JP5917840B2 - Route search apparatus and route search method - Google Patents

Route search apparatus and route search method Download PDF

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JP5917840B2
JP5917840B2 JP2011133663A JP2011133663A JP5917840B2 JP 5917840 B2 JP5917840 B2 JP 5917840B2 JP 2011133663 A JP2011133663 A JP 2011133663A JP 2011133663 A JP2011133663 A JP 2011133663A JP 5917840 B2 JP5917840 B2 JP 5917840B2
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route
driver
link
evaluation value
route search
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JP2013002926A (en
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アブデラジズ キアット
アブデラジズ キアット
森山 剛
剛 森山
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日産自動車株式会社
学校法人東京工芸大学
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Description

  The present invention relates to a route search device that searches for a route that is easy for a driver to drive and a route information creation method that creates information related to a route that is easy for a driver to drive.

  A navigation device is known that reads out the meandering degree added to the road section of the candidate route from the starting point to the destination, and presents the candidate route consisting of road sections whose meandering degree of a plurality of candidate routes is a predetermined value or less as a recommended route. (Patent Document 1).

JP 2000-121374 A

  However, the recognition that it is easy to drive or difficult to drive is different for each driver, and not all drivers feel that it is difficult to drive a route with a high degree of meandering, so it is based on the degree of meandering of the route. There is a problem that it is difficult to accurately determine the ease of driving of each driver.

  The problem to be solved by the present invention is to provide a route search device and a route information creation method for searching for a route that is easy to drive from the viewpoint of the driver based on the driver's own psychological state during past route travel. .

  The present invention determines the level of the driver's psychological state based on the index amount of the feature region of the driver's face captured at the observation timing, calculates the difficulty evaluation value of the traveling link based on the determination result, and searches for the route The problem is solved by storing or updating the difficulty evaluation value of the link included in the map information used in the above.

  According to the present invention, since the difficulty evaluation value of the link based on the psychological state level obtained from the facial expression of the driver while driving is stored on the map information, the ease of driving actually felt by the driver himself in the past driving is stored. Alternatively, it is possible to obtain route information that reflects the difficulty of driving. By using the map information including the route information, it is possible to search for a route that is easy to drive from the viewpoint of each driver and feels easy to travel.

It is a block diagram which shows schematic structure of the navigation apparatus to which embodiment of this invention is applied. It is a figure for demonstrating the content of the psychological state determination process of embodiment of this invention. It is a figure for demonstrating the characteristic area | region used for the psychological state determination process of embodiment of this invention. It is a figure which shows an example of the definition of a psychological state level. It is a figure for demonstrating an example of the calculation process of the travel difficulty of each path | route in embodiment of this invention. It is a flowchart figure which shows the control procedure of the update process of the map information of the route search apparatus which concerns on embodiment of this invention. It is a flowchart figure which shows the control procedure of the search process of the recommended route of the route search apparatus which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the route search device according to the present invention is applied to a navigation device 1000 that supports driving of a vehicle and provides route guidance information will be described as an example.

  FIG. 1 is a block configuration diagram of a navigation device 1000 including a route search device 100 according to the present embodiment. As shown in FIG. 1, a navigation device 1000 according to the present embodiment includes a camera 1 installed in a vehicle, a route search device 100, point information 210 and link information 220, and map information 200 that can be read and written. A current position detection device 300 including a point detection device such as a GPS (Global Positioning System) 310, an output device 400 including a display 410 and a speaker 420, and a communication device 500 capable of communication with the outside. Can do. Each of these devices is connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other. Further, the navigation apparatus 1000 of the present embodiment can be configured to be able to exchange information by communicating with an external map information providing server (computer) 600. In this case, the navigation apparatus 1000 can search for a route using the map information provided in the map information providing server 600.

