JP6611187B2 - Program, apparatus and method for estimating path of movement trajectory by interpolation at history point - Google Patents

Description

  The present invention relates to a technique for estimating a movement trajectory of a user who has a mobile terminal.

  2. Description of the Related Art Conventionally, there is a technique for accurately identifying which moving body is a trajectory even when the trajectory of the moving body is frequently interrupted (see, for example, Patent Document 1). According to this technique, an image captured by a camera is used to estimate a person's movement trajectory (flow line). Identification information and feature information of a specific person are learned in advance, and an image of the person is extracted from the operation stage video. Accordingly, it is possible to estimate the flow line of a specific person from videos captured by a plurality of different cameras.

  There is also a technique for correcting the flow line of a moving body with high accuracy within an observation region (see, for example, Patent Document 2). According to this technology, position information of a plurality of equipment devices installed in the observation area is stored in advance, and when the moving body approaches or comes into contact with these equipment devices, the equipment is moved using the position information of the equipment devices. Correct body flow.

Japanese Patent No. 5682563 JP 2010-197194 A

According to the technique described in Patent Document 1, it is necessary to install a camera in the area of the person's flow line and take a picture of the person.
According to the technique described in Patent Document 2, it is necessary to arrange a facility device equipped with a communication device in the area of a person's flow line. The communication device of the facility apparatus needs to transmit the data to the server every time the mobile object approaches or contacts.
Thus, according to the prior art, another device such as a camera or a facility device is required to detect the trajectory of the moving body with high accuracy.

On the other hand, when detecting a movement trajectory with high accuracy only from the position information of the mobile terminal, the mobile terminal needs to transmit the position information measured by itself to the server with high frequency (high density).
However, when a GPS (Global Positioning System) is used, the mobile terminal must always activate the GPS and transmit the position information constantly, which is a heavy burden from the viewpoint of power consumption and radio resources of the mobile terminal.
Further, in the case of base station positioning, the spatial granularity of base station arrangement is coarse, and high positioning accuracy cannot be obtained like GPS.
Further, in the case of a wireless LAN or BLE (Bluetooth Low Energy), positioning accuracy is high, but only position information for a narrow indoor area can be detected.
Furthermore, in the case of PDR (Pedestrian Dead Reckoning, autonomous navigation for pedestrians), it is necessary to always activate in order to acquire the movement trajectory of the user, and other information such as the starting point and direction is required for positioning. .
Furthermore, the route can be estimated by mapping to a map using low-density position information, but the route with the shortest distance or the shortest time is easily estimated. Also, the estimated route is likely to be limited to a road having a wide road width, for example.

  Therefore, an object of the present invention is to provide a program, an apparatus, and a method capable of estimating a route with high accuracy using as little position information as possible in a movement trajectory of a mobile terminal.

According to the present invention, a program for causing a computer to function so as to estimate a route between a pre-movement point and a post-movement point along a movement trajectory of a route estimation target,
History point storage means for storing each history point based on a plurality of past movement trajectories,
A selection condition setting means for setting a predetermined azimuth angle in advance;
A moving direction calculating means for calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
Interpolation point selection means for selecting a history point included in the area range of “predetermined azimuth” from the pre-movement point toward the movement direction from a plurality of history points accumulated in the history point accumulation means;
The computer is caused to function as route estimation means for interpolating and estimating a route between a point before movement and a point after movement at a history point selected by the interpolation point selection means.

According to another embodiment of the program of the present invention,
It is also preferable that the interpolation point selection means causes the computer to function so as to further narrow down and select history points included in the area range of a predetermined azimuth angle toward the reverse moving direction from the post-movement point to the pre-movement point.

According to another embodiment of the program of the present invention,
The history point accumulation means accumulates the first history direction from the history point to the history point after movement in association with each history point based on a plurality of past movement trajectories,
The selection condition setting means further sets “first predetermined orientation difference”,
The interpolation point selection means preferably causes the computer to function so as to further narrow down and select the history points of the first history direction in which the difference from the moving direction of the route estimation target is equal to or less than the first predetermined direction difference.

