JP6011683B1 - Probe data matching processing method - Google Patents

Abstract

Provided is a probe data matching processing method that can improve the matching accuracy of probes to links, and thus can easily and accurately cope with the necessity of complementing between links. When each probe is matched with a link or a node existing in a predetermined area centered on the probe, the link is obtained when there is only one target link in the predetermined area. When there are a plurality of target links in the predetermined area, when these links share the node, the probe is matched to the node, If the node is not shared, the probe is matched to the link closest to the probe. [Selection] Figure 1

Description

  The present invention relates to a probe data matching processing method used when a travel link is created by superimposing probe data obtained from a moving body such as a person or a vehicle on a digital road map.

  In a mobile object such as a truck, bus, or taxi equipped with a mobile phone having a GPS function or a car navigation device, the position information and time of the mobile object are recorded in time series as probe data at regular intervals. Go. Therefore, the probe data obtained in this way is a collection of point information.

  For this reason, in order to obtain the travel speed and travel time of a moving object on the road using the probe data, the link on which the moving object has moved in advance by superimposing the point information of the probe data on the digital road map It is necessary to specify (road).

  However, in general, a difference caused by an error or the like occurs between the position information included in the nodes (intersections) and links (roads) included in the digital road information and the position information collected by the probe data.

  For this reason, in order to superimpose the moving route of the moving body on the digital road map, it is necessary to first perform processing for matching individual probes in the probe data with links on the digital road map. Incidentally, the following Patent Document 1 discloses a conventional link matching processing method of this type.

  However, in the above conventional link matching processing method, since a certain probe is always matched to the closest link among a plurality of links existing in the set area, the link is mismatched. If there are multiple links between the links matched by the next probe, it will be difficult to estimate the path of the moving object and complement it, or it may cause false estimation. There was a risk of it.

Japanese Patent No. 4584344

  The present invention has been made in view of the above circumstances, and can improve the matching accuracy of the probe to the link. Therefore, even when it is necessary to complement between the links, it is possible to easily and accurately cope with the link. It is an object of the present invention to provide a probe data matching processing method.

In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that probe data including a series of probes having time and position information obtained from a mobile object, a node specified by the position information, and the adjacent node From the road map information provided with the link specified by connecting the nodes, the link or the node existing in the predetermined area centered on the probe by using the matching means and the estimation means In the probe data matching method for estimating the path traveled by the moving object and matching the path , the matching means may include the probe on the link when there is only one target link in the predetermined area. When there are multiple target links in the specified area The plurality If this link share the node, as well as matching the probe to the node, if it does not share the node is matched to the probe to the link closest to the probe, the The estimation means may include the first link when there are a plurality of links between the first link matched by one of the probes and the second link matched by the next probe of the one probe. The angle formed between adjacent links is integrated with respect to a plurality of paths consisting of a plurality of links from the first link to the second link, and the path with the smallest integrated angle is estimated as the path traveled by the moving body. It is characterized by this.

The invention according to claim 2 is the invention according to claim 1, wherein the matching means is a case where there are a plurality of target links in the predetermined area, and the plurality of the links When a link does not share the node, if there is a link that is continuous with the link matched by the immediately preceding probe in the series of probes in the plurality of links, the probe is matched with the link. It is characterized by.

According to the first or second aspect of the present invention, when there are a plurality of target links in a predetermined area centered on the probe, when the plurality of links share the node, Matching the probe to the node and not matching the node for the first time, it matches the link closest to the probe for the first time. The occurrence of mismatching can be greatly suppressed.

  As a result, especially after matching multiple probes to each link, when it is necessary to complement between these links, it is possible to prevent supplementary processing from becoming difficult due to mismatching or inducing false estimation. Therefore, it becomes possible to cope with it easily and with high accuracy.

  Further, in a case where a plurality of links existing in the predetermined area do not share a node, in the invention according to claim 2, in the plurality of links, the immediately preceding probe continues to the matched link. When there is a link, because the probe is matched to the link, the next link can be matched to the link that has a high probability that the moving body has moved with respect to the path followed by the previous probe. The matching accuracy can be further increased.

  Here, a link that is continuous with the link matched by the immediately preceding probe can extract, for example, a link having an acute angle formed by the matched link and an adjacent link as the continuous link.

By the way, when there are still a plurality of links between the links matched by the above method, in order to specify the moving path of the moving body, the link estimated to have moved between the matched links. It is necessary to supplement.

At this time, according to the invention described in claim 1, the first link in which one of the probes is matched, the path of the plurality of types for a plurality of links leading to the second link next probe matched Extracting and integrating the angles formed between adjacent links for each route, and presuming the route with the smallest accumulated angle as the route traveled by the moving body, and thus complementing processing, especially the moving body When is a vehicle, the link that is most likely to have moved can be selected and complemented.