  The camera 1 is configured using an image sensor such as a charge coupled device (CCD), and is installed at a position where the head region of the driver can be imaged in order to capture the face of the driver (driver). The camera 1 captures the head region including the driver's face at a predetermined observation timing, sends the captured image to the route search apparatus 100 with information on the imaging timing. The observation timing can be arbitrarily set, and may be a timing that occurs at a predetermined cycle or may be a plurality of timings set within a predetermined time. In the present embodiment, an observation time having a predetermined time length (several minutes or more) is provided, and a plurality of observation timings (imaging timings) are set within the observation time. The camera 1 sends the captured image to the route search apparatus 100 with information on the imaging timing (observation timing).

  As shown in FIG. 1, the control device 10 of the route search apparatus 100 according to the present embodiment updates a map information 200 and stores a ROM (Read Only Memory) 12 in which a program for searching for a recommended route is stored, and the ROM 12. A CPU (Central Processing Unit) 11 as an operation circuit that functions as the route search device 100 and a RAM (Random Access Memory) 13 that functions as an accessible storage device are provided. ing.

  The control device 10 of the route search device 100 according to the present embodiment includes an image acquisition function, an index amount calculation function, a correlation degree calculation function, a determination function, an evaluation value calculation function, an update function, and a route search function. Each function can be executed by the cooperation of the software for realizing the above and the hardware described above.

  Hereinafter, each function realized by the route search device 100 according to this embodiment of the present invention will be described.

  First, the image acquisition function of the route search device 100 according to the present embodiment will be described. The control device 10 of the route search device 100 according to the present embodiment acquires a plurality of captured images captured by the camera 1 within a predetermined observation time set as the observation timing. Each captured image is attached with imaging time information, and is grouped for each captured image captured within a predetermined observation time. The route search apparatus 100 can also sequentially acquire captured images captured at observation timings that arrive at a predetermined period.

  Although not particularly limited, the observation time set as the observation timing can be an arbitrary length of several seconds to several minutes, or several minutes to several hours, and the number of imaging within the observation time can also be arbitrarily set. In this embodiment, the observation time is set to about 3 to 30 minutes. A driver who controls the driver's psychological state over a relatively long period of time by observing the facial expression of the driver over a relatively long period of time ranging from several minutes to several hours rather than an instant depending on the shutter speed. Can be determined.

  Next, the index amount calculation function of the route search device 100 according to the present embodiment will be described with reference to FIGS. In addition, the control apparatus 10 of this embodiment can analyze the data of a captured image, extract the image corresponding to a process target from the data of a captured image, and can evaluate a process target based on the extracted image. An image processing control unit (IPCU) is provided, and image processing necessary for the processing of this embodiment can be performed.

  As shown in FIG. 2, when calculating the estimated amount, the control device 10 of the route search device 100 according to the present embodiment determines whether the driver's face is facing the front direction with respect to the plurality of acquired captured images. And whether or not the driver's face is hidden is selected, and a captured image that is determined that the driver's face is facing forward and the driver's face is not hidden is selected. Whether or not there is a hidden part in the captured image can be determined based on the form of the outline of the face to be processed, the reference shape of the face, the area of the face, and the like. Also, whether or not the face is facing the front can be determined based on the direction of the coordinate axes (see XYZ coordinates in FIG. 3) of the three-dimensional coordinates of the face image extracted from the captured image. The picked-up image that has no selected hidden portion and faces the front is used for the feature region extraction process described below.

  As illustrated in FIG. 2, the route search device 100 according to the present embodiment extracts patches corresponding to the feature region of the driver's face from each acquired captured image.

  FIG. 3 shows an example of a feature region of the driver's face. FIG. 3 is a diagram in which the driver's face is oriented in the direction perpendicular to the drawing sheet (Z-axis direction), that is, the driver's face is facing the front. In the route search device 100 of the present embodiment, the forehead region between the left and right eyebrows (or the region between the eyebrows), the portion from the eyebrow to the tip of the nose, the nasal bridge region corresponding to the nasal muscles, the left and right eyes, and the right and left of the nose The cheek area, the left cheek area, the left and right dents of the mouth, the right laugh area and the left laugh area where the dent deepens when laughing, and the jaw area under the mouth are defined as feature areas.

  In the route search device 100 of the present embodiment, one or more feature regions are extracted from the captured image among the eyebrows or cheek regions of the driver's face. In the mood determination process, the feature region to be extracted may be all or a part of the above-described regions.