According to another embodiment of the program of the present invention,
The history point accumulation means accumulates each history point based on a plurality of past movement trajectories in association with the second history direction from the history point to the post-movement point of the route estimation target,
The selection condition setting means further sets “second predetermined orientation difference”,
The interpolation point selection means preferably causes the computer to function so as to further select and select the history points of the second history direction in which the difference from the moving direction of the route estimation target is equal to or less than the second predetermined direction difference.

According to another embodiment of the program of the present invention,
The history point accumulation means accumulates the history speed associated with the passage of time from the history point to the history point after the movement in association with each history point based on a plurality of past movement trajectories,
Further function as a movement speed calculation means for calculating the movement speed from the pre-movement point to the post-movement point along the movement path of the route estimation target,
The selection condition setting means further sets a “predetermined speed difference”,
The interpolation point selection means preferably causes the computer to function so as to further select and select history points having a history speed at which the difference from the moving speed of the route estimation target is a predetermined speed difference or less.

According to another embodiment of the program of the present invention,
The history point accumulating means accumulates each history point based on a plurality of past movement loci in association with the history date and time when the history point is recorded,
The selection condition setting means further sets a “predetermined time range”,
It is also preferable that the interpolation point selection means causes the computer to function so as to further narrow down and select the history points of the history date and time included in the predetermined date and time range.

According to another embodiment of the program of the present invention,
The history point accumulation means accumulates the history time at which the history point is recorded in further association with each history point based on a plurality of past movement trajectories,
The interpolation point selection means has a time difference between the history time of the first history point and the history time of the second history point equal to or greater than the “predetermined time difference” and / or the first history point and the second history point. It is also preferable to make the computer function so that the history points are thinned out and selected so that the distance between the points is equal to or greater than the “predetermined distance”.

According to another embodiment of the program of the present invention,
Interpolation point selection means that the distance from the pre-movement point to the history point is equal to or less than the “movement distance” from the pre-movement point to the post-movement point, and / or the time from the pre-movement point time to the historical point time. However, it is also preferable to make the computer function so that the history points are thinned out and selected so as to be equal to or less than the “movement time” from the time before the movement to the time after the movement.

According to another embodiment of the program of the present invention,
A moving point accumulating means for accumulating a plurality of moving points along the movement trajectory of the route estimation target;
The distance between the pre-movement point and the post-movement point is not less than the “predetermined movement distance”, the time difference between the time before the movement point and the time after the movement is not less than the “predetermined movement time”, and Or, the pre-movement point and the post-movement point are selected from the plurality of movement points of the movement point storage means so that the movement point between the pre-movement point and the post-movement point is equal to or less than the “predetermined number of movement points”. It is also preferable to cause the computer to function as a moving point determining means for determining

According to another embodiment of the program of the present invention,
The movement points along the movement trajectory of the route estimation target and the history points based on a plurality of past movement trajectories accumulated in the history point accumulation means are recorded by the same user or by different users,
The selection condition setting means preferably causes the computer to function so as to separately set a selection condition for the same user and a selection condition for different users.

According to the present invention, an apparatus for estimating a route between a pre-movement point and a post-movement point along a movement locus of a route estimation target,
History point storage means for storing each history point based on a plurality of past movement trajectories,
A selection condition setting means for setting a predetermined azimuth angle in advance;
A moving direction calculating means for calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
Interpolation point selection means for selecting a history point included in the area range of “predetermined azimuth” from the pre-movement point toward the movement direction from a plurality of history points accumulated in the history point accumulation means;
It is characterized by having route estimation means for interpolating and estimating a route between a point before movement and a point after movement at a history point selected by the interpolation point selection means.

According to the present invention, there is provided a route estimation method for a device that estimates a route between a pre-movement point and a post-movement point along a movement locus of a route estimation target,
The device
A history point accumulation unit that accumulates each history point based on a plurality of past movement trajectories,
A selection condition setting unit in which a predetermined azimuth is set in advance,
The device
A first step of calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
A second step of selecting a history point included in the area range of the “predetermined azimuth” from the pre-movement point toward the moving direction from a plurality of historical points stored in the historical point storage unit;
A third step is performed, in which a route between a pre-movement point and a post-movement point to be estimated is interpolated and estimated at the history point selected in the second step.

