitrary recording medium or network, thereby substantially configuring each unit of the control unit 61.

  The control unit 61 includes a matching point specifying unit 61a and a reference data acquiring unit 61b in terms of functional concept. The matching point specifying unit 61a is a matching point specifying unit that specifies a matching point where there is a possibility of photographing the periphery of the vehicle 2 for matching. The reference data acquisition unit 61b is a reference data acquisition unit that acquires reference data for each matching point. Details of processing executed by each unit of the control unit 61 will be described later.

(Configuration-reference data acquisition device-data recording unit)
The data recording unit 62 is a recording unit that records a program and various data necessary for the operation of the reference data acquisition device 60, and uses, for example, a magnetic recording medium such as a hard disk (not shown) as an external storage device. It is configured. However, instead of or together with the hard disk, any other recording medium including a semiconductor storage medium such as a flash memory or an optical recording medium such as a DVD or a Blu-ray disk can be used (a center device 3 described later). The same applies to the data recording unit 90 of FIG.

  The data recording unit 62 includes a map information database 62a (hereinafter, the database is abbreviated as DB) and a reference data DB 62b.

  The map information DB 62a is map information storage means for storing map information. “Map information” includes, for example, link data (link number, connection node number, road coordinates, road type, number of lanes, travel restrictions, etc.), node data (node number, coordinates), feature data (signals, road signs, guardrails) , Buildings, etc.), facility data (position of each facility, type of each facility, etc.), topographic data, map display data for displaying a map on the display 40, and the like.

  The reference data DB 62b stores the reference data acquired by the reference data acquisition unit 61b. The specific contents of the reference data, the timing at which the reference data is stored in the reference data DB 62b, etc. will be described later.

(Configuration-route search unit)
The route search unit 10 is route search means for searching for a planned travel route of the vehicle 2 from the departure point to the destination. As a specific method of the route search performed by the route search unit 10, a known route search method such as the Dijkstra method can be used.

(Configuration-Current position detection processing unit)
The current position detection processing unit 20 is a current position detection unit that detects the current position of the vehicle 2 on which the reference data acquisition device 60 is mounted. Specifically, the current position detection processing unit 20 includes at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and the current position (coordinates), direction, and the like of the vehicle 2 Is detected by a known method.

(Configuration-operation unit)
The operation unit 30 is an operation unit that receives an operation input by a user. The specific configuration of the operation unit 30 is arbitrary. For example, a remote operation unit such as a touch panel, a push button, or a remote controller provided on the front surface of the display 40 or a voice recognition unit such as a microphone that receives voice input is used. Thus, the operation unit 30 can be configured.

(Configuration-Display)
The display 40 is an output unit that performs display output of various information based on the control of the reference data acquisition device 60. The specific configuration of the display 40 is arbitrary, and a known flat panel display such as a liquid crystal display or an organic EL display can be used.

(Configuration-Communication Department)
The communication unit 50 is a communication unit for communicating various information including reference data with the center device 3, and a known communication device can be used.

(Configuration-Center device)
The center apparatus 3 includes a communication unit 70, a control unit 80, and a data recording unit 90, as shown in FIG.

(Configuration-Center device-Communication unit)
The communication unit 70 is a communication unit for communicating various information including reference data with the reference data acquisition device 60 via the communication unit 50 of the vehicle 2, and a known communication device can be used. .

(Configuration-Center device-Control unit)
The control unit 80 is a control unit that controls the center device 3.

(Configuration-Center device-Data recording unit)
The data recording unit 90 is a recording unit that records a program and various data necessary for the operation of the center device 3. The data recording unit 90 includes a reference data DB 91. The reference data DB 91 is reference data storage means for storing reference data and type information for specifying the type of reference data in association with each other. The reference data is data used for matching of captured images obtained by photographing the periphery of the vehicle 2, for example, image data obtained by capturing entrances and exits of various facilities (parking lots, gas stations, commercial facilities, etc.) Template data obtained by extracting feature points for matching from the image data using a known algorithm is used. Information (for example, identification information for uniquely identifying a facility, facility name, coordinate information, etc.) for identifying a facility to be matched using the reference data is attached to the reference data. The type information is information for specifying the type of reference data corresponding to the surrounding environment that affects the captured image. Here, the “ambient environment” changes according to time, and includes, for example, whether the periphery of the vehicle 2 corresponds to daytime or nighttime, and the weather around the vehicle 2. Corresponding to the surrounding environment that affects the captured image, the type of each reference data (for example, “daytime”, “nighttime”, “clear weather”, “cloudy / rainy weather”, etc.) is set. Has been.