  Although not particularly limited, the route search device 100 of the present embodiment extracts the positions of the left and right eyes, nose, and mouth from a captured image obtained by capturing a face facing the front, and the arrangement and positional relationship of the eyes, nose, and mouth. The image data of each patch corresponding to each feature area described above is extracted based on the above. Each extracted feature region is identified for each feature region, and used for the next correlation degree calculation process. Note that the feature region extraction method is not limited, and a method known at the time of filing can be used as appropriate.

  Then, the route search device 100 according to the present embodiment calculates the index amount of each feature region in the extracted observation time (observation timing). As illustrated in FIG. 2, the route search device 100 according to the present embodiment acquires image data of each patch corresponding to a feature region, and calculates an index amount at the observation time T for each feature region. The content of the index amount calculated in the present embodiment is not particularly limited as long as it indicates the feature amount represented in the feature region, and the calculation method is not limited. In this embodiment, a comprehensive index for a certain principal component is statistically set, and a principal component score (index amount) is calculated using a principal component analysis (PCA) for grasping a relationship between variables. Ask. As the index amount at the observation time T for each feature region, an analysis method, a statistical method, or the like known at the time of filing can be used as appropriate.

  Next, the correlation degree calculation function of the route search device 100 according to the present embodiment will be described. The control device 10 of the route search device 100 according to the present embodiment uses the captured image captured at the observation timing (observation time T) when the correlation degree is calculated this time, and the feature region calculated by the method described above. The main component score (index amount) at each observation time T is obtained, and the reference index amount of each feature region calculated in advance at the reference observation time T0 when the driver is in a normal state is read from the RAM 13. This reference index amount can be calculated in advance and stored in the RAM 13.

Then, the route search device 100 of the present embodiment correlates the degree of correlation βi between the observation vector corresponding to the index amount (principal component score) at the observation time T and the eigenvector corresponding to the reference index amount (reference principal component score). Can be calculated by the following equation (1). The correlation degree calculation method is not particularly limited, and other correlation degree calculation methods can be used.

  Next, the determination function of the route search device 100 according to the present embodiment will be described. The control device 10 of the route search device 100 according to the present embodiment determines the driver's mood level based on the calculated degree of correlation.

  As shown in FIG. 2, the route search device 100 according to the present embodiment obtains a correlation degree according to the tension level and a correlation degree according to the frustration level for the correlation degree of each feature region, and calculates each of these correlation degrees. In addition, a total correlation is calculated, and a psychological state level (a mood level) at the observation time T is determined based on the total correlation. Although not particularly limited, in the present embodiment, the route search device 100 calculates the correlation according to the tension level based on the index amount of the cheek region (feature region) of the face, and calculates the correlation according to the frustration level. It can be calculated based on the index amount of the eyebrow area (characteristic area).

  Although not particularly limited, the route search apparatus 100 according to the present embodiment has a positive level that is an active psychology such as joy and pleasure, and a negative psychology such as anger, sadness, fear, and fear. It can be divided into two categories: negative level. In addition, the route search device 100 according to the present embodiment can determine the degree of the driver's mood by classifying the level into four first to fourth levels. A definition example of these mood levels is shown in FIG. As shown in FIG. 4, in this embodiment, a method of dividing the level into two levels according to the psychological state field category and a method of dividing the mood into four levels according to the level of arousal level are proposed. The mode of the level is not limited to these. In addition, since the driver himself / herself may not be aware of the level of the psychological state (mood) continuously displayed during the observation time of a predetermined length, the type of emotion that the driver himself / herself can recognize each mood level is used. In other words, the psychological state (mood) level of the present embodiment is the first level that is normal, the second level that tends to feel tension, the third level that tends to feel anger, and intense. It can be expressed as the fourth level which tends to feel anger.

  The route search device 100 according to the present embodiment stores at least temporarily the degree of mood determined based on the calculated degree of correlation and the observation time T in association with each other.