  According to the program, apparatus, and method of the present invention, a route can be estimated with high accuracy by using as little position information as possible in the movement trajectory of the mobile terminal.

It is explanatory drawing showing the movement path | route of the user who possessed the portable terminal. It is explanatory drawing showing the movement point and the log | history point for interpolation in this invention. It is a functional block diagram of the route estimation apparatus in this invention. It is explanatory drawing showing the geographical range of the predetermined azimuth angle with respect to the moving azimuth | direction in this invention. It is explanatory drawing showing the geographic range of the predetermined azimuth angle with respect to the reverse moving azimuth | direction in this invention. It is explanatory drawing showing the log | history point within the 1st predetermined azimuth | direction difference with respect to the moving direction in this invention. It is explanatory drawing showing the log | history point within the predetermined speed difference with respect to the moving speed in this invention. It is explanatory drawing showing the log | history point included in the predetermined date time range in this invention. It is explanatory drawing showing determination of the movement point which should estimate the path | route in this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an explanatory diagram showing a travel route of a user who has a mobile terminal.

  According to FIG. 1, the route estimation device 1 is arranged in a wide area wireless communication network and can receive data from the mobile terminal 2. The mobile terminal 2 is like a smartphone, a tablet, a mobile phone, or a wearable device, and generally has a positioning function. For example, the mobile terminal 2 can transmit a moving point (latitude and longitude) measured by the GPS itself to the route estimation device 1. The moving point is preferably latitude / longitude, but may be arbitrary position information as long as the direction and speed can be calculated.

  According to FIG. 1, the point A before movement and the point B after movement are represented in the movement locus of the user who has the mobile terminal 2. At this time, the mobile terminal 2 estimates the route 1 as the shortest distance, but if it moves along the road on the map, the route 2 is estimated. Thus, the smaller the position information received from the mobile terminal 2, the more often the route between moving points becomes unknown. The route estimation device 1 of the present invention can estimate the route (traffic line) of the user between moving points received from the mobile terminal 2.

  The timing at which the location information is transmitted from the mobile terminal 2 is not limited to active communication based on a user operation, and may be when communication is performed in the background or when handover is executed. That is, according to the present invention, the timing for acquiring the position information of the mobile terminal 2 is not restricted at all.

  FIG. 2 is an explanatory diagram showing moving points and interpolation history points in the present invention.

According to FIG. 2, the following two points are represented.
Pre-movement point A and post-movement point B of the mobile terminal subject to route estimation
History points 1-15 for interpolation based on a plurality of past movement histories

The following terms are defined for moving points.
“Movement point”: A point measured along the movement trajectory of the mobile terminal subject to route estimation “Pre-movement point”: A point before movement in the route estimation target section “Post-movement point”: Movement point In addition, the following points are defined for the historical points selected for interpolation in order to estimate the route between the pre-movement point and the post-movement point in the route estimation target section. To do.
“History point”: A point along a plurality of past movement loci “Post-movement history point”: A point that moved next to the history point in the past movement locus

According to Fig.2 (a), the following information is matched with the pre-movement point and the post-movement point in the portable terminal of the route estimation target.
<Location information (latitude / longitude), date / time, moving direction, moving speed>
The “movement direction” is an angle from the latitude / longitude of the point before movement to the latitude / longitude of the point after movement with reference to the north.
“Movement speed” is a speed calculated from the movement distance based on the latitude and longitude with respect to the movement time from the date and time of the point before movement to the date and time of the point after movement.

According to FIG. 2 (b), the following information is associated with each history point based on a plurality of past movement trajectories, as in FIG. 2 (a).
<Location information (latitude / longitude), date / time, first history direction, second history direction, history speed>
The “first history azimuth” is an angle from the latitude / longitude of the history point based on the past movement trajectory toward the latitude / longitude of the history point after movement with reference to the north.
The “second history azimuth” is an angle from the latitude and longitude of the history point based on the past movement trajectory toward the latitude and longitude of the post-movement point of the route estimation target with reference to the north.
The “history speed” is a speed calculated from the travel time from the date and time of the history point to the date and time of the history point after movement based on the past movement locus and the history distance between the history points.