(Processing-reference data acquisition processing)
Next, reference data acquisition processing executed by the reference data acquisition system 1 configured as described above will be described. FIG. 2 is a flowchart of the reference data acquisition process (in the following description of each process, step is abbreviated as “S”). This reference data acquisition process is started, for example, when the reference data acquisition device 60 is turned on and the destination of travel of the vehicle 2 is set by an operation input via the operation unit 30. Here, “destination setting” means that a final destination is set by an operation input via the operation unit 30, and a plurality of already set destinations are input via the operation unit 30. Including the case where different destinations are set as final destinations, or the case where final destinations that have already been set are deleted and other destinations are set as final destinations.

  As shown in FIG. 2, when the reference data acquisition process is started, the matching point specifying unit 61a specifies the planned travel route of the vehicle 2 (SA1). Specifically, based on the travel destination of the vehicle 2 set by the operation input via the operation unit 30, the route search unit 10 starts from the departure place (for example, the current position detected by the current position detection processing unit 20). When searching for the route to the destination, the matching point specifying unit 61 a specifies the route searched by the route searching unit 10 as the planned travel route of the vehicle 2.

  Subsequently, the matching point specifying unit 61a specifies a matching point where the captured image and the reference data may be matched in the planned travel route specified by the matching point specifying unit 61a in SA1 (SA2). For example, the matching point specifying unit 61a refers to the map information DB 62a and refers to a facility where the vehicle 2 may stop around the planned travel route, specifically, a parking lot, a gas station, which exists along the planned travel route, Identify various facilities such as commercial facilities as matching points.

  Next, the reference data acquisition unit 61b specifies the sunrise time and the sunset time as the time when “daytime or nighttime” which is one of the surrounding environments changes (SA3). For example, the daily sunrise time and sunset time data are recorded in the data recording unit 62 in advance, and the reference data acquisition unit 61b stores the sunrise time and sunset time data corresponding to the execution date of the reference data acquisition process. Based on this, the sunrise time and sunset time are specified. Or you may make it acquire the data of the sunrise time and sunset time corresponding to the execution date of a reference data acquisition process from the center apparatus 3 or another database via the communication part 50. FIG.

  Subsequently, the reference data acquisition unit 61b determines whether the sunrise time or sunset time arrives while the vehicle 2 is traveling on the planned travel route (SA4). That is, the reference data acquisition unit 61b estimates the required time from the departure point to the destination based on the travel distance from the departure point to the destination, the average traveling speed on the planned travel route, and the like. Based on the above, the estimated arrival time of the destination is calculated. Then, it is determined whether the sunrise time or sunset time arrives between the departure time and the estimated arrival time.

  As a result, when the sunrise time or sunset time does not arrive while the vehicle 2 is traveling on the planned travel route (SA4, No), the surrounding environment does not change while the vehicle 2 travels on the planned travel route. The reference data acquisition unit 61b identifies whether the time zone in which the traveling route is traveled corresponds to daytime or nighttime, and obtains the type of reference data corresponding to the identification result from the reference data DB 91 for each matching point. Obtain (SA5). Specifically, the reference data acquisition unit 61b specifies that the surrounding environment corresponds to “daytime” when the time zone from the departure time to the estimated arrival time is between the sunrise time and the sunset time. When the time zone from the departure time to the estimated arrival time is between the sunset time and the sunrise time, it is specified that the surrounding environment corresponds to “night”. Then, reference data of a type corresponding to the identification result (that is, “daytime” or “nighttime” reference data) is acquired from the reference data DB 91 for each matching point via the communication unit 50. The reference data acquisition unit 61b stores the acquired reference data in the reference data DB 62b of the reference data acquisition device 60.

  On the other hand, when the sunrise time or sunset time arrives while the vehicle 2 is traveling on the planned travel route (SA4, Yes), the reference data acquisition unit 61b provides weather information for specifying the weather on the planned travel route. Is acquired (SA6). Specifically, the reference data acquisition unit 61b predicts the time when the vehicle 2 reaches each matching point, and acquires the weather information of the area including each matching point at the predicted time. In addition, the acquisition destination of weather information is arbitrary, For example, it can acquire from the server which provides various weather forecast data.