  Next, the evaluation value calculation function of the route search device 100 according to the present embodiment will be described. The route search apparatus 100 according to the present embodiment, based on the level of the driver's psychological state at the observation timing, the difficulty evaluation value (Weight) indicating the ease of driving the travel link including the observation position where the driver exists at the observation timing. Is calculated.

  The route search apparatus 100 according to the present embodiment calculates a difficulty evaluation value for each link when the end of the two nodes defining the link passes. Of course, it is also possible to calculate the difficulty evaluation values of all the links that have traveled from the departure point to the destination when the destination is reached and one trip is completed.

The route search apparatus 100 according to the present embodiment defines an evaluation value L to be given for each psychological state level in order to quantify the driver's psychological state level at the observation timing (observation time). The psychological state level of this embodiment and the evaluation value L have the relationship of the following formula 1. That is, the evaluation value becomes larger as the first level (L1) whose psychological state is close to normal, and the evaluation value becomes smaller as the fourth level (L4) is closer to the psychological state having a high arousal level.

Although not particularly limited, as shown in Table 1, in this embodiment, a positive evaluation value L is given to the positive level to which the level 1 belongs, and a negative evaluation to the negative level to which the levels 2 to 4 belong, as shown in Table 1. A value can be given. The setting of the evaluation value can be arbitrarily defined, and a negative evaluation value L may be given to the positive level and a positive evaluation value may be given to the negative level.

  The route search device 100 according to the present embodiment determines the difficulty of the travel link based on the psychological state level determined at the observation timing set between the time when the start point of each link passes and the time when the link passes the end point. Obtain the evaluation value (Weight). The obtained difficulty evaluation value (Weight) is stored at least temporarily in the map information 200 in association with the travel link. Incidentally, since the observation timing (observation time) of the difficulty evaluation value (Weight) can be identified, if the traveling link including the observation position at the observation timing is identified, the difficulty evaluation value (Weight) and the traveling link are associated with each other. Can do. The map information 200 can read link information 220 including link length, node position information defining the link, point information included in the link, and difficulty evaluation value indicating the ease of driving the link. I have.

  In addition, the route search device 100 according to the present embodiment calculates an update value (Weight link renew) for correcting the difficulty evaluation value (Weight) of each link every time one trip from the departure place to the destination ends. can do. In the present embodiment, the correction value based on the difficulty evaluation value of the travel link that is the determination target currently stored in the map information 200 and the difficulty evaluation value of the travel link calculated in the current process. Based on the above, an update value (Weight link renew) of the difficulty evaluation value to be newly recorded in the map information 200 can be calculated.

  Although not particularly limited, the correction value in the present embodiment is a psychological state level control value (mood_level (link current) that most affects the level of the psychological state determined during the travel of the travel link to be processed, and the previous value. It can be obtained using a correction factor based on the median value, mode value, average value, and other representative values of the difficulty evaluation values of the links included in the update target route traveled from the update timing to the current update timing.

  The dominant value (mood_level (link current)) of the psychological state level in the present embodiment is determined when the psychological state level having the highest number of determinations among the psychological state levels determined at the time of traveling on a certain traveling link or when traveling on a certain traveling link. Among the psychological state levels, the distance and time traveled at each psychological state level can be set to the longest psychological state level, for example, when the psychological state level is determined at a predetermined cycle, When it is determined that the psychological state of the same level 3 is found on the 7 km link, the control value can be set to “−0.2” of the evaluation value L or a value corresponding thereto. Even when 70 determination results out of 100 determination results are level 3 psychological states in time, the dominant value is “−0.2” of the evaluation value L or a value corresponding thereto. Can do.

An example of a formula for obtaining the updated value (Weight link renew) of the difficulty evaluation value is shown in the following formula (Formula 3).

As shown in Equation 3, in the present embodiment, the psychological state level control value (mood_level (link) is added to the current difficulty evaluation value (Weight link current) calculated in the previous processing and stored in the map information 200. current) divided by the correction factor that is the average value of the difficulty evaluation values of the links included in the update target route that traveled from the previous update timing to the current update timing, and the updated value of the difficulty evaluation value Calculate (Weight link renew).