  FIG. 3 is a functional configuration diagram of the route estimation apparatus according to the present invention.

  According to FIG. 3, the route estimation device 1 estimates a route between the pre-movement point and the post-movement point along the movement locus of the route estimation target. The route estimation apparatus 1 includes a history point accumulation unit 101, a selection condition setting unit 102, a moving direction calculation unit 111, a movement speed calculation unit 112, an interpolation point selection unit 12, a route estimation unit 13, and a movement point accumulation. Unit 103 and moving point determination unit 14. These functional components are realized by executing a program that causes a computer installed in the apparatus to function. Moreover, the flow of processing of these functional components can also be understood as a device path estimation method.

[History point storage unit 101]
The history point accumulation unit 101 accumulates each “history point” based on a plurality of past movement trajectories. Specifically, the table shown in FIG. 2B is accumulated.

[Selection condition setting unit 102]
For example, the selection condition setting unit 102 sets the following conditions.
<Condition 1: Selection of history points>
(Condition 11) Selection of history points included in the area range of “predetermined azimuth” (condition 12) Selection of history points included in the area range of “predetermined azimuth angle” in the reverse direction (condition 13) “First” for the moving direction Selection of history points included in "predetermined azimuth difference" (condition 14) Selection of history points included in "second predetermined azimuth difference" with respect to movement azimuth (condition 15) History included in "predetermined speed difference" relative to movement speed Selection of points (Condition 16) Selection of historical points included in the “predetermined time range” <Condition 2: Thinning out historical points>
(Condition 21) Decimation of history points that are “predetermined time difference” or less between history points (Condition 22) Decimation of history points that are “predetermined distance” or less between history points (Condition 23) From the point before movement to the point after movement Of historical points that are more than the distance (Condition 24) Thinning out historical points that are more than the time difference from the pre-movement point to the post-movement point <Condition 3: Determination of the moving point>
(Condition 31) Determination of a moving point such that the distance between the pre-movement point and the post-movement point is not less than the “predetermined movement distance” (Condition 32) Between the time of the pre-movement point and the time of the post-movement point Of the moving point where the time difference between the two points is equal to or greater than the “predetermined moving time” (Condition 33) The moving point between the pre-movement point and the post-movement point is equal to or less than the “predetermined number of movement points”

The history point may be collected in the past from the same user as the route estimation target, or may be collected in the past from other different users.
At this time, it is preferable that the selection condition setting unit 102 sets the selection conditions for the same user and the selection conditions for different users separately.
That is, when interpolation is performed using history points based on past movement trajectories of the same user, the route can be estimated with high accuracy. In this case, it is considered that the allowable range of the selection condition may be wide.
On the other hand, when a large number of history points based on past movement trajectories of different users are used, the route cannot be estimated with higher accuracy as in the case of the same user. In this case, it is considered better to narrow the allowable range of the selection conditions.
Tolerance of selection conditions for the same user
> Tolerance of selection conditions for different users

[Moving direction calculation unit 111]
The moving direction calculation unit 111 calculates a “moving direction” from the pre-movement point to the post-movement point along the movement locus of the route estimation target. Specifically, the “movement direction” of FIG. 2A described above is calculated.

[Movement speed calculation unit 112]
The movement speed calculation unit 112 calculates a movement speed from the pre-movement point to the post-movement point along the movement locus of the route estimation target.
Movement speed = distance traveled / (date and time after moving-date and time before moving)
The moving speed is used in FIG.

[Interpolation point selection unit 12]
The interpolation point selection unit 12 selects a history point that matches one of the following conditions or a combination thereof from a plurality of history points stored in the history point storage unit 101.

<Condition 1: Selection of history points>
(Condition 11) Selection of history points included in the area range of “predetermined azimuth” FIG. 4 is an explanatory diagram showing the geographical range of the predetermined azimuth with respect to the moving azimuth in the present invention.