  Subsequently, the reference data acquisition unit 61b sets a section for acquiring both types of “daytime” and “nighttime” reference data (hereinafter referred to as “both type acquisition section” as necessary) (SA7). . Specifically, the reference data acquisition unit 61b determines that the time when the surrounding environment changes from “daytime” to “nighttime” (that is, sunset time) or “nighttime” while the vehicle 2 travels on the planned travel route. A section in which the vehicle 2 arrives at a predetermined time (hereinafter referred to as “both type acquisition time” as necessary) before and after the time when the surrounding environment changes during the “daytime” (ie, the sunrise time) is set as the both type acquisition section. To do.

  At this time, the reference data acquisition unit 61b determines both types of acquisition time based on the prediction accuracy when the point where the vehicle 2 arrives at the time when the surrounding environment changes (that is, the sunrise time or the sunset time). . Specifically, it determines so that both classification acquisition time becomes long, so that the prediction precision at the time of predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes is low. In other words, the lower the prediction accuracy when predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes, the longer both types of acquisition sections become, so it is predicted that the vehicle 2 will arrive before and after the surrounding environment changes. For the matching points, both “daytime” and “nighttime” types of reference data can be acquired. As a result, even when the surrounding environment is different from the originally predicted surrounding environment at the matching point, matching can be performed using the reference data of the type corresponding to the actual surrounding environment.

  For example, the reference data acquisition unit 61b determines the prediction accuracy based on the time from the departure time of the vehicle 2 to the time when the surrounding environment changes (that is, the sunrise time or the sunset time). This is because, according to the time from the departure time of the vehicle 2 to the time when the surrounding environment changes, it is considered that the prediction accuracy when the point where the vehicle 2 arrives at the time when the surrounding environment changes is different. is there. In other words, the longer the time from the departure time of the vehicle 2 to the time when the surrounding environment changes, the lower the prediction accuracy when predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes. Is determined to be low. In this case, it is determined that both types of acquisition time become longer as the time from the departure time of the vehicle 2 to the time when the surrounding environment changes is longer.

  Alternatively, according to the priority of the traffic information used when the route search unit 10 searches for a route from the departure place to the destination, the prediction accuracy for predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes is set. You may ask for it. For example, the priority of traffic information is set such that the current traffic information is 3, the actual travel data of the own vehicle and the actual travel data of other vehicles are 2, the statistical traffic information is 1, and no traffic information is 0. It shall be. In this case, the reference data acquisition unit 61b calculates the ratio of each type of traffic information used for the search for the planned travel route searched by the route search unit 10. This ratio can be calculated as the ratio of the length (distance) of the road section in which each traffic information is used to the entire route. The prediction accuracy can be obtained by adding the results obtained by multiplying the calculated ratios by the priority. For example, in order to search for a route with a length of 30% where there is no traffic information used to search for a route from the departure point to a point where the vehicle 2 arrives at the time when the surrounding environment changes The road whose length is 35% of the road section in which the traffic information used is statistical traffic information, and the traffic information used for searching the route is the actual travel data of the own vehicle and the actual travel data of other vehicles. Assume that the length of the section is 10%, and the length of the road section in which the traffic information used for searching the route is the current traffic information is 25%. In this case, the prediction accuracy is calculated as 0 × 0.3 + 1 × 0.35 + 2 × 0.1 + 3 × 0.25 = 1.3. As this numerical value is smaller (that is, the prediction accuracy is lower), the reference data acquisition unit 61b determines that both types of acquisition time become longer.

  Further, the reference data acquisition unit 61b specifies the weather at the time when the vehicle 2 arrives at a matching point where the vehicle 2 is predicted to arrive before and after the surrounding environment changes based on the weather information acquired at SA6. To do. Then, both types of acquisition time are changed based on the specified weather. Specifically, when the weather is cloudy or rainy, both types of acquisition times are made longer than when the weather is fine. This is because even when the weather is cloudy or rainy, the change in illuminance at sunrise or sunset is small compared to when the weather is clear, so even if it is a matching point where the vehicle 2 reaches after sunrise The reference data for “night use” is more suitable for matching, or the reference data for “day use” is more suitable for matching even if the vehicle 2 arrives after sunset. This is because it is assumed.

  Next, the reference data acquisition unit 61b predicts the time or time zone when the vehicle 2 reaches each matching point, and specifies the surrounding environment for each matching point based on the predicted time or time zone (SA8). For example, the reference data acquisition unit 61b predicts the time when the vehicle 2 arrives at each matching point, and determines the surrounding environment at each matching point based on whether the predicted time is before the time when the surrounding environment changes. Identify. For example, when the vehicle 2 travels on the planned travel route and the sunrise occurs, if the time when the vehicle 2 reaches the matching point is before the sunrise time, the surrounding environment at the matching point is “night”. When the time to reach the matching point is after the sunrise time, the surrounding environment at the matching point is specified as “daytime”.