  Next, the update function of the route search device 100 according to this embodiment will be described. The route search device 100 according to the present embodiment stores or updates the difficulty evaluation value of the link corresponding to the traveling link included in the map information 200 based on the calculated difficulty evaluation value of the traveling link.

  The route search device 100 is based on the current difficulty evaluation value instead of the difficulty evaluation value stored in the map information 200 in association with the traveled link each time one trip from the departure point to the destination is completed. The update value of the difficulty evaluation value of each link calculated in the above is stored.

  Finally, the route search function of the route search device 100 according to the present embodiment will be described. The route search device 100 according to the present embodiment has a difficulty evaluation value of each link included in each route (after being updated if updated) for a route from the starting point to the destination searched with reference to the map information 200. The travel difficulty level of each route is calculated on the basis of the difficulty evaluation value), and a recommended route based on the travel difficulty level is searched.

  Although not particularly limited, the route search apparatus 100 according to the present embodiment multiplies the difficulty evaluation value (updated difficulty evaluation value) of each link by the link distance, and sets this as the difficulty evaluation value (Weight) of the link. Then, the route search device 100 adds the difficulty evaluation values (Weight) of the links included in the route from the departure point to the destination, and calculates the travel difficulty level of each route.

  And the route search apparatus 100 of this embodiment can compare the travel difficulty of each route, and can search the route with the lowest travel difficulty as a recommended route. Of course, the recommended route can be determined in consideration of other factors of route selection such as the length of the route, the toll, and the time required for passing along with the travel difficulty.

In the present embodiment, as shown in the following equation (Equation 4), the route having the lowest travel difficulty (the highest difficulty evaluation value) is selected.

  Thus, since the route based on the travel difficulty level can be set as the recommended route, it is possible to search for a route that reflects the ease of travel actually felt by the driver.

  Hereinafter, a specific calculation example of the travel difficulty level of each route will be described by taking the points and routes shown in FIG. 5 as examples. In this example, the route from point A to point B in FIG. When a route from the point A to the point B is searched by a general method, a route I and a route II are searched.

Table 2 shows the psychological state levels of the routes I and II, the link length, the link difficulty evaluation value, and the travel difficulty of the route based on these. In addition, the evaluation value which calculates | requires the difficulty evaluation value of a link used what is shown in Table 1.

  As shown in Table 2, the driving difficulty of the driver for the route I in this example is −0.3 (driving difficulty Path1 = L1 * 2 + L2 * 1 + L2 * 10 + L1 * 2 + L1 * 2 + L1 * 3 + (L2 * 3 + L1 * 1 + L1 * 1) =-0.3), on the other hand, the driving difficulty of the driver for Route II is -2.3 (driving difficulty Path2 = L2 * 1 + L3 * 7 + L2 * 1 + L3 * 3 + L1 * 4.5 + (L2 * 3 + L1 * 1 + L1 * 1) =-2.3). According to Equation 4, the route I having the maximum value is the recommended route having the lowest travel difficulty. Since the searched recommended route is based on the psychological state determined from the driver's own facial expression, the easy-to-run route of each driver can be searched with high accuracy.

  In the map shown in FIG. 5, a link with a psychological state level of 1 is marked with a mark 1 indicating a smile in a rectangular frame, and a link with a psychological state level of 2 has a small sun mark 2. A large sun mark 3 is attached to a link having a psychological state level of 3, so that the correspondence between the driver's psychological state and the route is visible. With the mark indicating the level of the psychological state level, it is possible to visually confirm which route is easy for the driver to run.

  Subsequently, the control procedure of the route search apparatus 100 of the present embodiment will be described based on the flowcharts shown in FIGS. 6 and 7. FIG. 6 shows a control procedure of map information update processing, and FIG. 7 is a flowchart showing a control procedure of recommended route search processing.

  As shown in FIG. 6, in step 101, the route search device 100 according to the present embodiment starts the difficulty evaluation value calculation and storage process using the start of travel as a trigger.