It is assumed that “predetermined azimuth” is set in the selection condition setting unit 102.
At this time, the interpolation point selection unit 12 selects a history point included in the area range of “predetermined azimuth” from the pre-movement point toward the movement direction from the plurality of history points accumulated in the history point accumulation unit 101. Select.

According to FIG. 4, it is assumed that “predetermined azimuth angle = 45 degrees” is set, for example.
At this time, history points 1, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14 included in an area range of 45 degrees with respect to the moving direction from point A before movement to point B after movement. Is selected.
On the other hand, the history points 2, 11, and 15 that are not included in the 45-degree regional range with respect to the moving direction are not selected as the interpolation target history points for estimating the route of the mobile terminal 2.

(Condition 12) Selection of history points included in the area range of the reverse “predetermined azimuth” FIG. 5 is an explanatory diagram showing the geographical range of the predetermined azimuth with respect to the reverse moving azimuth in the present invention.

  The interpolation point selection unit 12 is included in the area range having a predetermined azimuth angle from the plurality of history points stored in the history point storage unit 101 toward the reverse moving direction from the post-movement point to the pre-movement point. Further narrow down the selection to history points.

According to FIG. 5, history points 1, 3, 4, 5, 7, 8, 9 included in the region range of 45 degrees (predetermined azimuth angle) with respect to the moving direction in the reverse direction from the post-movement point B to the pre-movement point A 10, 12, 13 are selected.
On the other hand, the history points 6 and 14 that are not included in the 45 ° regional range with respect to the moving direction in the reverse direction are not selected as the history points to be interpolated for estimating the route of the mobile terminal 2.

(Condition 13) Selection of history points included in “first predetermined azimuth difference” with respect to moving azimuth FIG. 6 is an explanatory diagram showing history points within a first predetermined azimuth difference with respect to moving azimuth in the present invention.

In the selection condition setting unit 102, “first predetermined orientation difference” is further set.
In addition, the history point storage unit 101 stores each history point based on a plurality of past movement trajectories in association with the first history direction from the history point to the post-movement history point.
At this time, the interpolation point selection unit 12 further narrows down and selects the history points of the first history direction in which the difference from the moving direction of the route estimation target is equal to or less than the first predetermined direction difference.

According to FIG. 6, for example, it is assumed that “first predetermined azimuth difference = 45 degrees” is set.
At this time, history points 1, 4, 5, 7, 8, 10, and 12 that are within a 45-degree azimuth difference with respect to the moving direction from the point A before movement to the point B after movement are selected.
On the other hand, the history points 3, 9, and 13 of the first history azimuth that do not fall within the first predetermined azimuth difference of 45 degrees with respect to the moving azimuth are not selected as the history points to be interpolated for estimating the route of the mobile terminal 2. .

(Condition 14) Selection of history points included in “second predetermined azimuth difference” with respect to moving azimuth In selection condition setting unit 102, “second predetermined azimuth difference” is further set.
In addition, the history point accumulation unit 101 further accumulates each history point based on a plurality of past movement trajectories in association with the second history direction from the history point to the post-movement point of the route estimation target. .
At this time, the interpolation point selection unit 12 further narrows down and selects the history points of the second history direction in which the difference from the moving direction of the route estimation target is equal to or less than the second predetermined direction difference.

For example, it is assumed that “second predetermined orientation difference = 45 degrees” is set.
At this time, history points 1, 4, 5, 7, 8, 10, and 12 that are within a 45-degree azimuth difference with respect to the moving direction from the point A before movement to the point B after movement are selected.
On the other hand, although not shown, the history point of the second history azimuth that does not fall within the second predetermined azimuth difference of 45 degrees with respect to the moving azimuth is not selected as the history point to be interpolated for estimating the route of the mobile terminal 2.

(Condition 15) Selection of history points based on speed difference with respect to moving speed FIG. 7 is an explanatory diagram showing history points within a predetermined speed difference with respect to moving speed in the present invention.