  Alternatively, the reference data acquisition unit 61b has a time zone in which the vehicle 2 arrives at the matching point for a matching point that is closer to the departure point than the point where the vehicle 2 arrives at the time when the surrounding environment changes. Predict that it is the time zone before the change. For a matching point that is closer to the destination side than the point where the vehicle 2 arrives at the time when the surrounding environment changes, the time zone when the vehicle 2 reaches the matching point is the time zone after the change of the surrounding environment. Predict that there is. Then, the surrounding environment at each matching point is specified based on whether or not the predicted time zone is before the time when the surrounding environment changes. For example, when the vehicle 2 travels on the planned travel route and sunrise occurs, if the time zone in which the vehicle 2 reaches the matching point is the time zone before sunrise, the surrounding environment at the matching point is “nighttime”. If the time zone for reaching the matching point is the time zone after sunrise, the surrounding environment at the matching point is specified as “daytime”.

  Note that the reference data acquisition unit 61b may specify that the surrounding environment at the matching point existing in both types of acquisition sections is both “daytime” and “nighttime”. In this case, the reference data acquisition unit 61b has the vehicle 2 at the matching point for a matching point that is closer to the starting point than the starting point of both types of acquiring section (the point on the starting point side of both ends of both types of acquiring section). The arrival time or time zone is predicted to be the time or time zone before the change of the surrounding environment. In addition, for a matching point that is closer to the destination side than the end point of both types of acquisition section (the point on the destination side of both ends of both types of acquisition section), the time or time zone when the vehicle 2 reaches the matching point The time or time zone after the change of the surrounding environment is predicted. Then, the surrounding environment at each matching point is specified based on whether the predicted time or time zone is before the time when the surrounding environment changes. For example, when the vehicle 2 travels on the planned travel route and the sunrise occurs, the reference data acquisition unit 61b determines that the surrounding environment at the matching point existing on the departure side from the start point of both types of acquisition sections is “night”. The surrounding environment at the matching point that exists on the destination side of the end point of both types of acquisition sections is identified as “daytime”.

  Subsequently, the reference data acquisition unit 61b acquires, for each matching point, reference data of a type corresponding to the surrounding environment specified in SA8 from the reference data DB 91 of the center device 3 via the communication unit 50 (SA9). The reference data acquisition unit 61b stores the acquired reference data in the reference data DB 62b of the reference data acquisition device 60.

  For example, for a matching point that is identified as “daytime” in the surrounding environment, reference data of the type “daytime” is included in the reference data stored in the reference data DB 91 corresponding to the matching point. To get. In addition, for a matching point that is identified as “nighttime” in the surrounding environment, reference data whose type is “for nighttime” is acquired from the reference data stored in the reference data DB 91 corresponding to the matching point. To do. Thereby, the type of reference data acquired for the matching point in the section where the vehicle 2 arrives in the time zone before the time when the surrounding environment changes, and the matching point in the section where the vehicle 2 arrives in the time zone after the time The type of reference data to be acquired for is different.

  Further, the reference data acquisition unit 61b, for the matching points existing in both types acquisition section set in SA7, the type corresponding to the section where the vehicle 2 arrives in the time zone before the time when the surrounding environment changes, Both types of reference data (ie, reference for both “daytime” and “nighttime” types) with the type corresponding to the section that the vehicle 2 reaches in the time zone after the time when the surrounding environment changes Data).

  After the process of SA5 or SA9, the reference data acquisition unit 61b determines whether there is a matching point where the illuminance around the vehicle 2 is different from the normal at the time when the vehicle 2 is predicted to reach the matching point. Is determined (SA10).

  For example, for a matching point located in a downtown area, when the surrounding environment is “night”, it is assumed that the illuminance around the vehicle 2 is higher than other matching points due to the influence of lighting or the like. Therefore, the reference data acquisition unit 61b is based on the map information stored in the map information DB 62a, and the time when the vehicle 2 is predicted to reach the matching point when the matching point is located in the downtown area. Is night, it is determined that there is a matching point where the illuminance around the vehicle 2 is different from normal.