It is a flowchart for implementing one Embodiment of this invention. It is a schematic diagram for demonstrating the meaning of the continuous link of FIG. It is a mimetic diagram for explaining one embodiment of the present invention. It is a schematic diagram for demonstrating the method of complementing between links in the said one Embodiment.

In the following, an embodiment of a probe data matching processing method according to the present invention will be described with reference to FIGS.
In this matching processing method, probe data having a series of probes obtained from a mobile object such as a person carrying a mobile phone having a GPS function or various vehicles equipped with a car navigation device at a certain time interval is obtained over time. It is used when the route on which the moving body has moved is specified by being superimposed on a digital road map (hereinafter abbreviated as a road map) such as DRM.

  Here, the probe is one in which position information (latitude and longitude) and time of a moving body are recorded in time series at regular intervals. The road map includes information on nodes (intersections) specified by position information (latitude and longitude) and information on links (roads) specified by connecting adjacent nodes. .

First, a method for sequentially matching the probes 1 to 3 shown in FIG. 3 to the nodes 1 to 9 and the links L _{12 to} L ₈₉ of the road map will be described based on the flowchart shown in FIG.
The operation of sequentially matching the probes 1 to 3 to the nodes 1 to 9 and the links L _{12 to} L ₈₉ of the road map can be performed using a general-purpose computer (for example, a PC). This PC is connected to a CPU (main control unit) that performs overall control through a storage device such as a hard disk, an input device such as a keyboard and a mouse, and a monitor that displays input / output data via an input / output control unit. It is well known.

In the storage device, the digital data including the nodes 1 to 9 and L _{12 to} L ₈₉ of the road map, the digital data of the probes 1 to 3 and an execution program (matching means) for performing processing for matching them. And estimation means) are stored.

The matching method using the PC will be described as the operation of the execution program. When the operator selects the probe 1 first acquired in the time series from the input device, the execution program refers to the road map. Te, area set in advance the position information of the probe 1 (e.g., the center and the area less than 20m probe 1) selects a link L ₁₂ present in the. Then, in FIG. 3, the link of interest in the above area, in order only the link _12, matching the probe 1 to the link L _12.

  Incidentally, if there is no target link in the area, the matching process is not performed on the probe.

Next, when the probe 2 acquired next to the probe 1 in the time series is selected, the execution program similarly sets the target link L ₂₃ , link L _34, and link L ₃₅ in the predetermined area. Extract. Then, with respect to the link L ₂₃ , the link L _34, and the link L ₃₅ , it is determined whether or not there is a link continuous to the link L ₁₂ matched with the immediately preceding probe 1.

Here, regarding a method for determining a link that is continuous with a link matched by the immediately preceding probe, as a precondition, “continuous” includes not only the adjacent link but also a case where a plurality of links are continuous. This will be described in detail with reference to FIG. 2, link probe A immediately before is when matched to the link L _ab, the adjacent links across the acute angle between the extended line of the link L _ab, to the continuous Judge as.

That is, the links L _bd → L _de and L _bf → L _fg adjacent to the link L _ab matched by the immediately preceding probe A with the acute angles θ ₁ and θ ₂ are continuous links to the link _Lab. Judge that there is. On the other hand, since the angle θ ₃ formed by the link L _bc with the link _ab is 90 ° and not an acute angle, it is determined that the link L _bc is not a link continuous to the link _ab .

Therefore, when the probe B is acquired after the probe A in the above time series, the link L _fg existing in the area is determined to be a link continuous to the link _Lab matching the probe A. If the probe C is acquired after the probe A in the above time series, the link L _de existing in the area is also determined to be a link continuous with the link _Lab matching the probe A.

Based on the above determination method, in FIG. 3, for the link L ₂₃ , link L _34, and link L ₃₅ to be matched with the probe 2, the link L ₂₃ and the link that are continuous with the link L ₁₂ matched by the immediately preceding probe 1. L ₃₅ is first determined as the link to which the probe 2 matches. In addition, although the said acute angle is an angle set suitably, it is preferable to select an angle of 30 degrees or less, for example.

As shown in FIG. 1, since there are a plurality of links that are continuous to the link L ₁₂ matched by the immediately preceding probe 1, and the link L ₂₃ and the link L ₃₅ share the node 3, the probe 2 is Matched to node 3 above.

  If there are multiple links in the area of a probe that are continuous with the link matched by the previous probe, and the multiple links do not share a node, they are closest to the probe. Match the link you made.

Next, for the probe 3 acquired after the probe 2, the two links L ₆₇ and L ₈₉ are targeted in the area, but the link continuing to the node 3 matched by the immediately preceding probe 2 is Since only the link L ₆₇ is present, the probe 3 is determined to match the link L ₆₇ .