A “predetermined speed difference” is further set in the selection condition setting unit 102.
Further, the history point storage unit 101 further stores the history speed associated with the passage of time from the history point to the post-movement history point in association with each history point based on a plurality of past movement trajectories.
At this time, the interpolation point selection unit 12 further narrows down and selects the history points having a history speed at which the difference from the moving speed of the route estimation target is equal to or less than the predetermined speed difference.

According to FIG. 7, for example, it is assumed that “first predetermined orientation difference = 10 km / h” is set.
At this time, history points 1, 4, 5, 8, and 9 that are within a speed difference of 10 km / h with respect to the moving speed from the pre-movement point A to the post-movement point B are selected.
On the other hand, the history points 3, 7, 10, 12, 13 that do not fall within the speed difference of 10 km / h with respect to the moving speed are not selected as the interpolation target history points for estimating the route of the mobile terminal 2.

(Condition 16) Selection of history points included in “predetermined date time range” FIG. 8 is an explanatory diagram showing history points included in the predetermined date time range in the present invention.

In the selection condition setting unit 102, “predetermined time range” is further set.
At this time, the interpolation point selection unit 12 further narrows down and selects the history date / time history points included in the predetermined date / time range.

According to FIG. 8, for example, it is assumed that “predetermined date time range = June 25 to July 25” is set.
At this time, history points 1, 4, 5, 8, 12, and 13 of the history date and time included in the predetermined date and time range are selected.
On the other hand, the history points 3, 7, 9, 10 that are not included in the predetermined time range are not selected as the interpolation target history points for estimating the route of the mobile terminal 2.

<Condition 2: Thinning out history points>
Here, a large number of history points are prevented from being selected too much, and only one of the history points that match any of the following conditions or a combination thereof is selected. .

(Condition 21) Thinning out historical points that are less than or equal to “predetermined time difference” between historical points The historical point accumulation unit 101 records “history time (1) at each historical point based on a plurality of past movement loci. The time within 24 hours a day) ”is further stored in association with each other.
Then, the interpolation point selection unit 12 selects the history points by thinning them so that the time difference between the history time of the first history point and the history time of the second history point is equal to or greater than the “predetermined time difference”. As a result, history points acquired in different time zones are not selected.

(Condition 22) Thinning out history points that are less than or equal to “predetermined distance” between history points The interpolation point selection unit 12 makes the distance between the first history point and the second history point equal to or greater than “predetermined distance”. In this way, the history points are thinned out and selected. Do not select history points with short distances between history points.

(Condition 23) Thinning out history points that are greater than or equal to the distance from the pre-movement point to the post-movement point The interpolation point selection unit 12 determines that the distance from the pre-movement point to the historical point is “movement” from the pre-movement point to the post-movement point. The history points will be thinned out and selected so that they will be less than the “distance”. Do not select history points that are longer than the travel distance.

(Condition 24) Thinning out history points that are more than the time difference from the point before movement to the point after movement The interpolation point selection unit 12 moves the time from the point before the movement to the time at the point of movement from the time of the point before movement. The history points are further narrowed down and selected so as to be equal to or less than the “travel time” until the time of the later point. Do not select a history point in a time zone that is farther than the time of the point before moving.

[Route Estimator 13]
The route estimation unit 13 estimates the route between the pre-movement point and the post-movement point to be estimated by interpolation using the history point selected by the interpolation point selection unit 12.

<Condition 3: Determination of moving point>
FIG. 9 is an explanatory diagram showing determination of a moving point where a route should be estimated in the present invention.

  Here, the interpolation section that is subject to route estimation is not made too small between a large number of moving points, and the moving points that meet the following conditions are only one of the moving points. Do not select.

[Moving point accumulation unit 103]
The movement point accumulation unit 103 accumulates a plurality of movement points along the movement locus of the route estimation target. Specifically, the table shown in FIG. 2A is accumulated.

[Moving point determination unit 14]
The movement point determination unit 14 determines a pre-movement point and a post-movement point that match one of the following conditions or a combination thereof from the plurality of movement points of the movement point accumulation unit 103.