  In addition, for indoor matching points such as underground parking lots and multilevel parking lots, when the surrounding environment is “daytime”, the illuminance around the vehicle 2 is lower than other matching points due to the effect of being indoors, etc. It is assumed that Therefore, the reference data acquisition unit 61b determines, based on the map information stored in the map information DB 62a, the time when the vehicle 2 is predicted to reach the matching point when the matching point is located indoors. When it is daytime, it is determined that there is a matching point where the illuminance around the vehicle 2 is different from normal.

  As a result, when there is no matching point where the illuminance around the vehicle 2 is different from normal at the time when the vehicle 2 is predicted to reach the matching point (SA10, No), the control unit 61 performs reference data acquisition processing. Exit.

  On the other hand, when there is a matching point where the illuminance around the vehicle 2 is different from normal at the time when the vehicle 2 is predicted to reach the matching point (SA10, Yes), the reference data acquisition unit 61b For the point, reference data of a type corresponding to the illuminance at the matching point is acquired (SA11).

  For example, when the matching point is located in a downtown area and the time when the vehicle 2 is predicted to arrive at the matching point is nighttime, the reference data acquisition unit 61b sets “ Get "daytime" reference data.

  In addition, when the matching point is an indoor matching point such as an underground parking lot or a multilevel parking lot, if the time when the vehicle 2 is predicted to reach the matching point is during the day, the matching point For the point, the reference data acquisition unit 61b acquires “night use” reference data.

  After the process of SA11, the control unit 61 ends the reference data acquisition process.

  Note that the reference data acquired by the reference data acquisition unit 61b in the reference data acquisition process described above is appropriately read from the reference data DB 62b when the vehicle 2 travels on the planned travel route, and is used for matching with the captured image. The

(effect)
As described above, according to the present embodiment, the reference data acquisition unit 61b specifies the surrounding environment that affects the captured image for each matching point, and sets the reference data corresponding to the specified surrounding environment for each matching point. Because it is acquired, only reference data suitable for matching can be acquired for each matching point in consideration of the surrounding environment, and the captured image is affected while suppressing an increase in communication cost required for acquiring the reference data. Appropriate reference data corresponding to the surrounding environment can be acquired.

  In addition, the surrounding environment changes according to the time, and the reference data acquisition unit 61b predicts the time or time zone when the vehicle 2 reaches each matching point, and based on the predicted time or time zone, Since the surrounding environment is specified for each matching point, appropriate reference data corresponding to the surrounding environment that changes according to the time can be acquired for each matching point.

  Further, the reference data acquisition unit 61b specifies a time when the surrounding environment changes while the vehicle 2 is traveling on the planned travel route, and acquires a matching point in a section where the vehicle 2 reaches in a time zone before the specified time. Since the type of reference data to be used is different from the type of reference data acquired for matching points in a section where the vehicle 2 arrives in a time zone after the time, it corresponds to the surrounding environment of the section where each matching point exists. Appropriate reference data can be acquired for each matching point.

  In addition, the reference data acquisition unit 61b has a time zone before the time when the surrounding environment changes in a section where the vehicle 2 arrives at a predetermined time before and after the time when the surrounding environment changes while the vehicle 2 is traveling on the planned travel route. Since the reference data of both types of the type corresponding to the section where the vehicle 2 arrives and the type corresponding to the section where the vehicle 2 arrives in the time zone after the time when the surrounding environment changes is acquired. It is possible to obtain both types of reference data for sections where it is unknown whether the reference data of the type is more appropriate, even if the surrounding environment differs from the originally predicted surrounding environment, Matching can be performed using the corresponding type of reference data.

  In addition, the reference data acquisition unit 61b determines both types of acquisition time based on the prediction accuracy when predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes, so the vehicle 2 at the time when the surrounding environment changes. It is possible to set both types of acquisition sections having an appropriate length according to the prediction accuracy when predicting the point where the vehicle reaches, and it is possible to acquire both types of reference data only in the necessary sections.

  In addition, the reference data acquisition unit 61b determines the prediction accuracy for predicting the point where the vehicle 2 arrives at the time when the surrounding environment changes based on the time from the departure time of the vehicle 2 to the time when the surrounding environment changes. Therefore, it is possible to set both types of acquisition sections having an appropriate length according to the time from the departure time of the vehicle 2 to the time when the surrounding environment changes, and it is possible to acquire both types of reference data only in necessary sections.

  In addition, the reference data acquisition unit 61b specifies, for each matching point, whether the surroundings of the vehicle 2 correspond to daytime or nighttime, and at least one of the weather around the vehicle 2 as the surrounding environment. Only reference data suitable for matching can be acquired in consideration of whether the vicinity of the vehicle 2 corresponds to daytime or nighttime, or the weather around the vehicle 2.