As described above, when links or nodes are sequentially matched with respect to the probe as described above, for example, if the time interval for acquiring the probe is relatively long with respect to the moving speed of the moving object, as shown in FIG. Between the first link L ₁₀₁₁ matched with the probe 10 and the second link L ₁₃₁₆ matched with the probe 11 next to the probe 10, there are a plurality of links that are not matched with the probe. For this reason, in order to estimate the moving path of the moving body, it is necessary to complement between the first link L ₁₀₁₁ and the second link L ₁₃₁₆ .

In such a case, an angle formed between adjacent links is integrated with respect to a plurality of paths including a plurality of links from the first link L ₁₀₁₁ to the second link L ₁₃₁₆ , and the most integrated angle is obtained. Is estimated to be the route traveled by the moving body.

Specifically, in FIG. 4, the angle θ ₄ + θ ₆ + θ ₈ is calculated for the link L ₁₁₁₂ → the link L ₁₂₁₃ → the second link L ₁₃₁₆ , and the link L ₁₁₁₄ → link L ₁₄₁₅ → link L ₁₅₁₃ → second The angle θ ₅ + θ ₉ + θ ₁₀ + 0 ° is calculated for the link L ₁₃₁₆ . Similarly, link L ₁₁₁₂ → link L ₁₂₁₅ → link L ₁₅₁₃ → second link L ₁₃₁₆ and link L ₁₁₁₄ → link L ₁₄₁₅ → link L ₁₅₁₂ → link L ₁₂₁₃ → second link L ₁₃₁₆ are adjacent to each other. Accumulate the angle between links.

Then, the link L ₁₁₁₂ → link L ₁₂₁₃ which is the route with the smallest accumulated angle among the angles accumulated with respect to the plurality of routes (four ways in FIG. 4) is complemented, and the route of the moving body is changed to the first route. It is estimated that one link L ₁₀₁₁ → link L ₁₁₁₂ → link L ₁₂₁₃ → second link L ₁₃₁₆ .

  As described above, according to the probe data matching processing method configured as described above, when there are a plurality of target links in a predetermined area centered on the probe, the plurality of links are the above nodes. If the node is shared, the probe is matched to the node, and if the node is not shared, the link closest to the probe is matched for the first time. The occurrence of mismatching can be greatly suppressed as compared with the method of matching with.

  As a result, especially after matching a plurality of probes with each link, when it is necessary to complement between the links as shown in FIG. 4, the complement processing becomes difficult due to mismatching, or erroneous estimation is induced. This can be prevented, and therefore, it is possible to cope with it easily and with high accuracy.

Further, as shown in FIG. 3, when the two links L ₆₇ and L ₈₉ existing in a predetermined area of the probe 3 do not share a node, the probe 3 is connected to the two links L ₆₇ , to probe 2 immediately before in the link L ₈₉ is then matched to the link L ₆₇ continuous to the link L ₃₅ which is matched, the link L ₃₅ of the probe 2 of the immediately preceding traced, the probability that the mobile has moved Matching with the high link L ₆₇ can be achieved, and matching accuracy can be further increased.

Furthermore, as shown in FIG. 4, when a plurality of links are still interposed between the first link L ₁₀₁₁ and the second link L ₁₃₁₆ that match the probes 10 and 11 that are continuous in time series. , Four routes are extracted for six links from the first link L ₁₀₁₁ to the second link L _1316, and the angle formed between the adjacent links is added to each route. Link L ₁₁₁₂ which is a route with a small integrated angle → Link L ₁₂₁₃ is presumed to be a route on which the moving body has moved, and is complemented. Therefore, there is a high possibility of moving most particularly when the moving body is a vehicle. You can select a link to complete.

1-16 nodes L link

Claims (2)

Road map information including probe data including a series of probes having time and position information obtained from a moving object, a node specified by the position information, and a link specified by connecting the adjacent nodes. Probe data for matching each probe with the link or the node existing in a predetermined area centered on the probe and estimating the path traveled by the moving body using matching means and estimation means In the matching method of
In the case where there is only one target link in the predetermined area , the matching means matches the probe to the link, and when there are a plurality of target links in the predetermined area. When these multiple links share the node, the probe is matched to the node, and when the node is not shared, the probe is matched to the link closest to the probe,
The estimation means is configured to output the first link when a plurality of links exist between a first link matched by one probe and a second link matched by a probe next to the one probe. For a plurality of paths composed of a plurality of links from the link to the second link, the angles formed between adjacent links are integrated, and the path with the smallest integrated angle is estimated as the path traveled by the moving body. And a probe data matching processing method. In the case where there are a plurality of target links in the predetermined area and the plurality of links do not share the node, the matching means includes the series of links in the plurality of links. 2. The probe data matching processing method according to claim 1, wherein when there is a continuous link to the link matched with the immediately preceding probe among the probes, the probe is matched with the link.

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