(Condition 31) Determination of a moving point such that the distance between the pre-movement point and the post-movement point is equal to or greater than the “predetermined movement distance”. The movement point determination unit 14 determines the distance between the movement points to be route estimation targets. But don't be too short.

(Condition 32) Determination of a moving point such that the time difference between the time at the pre-movement point and the time after the movement is equal to or greater than the “predetermined movement time”. Make sure that the travel time between each other is not too short.

(Condition 33) Determination of a moving point such that the moving point between the pre-movement point and the post-movement point is equal to or less than the “predetermined number of moving points”. The moving point determination unit 14 determines the maximum number of moving points that are subject to route estimation. Is defined. That is, as the number of interpolation points is too large, the calculation time is increased.

  According to FIG. 9, for example, moving points a, e, and g that match (condition 31) to (condition 33) are selected, and (a, e) and (e , G) is determined. On the other hand, moving points b, c, and f that do not match the same condition are not selected.

  Note that the pre-movement point and the post-movement point are preferably determined when the movement / staying state of the mobile terminal 2 possessed by the user is determined and then the movement state is determined. Depending on the positional relationship (for example, distance) between each base station of the communication log included in the predetermined time window from the current time and the base station that can communicate at the current time, without the mobile terminal 2 starting GPS. It is also possible to determine whether or not it is “stay”. When the mobile terminal 2 changes from the staying state to the moving state, the mobile terminal itself may instruct the route estimation device 1 for position information, or start positioning from the route estimation device 1 to the mobile terminal 2. It may be an instruction.

  As described above in detail, according to the program, apparatus, and method of the present invention, a route can be estimated with high accuracy by using as little position information as possible in the movement trajectory of the mobile terminal. That is, it is possible to reduce the frequency of starting the positioning function in the mobile terminal. In addition, since only the history point corresponding to the movement locus of the route estimation target is selected from a large number of history points based on a plurality of past movement tracks, the route can be estimated with relatively high accuracy.

  Various changes, modifications, and omissions of the above-described various embodiments of the present invention can be easily made by those skilled in the art. The above description is merely an example, and is not intended to be restrictive. The invention is limited only as defined in the following claims and the equivalents thereto.

DESCRIPTION OF SYMBOLS 1 Path | route estimation apparatus 101 History point accumulation | storage part 102 Selection condition setting part 103 Movement point accumulation | storage part 111 Movement direction calculation part 112 Movement speed calculation part 12 Interpolation point selection part 13 Path | route estimation part 14 Movement point determination part 2 Portable terminal

Claims (12)