[Modifications to Embodiment]
While the embodiments of the present invention have been described above, the specific configuration and means of the present invention may be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About distribution and integration)
Further, each of the electrical components described above is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each part is not limited to the one shown in the figure, and all or a part thereof may be functionally or physically distributed / integrated in arbitrary units according to various loads and usage conditions. Can be configured. For example, the center device 3 may be provided with a matching point specifying unit 61a and a reference data acquiring unit 61b in the reference data acquiring device 60.

(About reference data acquisition processing)
In the above-described embodiment, in the reference data acquisition process of FIG. 2, the reference data acquisition unit 61b specifies whether the surrounding environment at each matching point is “daytime” or “nighttime”, and specifies The case where reference data of a type corresponding to the surrounding environment is acquired has been described as an example. Or the like (for example, “for fine weather” or “for cloudy / rainy weather”) may be acquired. Since the difference in weather is considered to affect the matching of captured images, especially during the daytime, among the matching points, the matching point where the time when the vehicle 2 arrives is daylight. You may make it acquire the reference data of a corresponding classification.
(Appendix)
The reference data acquisition device according to supplementary note 1 is a reference data acquisition device for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle, specifies a planned travel route of the vehicle, and specifies the specified travel A matching point specifying unit that specifies a matching point that may match the captured image and the reference data in a planned route, and a surrounding environment that affects the captured image is specified for each matching point, and the identification is performed. Reference data acquisition means for acquiring reference data corresponding to the surrounding environment for each matching point.
Further, the reference data acquisition device according to supplementary note 2 is the reference data acquisition device according to supplementary note 1, wherein the surrounding environment changes according to time, and the reference data acquisition means includes the matching data at each matching point. The time or time zone when the vehicle arrives is predicted, and the surrounding environment is specified for each matching point based on the predicted time or time zone.
Further, the reference data acquisition device according to supplementary note 3 is the reference data acquisition device according to supplementary note 2, wherein the reference data acquisition means specifies a time at which the surrounding environment changes while the vehicle travels on the planned travel route. The type of the reference data acquired for the matching point in the section where the vehicle reaches in the time zone before the specified time, and the matching point in the section where the vehicle reaches in the time zone after the time The type of the reference data to be acquired is made different.
Further, the reference data acquisition device according to supplementary note 4 is the reference data acquisition device according to supplementary note 3, wherein the reference data acquisition means is predetermined before and after the time when the surrounding environment changes while the vehicle is traveling on the planned travel route. In the section where the vehicle reaches in time, the type corresponding to the section where the vehicle reaches in the time zone before the time when the surrounding environment changes and the time zone after the time when the surrounding environment changes The reference data of both types, the type corresponding to the section where the vehicle reaches, is acquired.
Further, the reference data acquisition device according to supplementary note 5 is the reference data acquisition device according to supplementary note 4, wherein the reference data acquisition unit predicts a point where the vehicle arrives at a time when the surrounding environment changes. Based on the above, the predetermined time is determined.
Further, the reference data acquisition device according to supplementary note 6 is the reference data acquisition device according to supplementary note 5, wherein the reference data acquisition means is based on a time from a departure time of the vehicle to a time when the surrounding environment changes. Determine accuracy.
Further, the reference data acquisition device according to appendix 7 is the reference data acquisition device according to any one of appendices 1 to 6, wherein the reference data acquisition means corresponds to whether the periphery of the vehicle is daytime or nighttime. Or at least one of the weather around the vehicle is specified for each matching point as the surrounding environment.
The reference data acquisition system according to supplementary note 8 is a reference data acquisition system for acquiring reference data used for matching captured images obtained by capturing the periphery of a vehicle, and affects the reference data and the captured images. Reference data storage means that associates and stores type information that specifies the type of the reference data corresponding to the surrounding environment, and specifies a planned travel route of the vehicle, and the captured image is identified on the specified planned travel route. A matching point specifying means for specifying a matching point that may be matched with the reference data, and a surrounding environment that affects the captured image is specified for each matching point, and corresponds to the specified surrounding environment Reference data acquisition means for acquiring reference data from the reference data storage means for each matching point. .