  In step 102, the route search device 100 of the present embodiment sets an observation time T as the observation timing, and starts imaging the vicinity of the driver's head using the camera 1. The observation time T can be set in advance with a predetermined length of several minutes to several hours.

  Next, in step 103, the route search apparatus 100 according to the present embodiment detects an image corresponding to the face from the captured image, tracks facial feature parts such as eyes, nose, and mouth, and positions each feature part at the position. In response, each feature region shown in FIG. 3 is extracted. Although not particularly limited, in this process, an image of the interbrow region and an image of the left and right cheek regions that are likely to be affected by the arousal level are extracted as feature regions.

  Although not particularly limited, the route search apparatus 100 does not include a portion (a chip) hidden by a hand or the like in the image corresponding to the face as the captured image for performing the feature region extraction process, and the driver's face orientation (FIG. 3). (The amount of deviation from the Z-axis direction) shown in FIG. If the number of picked-up images selected during the observation time T is less than a predetermined number, it is possible to cancel the mood determination process because an accurate determination cannot be made.

  In step 104, the route search apparatus 100 according to the present embodiment calculates an index amount (principal component score) of each feature region using a principal component analysis (PCA) method.

  In step 105, the route search device 100 according to the present embodiment calculates the degree of correlation between the index amount at the observation time T calculated in step 104 and the index amount at the reference reference observation time T0, and calculates the calculated correlation. Based on the degree, it is determined which of the four mood levels shown in FIG. 4 the driver's mood at the observation time T belongs to.

  In step 121 performed in parallel with the processing from step 102 to step 105 described above, the route search device 100 uses the current position detection device 200 to detect the observation position where the host vehicle is present at the observation timing. In step 122, the route search device 100 refers to the map information 200 and specifies a travel link including the observation position.

  In step 106, the route search device 100 acquires the user's psychological state level at the observation timing determined in step 105 and the travel link specified in step 122.

  In step 107, the route search device 100 determines whether or not the vehicle has arrived at the destination and travel has been completed as a trigger for calculating the difficulty evaluation value. The trigger for calculating the difficulty evaluation value is not limited to arrival at the destination, but when an arbitrary set time, an ignition key-off signal is input, or when an ignition key signal is input after an arbitrary set time, etc. be able to.

  The route search apparatus 100 continues the difficulty evaluation value calculation process in and after step 103 until the travel is completed. The calculated difficulty evaluation value can be stored at least temporarily.

  When it is determined in step 107 that the travel is completed, the process proceeds to step 108, and the route search device 100 calculates the difficulty evaluation value of each route based on the driver's psychological state.

  In step 109, the route search device 100 can perform a correction process when obtaining an update value of the difficulty evaluation value to be stored or updated this time. The route search device 100 according to the present embodiment updates the control value of the psychological state level that most affects the level of the psychological state determined at the time of traveling on the travel link from the previous update timing to the current update timing. An updated value of the traveling link difficulty evaluation value is calculated by dividing by a correction factor based on the representative value of the difficulty evaluation value of the link included in the route.

  In step 110, the route search device 100 stores / updates the calculated route search device 100 in the map information 200.

  Next, the recommended route search process will be described with reference to FIG. In step 201, when a route search request is input, the route search device 100 of the present embodiment starts a recommended route search process.

  Subsequently, in Step 202, the route search device 100 according to the present embodiment acquires the destination input with the route search request and the departure point acquired from the current position detection device 300.

  In step 203, the route search device 100 reads the map information 300 and searches for a route from the departure point to the destination. There may be a plurality of search routes.

  In step 204, the route search device 100 calculates the travel difficulty level of each route based on the difficulty evaluation value of each link included in each searched route.

  Next, in step 205, the route search device 100 compares the travel difficulty levels of the routes, selects the route that is evaluated as being most easily traveled as a recommended route, and presents it on the display 410. In addition to the travel difficulty level, when considering the travel distance, the fee, and the degree of traffic jam, these can be weighted and comprehensively evaluated.

  When the presented recommended route is approved by the driver in step 206, the process proceeds to step 207, and the approved route is specified as the recommended route. On the other hand, if it is not approved, the next route that is evaluated as easy to travel is selected and presented.