A program that causes a computer to function so as to estimate a route between a pre-movement point and a post-movement point along a movement path of a route estimation target,
History point storage means for storing each history point based on a plurality of past movement trajectories,
A selection condition setting means for setting a predetermined azimuth angle in advance;
A moving direction calculating means for calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
From a plurality of history points stored in the history point storage means, an interpolation point selection means for selecting history points included in the area range of "predetermined azimuth" from the pre-movement point toward the movement direction,
A program that causes a computer to function as a route estimation unit that interpolates and estimates a route between a pre-movement point and a post-movement point that is a route estimation target at a history point selected by the interpolation point selection unit. The interpolation point selection means causes the computer to function by further narrowing down and selecting the history points included in the area range of a predetermined azimuth angle toward the reverse moving direction from the post-movement point to the pre-movement point. The program according to claim 1. The history point accumulation means accumulates the first history direction from the history point to the history point after movement in association with each history point based on a plurality of past movement trajectories,
The selection condition setting means further sets “first predetermined orientation difference”,
The interpolation point selection means causes the computer to function so as to further narrow down and select the history points of the first history azimuth where the difference from the moving direction of the route estimation target is equal to or less than the first predetermined azimuth difference. The program according to claim 1 or 2, characterized in that The history point accumulation means accumulates each history point based on a plurality of past movement trajectories in association with a second history direction from the history point to the post-movement point of the route estimation target,
The selection condition setting means further sets a “second predetermined orientation difference”,
The interpolation point selection means causes the computer to function so as to further narrow down and select the history points of the second history direction in which the difference from the moving direction of the route estimation target is equal to or less than a second predetermined direction difference. The program according to any one of claims 1 to 3, characterized in that: The history point accumulating means accumulates the history speed associated with the passage of time from the history point to the history point after movement in association with each history point based on a plurality of past movement trajectories,
Further function as a movement speed calculation means for calculating the movement speed from the pre-movement point to the post-movement point along the movement path of the route estimation target,
The selection condition setting means further sets a “predetermined speed difference”,
2. The interpolation point selection unit causes the computer to function so as to further narrow down and select history points having a history speed at which a difference from the moving speed of a route estimation target is a predetermined speed difference or less. 5. The program according to any one of items 1 to 4. The history point accumulation means accumulates each history point based on a plurality of past movement trajectories in association with the history date and time when the history point is recorded,
The selection condition setting means further sets a “predetermined time range”,
The said interpolation point selection means makes a computer function so that it may narrow down and select the log | history point of the log | history date time included in a predetermined date time range, The one of Claim 1-5 characterized by the above-mentioned. program. The history point accumulation means accumulates the history time at which the history point is recorded in association with each history point based on a plurality of past movement trajectories,
The interpolation point selection means has a time difference between the history time of the first history point and the history time of the second history point equal to or greater than the “predetermined time difference” and / or the first history point and the second history point. The program according to any one of claims 1 to 6, wherein the computer is caused to function so that the history points are thinned out and selected so that a distance between the history points is equal to or greater than a "predetermined distance". . The interpolation point selection means is such that the distance from the pre-movement point to the history point is equal to or less than the “movement distance” from the pre-movement point to the post-movement point, and / or the time from the pre-movement point to the history point time. 8. The computer according to claim 1, wherein the computer functions so that the history point is thinned out and selected so that the time is equal to or less than the “travel time” from the time at the pre-movement point to the time at the post-movement point. The program according to any one of the above items. A moving point accumulating means for accumulating a plurality of moving points along the movement trajectory of the route estimation target;
The distance between the pre-movement point and the post-movement point is not less than a “predetermined movement distance”, and the time difference between the time before the movement and the time after the movement is not less than the “predetermined movement time”. And / or from the plurality of movement points of the movement point storage means, such that the movement point between the pre-movement point and the post-movement point is equal to or less than the “predetermined number of movement points”, The program according to any one of claims 1 to 8, wherein a computer is caused to function as a movement point determination unit that determines a point before movement and the point after movement. The movement points along the movement locus of the route estimation target and the history points based on a plurality of past movement locus accumulated in the history point accumulation means are recorded by the same user or by different users,
The program according to any one of claims 1 to 9, wherein the selection condition setting means causes the computer to function so as to separately set a selection condition for the same user and a selection condition for different users. . An apparatus for estimating a route between a pre-movement point and a post-movement point along a movement locus of a route estimation target,
History point storage means for storing each history point based on a plurality of past movement trajectories,
A selection condition setting means for setting a predetermined azimuth angle in advance;
A moving direction calculating means for calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
From a plurality of history points stored in the history point storage means, an interpolation point selection means for selecting history points included in the area range of "predetermined azimuth" from the pre-movement point toward the movement direction,
An apparatus comprising path estimation means for interpolating and estimating a path between a pre-movement point and a post-movement point as a path estimation target at a history point selected by the interpolation point selection means. A route estimation method for a device that estimates a route between a pre-movement point and a post-movement point along a movement locus of a route estimation target,
The device is
A history point accumulation unit that accumulates each history point based on a plurality of past movement trajectories,
A selection condition setting unit in which a predetermined azimuth is set in advance,
The device is
A first step of calculating a moving direction from the pre-movement point to the post-movement point along the movement path of the route estimation target;
A second step of selecting a history point included in an area range of “predetermined azimuth” from the pre-movement point toward the movement direction from a plurality of history points stored in the history point storage unit;
A path of the apparatus for executing the third step of interpolating and estimating the path between the pre-movement point and the post-movement point to be estimated at the history point selected in the second step. Estimation method.

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