Further, the reference data acquisition method according to supplementary note 9 is a reference data acquisition method for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle, wherein the planned travel route of the vehicle is identified, and the identification is performed. A matching point specifying step for specifying a matching point that may match the captured image and the reference data in the planned travel route, and specifying a surrounding environment that affects the captured image for each matching point, A reference data acquisition step of acquiring reference data corresponding to the specified surrounding environment for each matching point.
Further, the reference data acquisition program according to supplementary note 10 causes the computer to execute the method according to supplementary note 9.
(Additional effects)
According to the reference data acquisition device according to attachment 1, the reference data acquisition system according to attachment 8, the reference data acquisition method according to attachment 9, and the reference data acquisition program according to attachment 10, the reference data acquisition means The surrounding environment that affects the captured image is specified for each matching point, and reference data corresponding to the specified surrounding environment is acquired for each matching point, so each matching point is suitable for matching in consideration of the surrounding environment. It is possible to acquire only the reference data, and it is possible to acquire appropriate reference data corresponding to the surrounding environment that affects the photographed image while suppressing an increase in communication cost required for acquiring the reference data.
Further, according to the reference data acquisition device described in Appendix 2, the surrounding environment changes according to the time, and the reference data acquisition means predicts the time or time zone when the vehicle reaches each matching point. Since the surrounding environment is specified for each matching point based on the predicted time or time zone, appropriate reference data corresponding to the surrounding environment that changes according to the time can be acquired for each matching point.
Further, according to the reference data acquisition device described in appendix 3, the reference data acquisition unit specifies a time when the surrounding environment changes while the vehicle is traveling on the planned travel route, and in a time zone before the specified time. Since the type of reference data acquired for the matching point in the section where the vehicle arrives differs from the type of reference data acquired for the matching point in the section where the vehicle arrives in the time zone after the time, each matching point Appropriate reference data corresponding to the surrounding environment of the existing section can be acquired for each matching point.
Further, according to the reference data acquisition device described in appendix 4, the reference data acquisition means includes a peripheral data in a section where the vehicle arrives at a predetermined time before and after the time when the surrounding environment changes while the vehicle is traveling on the planned travel route. Both the type corresponding to the section where the vehicle arrives in the time zone before the time when the environment changes and the type corresponding to the section where the vehicle arrives in the time zone after the time when the surrounding environment changes Since the reference data is acquired, both types of reference data can be acquired for sections where it is unclear which type of reference data is more appropriate. However, it is possible to perform matching using the reference data of the type corresponding to the actual surrounding environment.
Further, according to the reference data acquisition device described in appendix 5, the reference data acquisition unit is configured to determine the time when the surrounding environment changes based on the prediction accuracy when the point where the vehicle arrives at the time when the surrounding environment changes is predicted. Since a predetermined time is determined before and after, a section of appropriate length according to the prediction accuracy when predicting the point where the vehicle arrives at the time when the surrounding environment changes is set as the section for acquiring both types of reference data Both types of reference data can be acquired only in a necessary section.
Further, according to the reference data acquisition device described in appendix 6, the reference data acquisition means is a point where the vehicle arrives at the time when the surrounding environment changes based on the time from the departure time of the vehicle to the time when the surrounding environment changes. As the interval for obtaining both types of reference data, an interval with an appropriate length according to the time from the departure time of the vehicle to the time when the surrounding environment changes can be set. Both types of reference data can be acquired only in necessary sections.
Further, according to the reference data acquisition device described in appendix 7, the reference data acquisition means determines whether the periphery of the vehicle corresponds to daytime or nighttime, and at least one of the weather around the vehicle, Since the environment is specified for each matching point, it is possible to acquire only reference data suitable for matching in consideration of whether the surroundings of the vehicle correspond to daytime or nighttime, or the weather around the vehicle.