  Finally, in step 208, provision of guidance information for the specified recommended route is started. The guidance information providing method is common to the method used in a general navigation apparatus.

  In the present embodiment, the case where the route search device 100 that performs the route information generation processing including the difficulty evaluation value is mounted on the vehicle has been described as an example. However, the route information generation according to the embodiment of the present invention is described. The method can also be executed in a route information providing server 600 (computer / control device) capable of exchanging information with a client computer (computer such as a navigation device or a mobile phone) that performs route search processing. The route information providing server is disposed at a location separated from the client, and can provide route information including information on the difficulty level evaluation value and the travel difficulty level in response to a request from the client computer.

  The route information providing server 600 capable of exchanging information with the client computer can execute the route information creation method by the following processing. Specifically, the route information providing server 600 extracts each feature region of the driver's face from the captured image of the head region of the driver driving the vehicle (moving body), which is imaged at the observation timing. Based on the step of calculating the index amount of the region, and the correlation between the index amount of each feature region and the reference index amount of each feature region calculated in advance at the reference observation timing as a reference, the psychology of the driver at the observation timing A step of determining a state level, a step of calculating a difficulty evaluation value indicating the ease of driving the travel link including the observation position where the driver exists based on the level of the psychological state of the driver at the observation timing, and Storing the difficulty evaluation value of the travel link associated with the link corresponding to the travel link included in the route information 672; By executing creates route information 612.

  Although not particularly limited, the difficulty evaluation values included in the route information 612 can be organized for each user identification information. This makes it possible to create route information that individually reflects the ease of driving for each user.

  On the other hand, difficulty evaluation values collected from a plurality of users can be statistically processed and created as one piece of route information 612. Thereby, the route information reflecting the statistical tendency of the ease of driving felt by a plurality of users can be created.

  The route information providing server 600 and the navigation device 1000 (client server) in this embodiment can constitute a route search system. The client computer accesses the map information 610 of the route information providing server 600, searches for a route from the departure point to the destination with reference to the map information 610, and sets the difficulty evaluation value of each link included in each route. It is possible to search for a recommended route based on the travel difficulty level of each route. Since the specific contents of the process are common to the route search apparatus 100 and the navigation apparatus 1000 of the present embodiment, these descriptions are used.

  Since the route search device 100 of the present embodiment of the present invention is configured as described above and operates as described above, the following effects can be obtained.

  According to the route search device 100 according to the present embodiment of the present invention, since the difficulty evaluation value of the link based on the psychological state level obtained from the facial expression of the driving driver is stored in the map information 200, 610, the driver himself / herself It is possible to obtain map information 200 and route information 612 reflecting the ease of driving or the difficulty of driving actually felt in driving, and using these information, it is realized that each driver is easy to drive A possible route can be searched.

  According to the route search device 100 according to the embodiment of the present invention, the difficulty evaluation value of the travel link is updated using the dominant value of the psychological state level that most affects the level of the psychological state determined when the travel link travels. Since the value is calculated, the difficulty evaluation value can be updated by reflecting the actual ease of driving or difficulty of driving during driving.

  According to the route search device 100 according to the present embodiment of the present invention, the dominant factor used for the update is divided by a correction factor reflecting the driver's psychological state in the entire travel, so that the characteristic is observed at a certain link. The influence of the driver's psychological state on the difficulty evaluation value can be mitigated. Thereby, the difficulty evaluation value of each link can be corrected in consideration of the psychological state of the driver seen when observing for a long time. For example, when the driver's psychological state when observed for a long time is normal, the psychological state is determined to be level 4 (furious) by the driver's temporary facial expression in one traveling link, and the dominant value is biased Even in the case of (small value), it can be corrected to approach the basic psychological state (normal) of the driver. As a result, the actual psychological state of the driver can be accurately reflected in the difficulty evaluation value, and a route that matches the ease of travel that the driver actually felt can be searched.

  According to the mood determination method of the embodiment of the present invention, route information in which the difficulty evaluation value actually felt by the driver is associated with the link can be created, and thus the same operation as that of the route search device 100 described above can be achieved. The effect of can be obtained.

  It should be noted that all the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  In this specification, the route search device 100 and the navigation device 1000 will be described as an example of the route search device according to the present invention, but the present invention is not limited to this.

  Further, in this specification, as an example of the route search device according to the present invention, the route search device 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example, but the present invention is not limited thereto. .

  Further, in the present specification, the route search according to the present invention includes an image acquisition unit, an index amount calculation unit, a correlation degree calculation unit, a determination unit, an evaluation value calculation unit, an update unit, and a route search unit. The route search device 100 will be described as an aspect of the device, but is not limited thereto.

  In the present specification, as one aspect of the route search device according to the present invention, the route search device 100 according to the present invention, the map information 200, the current position detection device 300, the output device 400, and the communication device 500 are provided. The navigation apparatus 1000 will be described as an example, but the present invention is not limited to this. The navigation device 1000 and the route search server 600 can constitute a route search system.

1000 ... Navigation device 100 ... Route search device 10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 1 ... Camera 200 ... Map information 300 ... Current position detection apparatus 400 ... Output device 500 ... Communication apparatus 600 ... Map information provision server

Claims (2)

  1. A route search device that searches for a route from a departure place to a destination by referring to map information including link information,
    Image acquisition means for acquiring a captured image captured at a preset observation timing using a camera capable of capturing the head region of the driver who operates the moving body;
    Index amount calculation means for extracting the feature region of the driver's face from each captured image, and calculating the index amount of each feature region at the extracted observation timing;
    At the reference observation timing that serves as a reference, the driver's facial feature area is extracted from the image captured by the driver, and the reference index amount of each feature area at the extracted reference observation timing is calculated in advance. Correlation degree calculating means for calculating the degree of correlation between the index quantity calculated by the index quantity calculating means and the reference index quantity ;
    A determination means for determining a level of the psychological state of the driver at the observation timing based on the calculated degree of correlation;
    Based on the level of the psychological state of the driver at the observation timing, an evaluation value calculation means for calculating a difficulty evaluation value indicating the ease of driving the travel link including the observation position where the moving body is present at the observation timing;
    Update means for storing or updating the difficulty evaluation value of the link corresponding to the traveling link included in the map information based on the calculated difficulty evaluation value of the traveling link;
    For the route from the starting point to the destination searched with reference to the map information, the driving difficulty level of each route is calculated based on the difficulty evaluation value of each link included in each route, and the driving difficulty level A route search means for searching a recommended route based on the degree;
    A route search device comprising:
  2. A route search method used in a route search device for searching a route from a departure place to a destination with reference to map information including link information,
    The route search device includes an image acquisition means, an index amount calculation means, a correlation degree calculation means, a determination means, an evaluation value calculation means, an update means, and a route search means,
    The image acquisition means performs a step of acquiring a captured image captured at a preset observation timing using a camera capable of capturing the head region of a driver who operates the moving body,
    The index amount calculation means extracts a feature region of the driver's face from each captured image, and executes a step of calculating an index amount of each feature region at the extracted observation timing,
    The correlation degree calculating unit extracts a feature region of the driver's face from the captured image of the driver at a reference observation timing as a reference, and a reference index amount of each feature region at the extracted reference observation timing And calculating a correlation degree between the index amount calculated by the index amount calculation means and the reference index amount,
    The determination means executes a step of determining the level of the psychological state of the driver at the observation timing based on the calculated degree of correlation,
    The evaluation value calculation means calculates a difficulty evaluation value indicating the ease of driving the travel link including the observation position where the moving body is present at the observation timing, based on the level of the psychological state of the driver at the observation timing. Perform steps,
    The updating means executes a step of storing or updating a difficulty evaluation value of a link corresponding to the traveling link included in the map information, based on the calculated difficulty evaluation value of the traveling link,
    The route search means determines the travel difficulty level of each route based on the difficulty evaluation value of each link included in each route for the route from the starting point to the destination searched with reference to the map information. A route search method that calculates and executes a step of searching for a recommended route based on the travel difficulty level.
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