DESCRIPTION OF SYMBOLS 1 Reference data acquisition system 2 Vehicle 3 Center apparatus 10 Route search part 20 Current position detection process part 30 Operation part 40 Display 50, 70 Communication part 60 Reference data acquisition apparatus 61, 80 Control part 61a Matching point specific | specification part 61b Reference data acquisition part 62, 90 Data recording part 62a Map information DB
62b, 91 Reference data DB

Claims (8)

A reference data acquisition device for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle,
A matching point identifying unit that identifies a planned traveling route of the vehicle and identifies a matching point that may match the captured image and the reference data in the identified planned traveling route;
A reference data acquisition unit that specifies the surrounding environment that affects the captured image for each matching point, and acquires reference data corresponding to the specified surrounding environment for each matching point from the center device ,
The surrounding environment changes according to time,
The reference data acquisition means includes
Predicting the time or time zone when the vehicle arrives at each matching point, and based on the predicted time or time zone, identify the surrounding environment for each matching point,
The type of the reference data to be acquired for the matching point in the section in which the vehicle reaches in the time zone before the specified time, specifying the time when the surrounding environment changes while the vehicle is traveling on the planned travel route And the type of the reference data acquired for the matching point in the section reached by the vehicle in a time zone after the time,
Reference data acquisition device. The reference data acquisition means is a time before the time when the surrounding environment changes in a section where the vehicle arrives at a predetermined time before and after the time when the surrounding environment changes while the vehicle is traveling on the planned travel route. The reference data of both types of the type corresponding to the section where the vehicle reaches in the belt and the type corresponding to the section reached by the vehicle in the time zone after the time when the surrounding environment changes is acquired. ,
The reference data acquisition apparatus according to claim 1. The reference data acquisition means determines the predetermined time based on a prediction accuracy when predicting a point where the vehicle arrives at a time when the surrounding environment changes.
The reference data acquisition apparatus according to claim 2. The reference data acquisition means determines the prediction accuracy based on a time from a departure time of the vehicle to a time when the surrounding environment changes.
The reference data acquisition apparatus according to claim 3. The reference data acquisition means specifies whether the surrounding of the vehicle corresponds to daytime or nighttime, and at least one of the weather around the vehicle for each matching point as the surrounding environment,
The reference data acquisition device according to any one of claims 1 to 4 . A reference data acquisition system comprising a center device and a reference data acquisition device for acquiring reference data for use in matching of a captured image obtained by imaging the periphery of the vehicle,
The center device is
Reference data storage means for storing the reference data and the type information for specifying the type of the reference data corresponding to the surrounding environment that affects the captured image in association with each other,
The reference data acquisition device includes:
A matching point identifying unit that identifies a planned traveling route of the vehicle and identifies a matching point that may match the captured image and the reference data in the identified planned traveling route;
A reference that specifies a surrounding environment that affects the captured image for each matching point, and acquires reference data of a type corresponding to the specified surrounding environment for each matching point from the reference data storage unit of the center device. Data acquisition means,
The surrounding environment changes according to time,
The reference data acquisition means includes
Predicting the time or time zone when the vehicle arrives at each matching point, and based on the predicted time or time zone, identify the surrounding environment for each matching point,
The type of the reference data to be acquired for the matching point in the section in which the vehicle reaches in the time zone before the specified time, specifying the time when the surrounding environment changes while the vehicle is traveling on the planned travel route And the type of the reference data acquired for the matching point in the section reached by the vehicle in a time zone after the time,
Reference data acquisition system. A reference data acquisition method for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle,
A matching point identifying step for identifying a planned travel route of the vehicle and identifying a matching point where the captured image and the reference data may be matched in the identified planned travel route;
A reference data acquisition step in which a reference data acquisition unit specifies a surrounding environment that affects the captured image for each matching point, and acquires reference data corresponding to the specified surrounding environment from the center device for each matching point. And including
The surrounding environment changes according to time,
In the reference data acquisition step,
Predicting the time or time zone when the vehicle arrives at each matching point, and based on the predicted time or time zone, identify the surrounding environment for each matching point,
The type of the reference data to be acquired for the matching point in the section in which the vehicle reaches in the time zone before the specified time, specifying the time when the surrounding environment changes while the vehicle is traveling on the planned travel route And the type of the reference data acquired for the matching point in the section reached by the vehicle in a time zone after the time,
Reference data acquisition method. A reference data acquisition program for acquiring reference data used for matching of captured images obtained by photographing the periphery of a vehicle,
Computer
A matching point identifying unit that identifies a planned traveling route of the vehicle and identifies a matching point that may match the captured image and the reference data in the identified planned traveling route;
A reference data acquisition unit that specifies the surrounding environment that affects the captured image for each matching point, and acquires reference data corresponding to the specified surrounding environment from the center device for each matching point;
Is a reference data acquisition program to function as
The surrounding environment changes according to time,
The reference data acquisition means includes
Predicting the time or time zone when the vehicle arrives at each matching point, and based on the predicted time or time zone, identify the surrounding environment for each matching point,
The type of the reference data to be acquired for the matching point in the section in which the vehicle reaches in the time zone before the specified time, specifying the time when the surrounding environment changes while the vehicle is traveling on the planned travel route And the type of the reference data acquired for the matching point in the section reached by the vehicle in a time zone after the time,
Reference data acquisition program .

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