JP6654265B1 - Map information generation device, map information generation method, and map information generation program - Google Patents

Abstract

A map information generation apparatus, a map information generation method, and a map information generation program capable of improving the accuracy of map matching processing are provided. A map information generation device includes a position information acquisition unit that acquires latitude and longitude information together with measurement time information, a matching unit that performs a map matching process, and first travel route information whose travel route is specified on a map. When two points indicated by the first generation unit to be generated and the latitude and longitude information in which the measurement time information is in a front-back relationship along the time series are specified so as to be discontinuous in the position coordinate information, A reverse matching unit that performs a map matching process in a sequence reverse order, a second generating unit that generates second travel route information in which a travel route is specified on a map by the map matching process performed by the reverse matching unit, and a first travel An update unit that updates the route information with the second travel route information. [Selection diagram] Fig. 1

Description

  The present invention relates to a map information generation device, a map information generation method, and a map information generation program.

2. Description of the Related Art As a navigation device mounted on a vehicle, a method of specifying a position of the vehicle based on coordinate information acquired from a GNSS positioning system is known.
However, the traveling position calculated by the GNSS positioning system includes an error and is not necessarily plotted on a road. Is widely corrected on roads.
As a navigation device using such a map matching process, Patent Literature 1 listed below discloses a plurality of links representing roads by line segments, a plurality of nodes represented by nodes connecting the plurality of links, and A technique is disclosed that specifies a link on which a vehicle is traveling, and further specifies a traveling lane within the link.

JP-A-11-211491

However, in such a map matching process, once a correction is made on an erroneous road, the correction process may be continued with the erroneous road as a traveling position.
In recent years, while various services utilizing the traveling history have been studied, it has been required to improve the accuracy of the map matching process.

  Accordingly, an object of the present invention is to provide a map information generation device, a map information generation method, and a map information generation program that can improve the accuracy of map matching processing.

  The map information generating device according to one aspect is configured to acquire, for one traveling route of a vehicle, latitude and longitude information measured by a GNSS positioning system during traveling together with measurement time information indicating a time at which the latitude and longitude information is measured. An acquisition unit, a matching unit that specifies a point indicated by the latitude / longitude information along the time series of the measurement time information with respect to the position coordinate information of the map, and performs a map matching process for positioning on the map; A first generation unit that generates first travel route information in which a travel route is specified on a map by a map matching process, and latitude and longitude information in which the measured time information has a front-back relationship along a time series in the map matching process. When the two points indicated by the two points are specified to be discontinuous in the position coordinate information, the points other than the point indicated by the latitude and longitude information on the traveling route are determined. , The map matching process is performed in reverse chronological order starting from the position confidence point indicated by the latitude and longitude information in which the distance from the position coordinate information on the map specified by the matching unit is within a predetermined distance. A reverse matching unit, a second generation unit that generates second travel route information whose travel route is specified on the map by the map matching process performed by the reverse matching unit, and a second travel route information that is the first travel route information. And an updating unit that updates the data by the

  In the map information generation device according to one aspect, the position coordinate information may be information indicating a road on which the vehicle can travel on the map.

  In one aspect of the map information generation device, the position confidence point may be an end point on the traveling route of the vehicle.

  In the map information generation device of one aspect, the matching unit and the reverse matching unit specify the traffic regulation section where the traffic is regulated using the acquired traffic regulation information, and exclude the traffic regulation section on the map. , A map matching process may be performed.

  In the map information generation device according to one aspect, the matching unit and the reverse matching unit use the CAN information that is the vehicle control information of the vehicle, estimate the traveling direction of the vehicle from the steering angle information in the CAN information, and perform the map matching. Processing may be performed.

  In one aspect of the map information generation device, the position information acquisition unit obtains probe information from the traffic information collection device that accumulates probe information of the vehicle as latitude / longitude information and measurement time information on one traveling route of one specific vehicle. May be obtained.

  In the map information generation device according to one aspect, in the map matching process, two points indicated by the latitude and longitude information in which the measurement time information is in a front-back relationship in a time series are specified so as to be discontinuous in the position coordinate information. In this case, an alert unit may be provided to prompt confirmation of a moving image taken by the video recording device mounted on the vehicle at a predetermined time including the measurement time information corresponding to the latitude and longitude information.

  In one aspect of the map information generating method, the computer obtains, for one traveling route of the vehicle, latitude and longitude information measured by the GNSS positioning system during traveling together with measurement time information indicating a time at which the latitude and longitude information was measured. Matching step of identifying a point indicated by the latitude and longitude information with respect to the position coordinate information of the map along with the time series of the measurement time information, and performing a map matching process for performing position alignment on the map. In the step, the first generation step of generating first travel route information in which the travel route is specified on the map by the map matching process, and in the map matching process, the measured time information has a front-back relationship along a time series. When the two points indicated by the latitude and longitude information are specified so as to be discontinuous in the position coordinate information, the traveling route A position after the point indicated by the latitude / longitude information in the position, and a position reliability point indicated by the latitude / longitude information whose distance between the position coordinate information on the map specified by the matching step is within a predetermined distance, as a starting point, A reverse matching step of performing a map matching process in reverse chronological order; a second generating step of generating second travel route information in which a travel route is specified on a map by the map matching process performed by the reverse matching step; Updating the traveling route information with the second traveling route information.

  In one embodiment, the map information generation program causes the computer to obtain, for one traveling route of the vehicle, latitude and longitude information measured by the GNSS positioning system during traveling together with measurement time information indicating a time at which the latitude and longitude information was measured. Location information acquisition function and matching that performs a map matching process that identifies the point indicated by the latitude and longitude information with respect to the position coordinate information of the map along the time series of the measurement time information and performs position matching on the map A function and a first generation function of generating first travel route information in which a travel route is specified on a map by a map matching process, and in a map matching process, measured time information has a front-back relationship along a time series. When two points indicated by the latitude and longitude information are specified so as to be discontinuous in the position coordinate information, Starting from the position reliability point indicated by the latitude / longitude information, which is a point after the point indicated by the latitude / longitude information and within a predetermined distance from the position coordinate information on the map specified by the matching function, A reverse matching function of performing a map matching process in a sequence reverse order, a second generating function of generating second travel route information in which a travel route is specified on a map by the map matching process performed by the reverse matching function, and a first travel process And an update function of updating the route information with the second travel route information.

In the map information generating device according to one aspect, in the map matching process performed by the matching unit, two points indicated by the latitude and longitude information in which the measurement time information is in a front-back relationship in time series are discontinuous in the position coordinate information. When it is determined that the position is determined to be, the reverse matching unit performs a reverse map matching process in a time-series reverse order starting from the position confidence point.
Therefore, by performing the reverse map matching process while tracing the traveling history from behind, if an error occurs in the normal matching process, the error can be corrected.

Then, the updating unit updates the first traveling route information initially matched with the second traveling route information matched by the reverse matching unit, so that the accuracy of the map matching process can be improved.
Further, the map information generation method and the map information generation program according to one aspect can provide the same effects as those of the above-described map information generation apparatus according to one aspect.

It is a schematic diagram of a map information generating device concerning one embodiment. FIG. 2 is a block diagram illustrating a configuration of a map information generation device illustrated in FIG. 1. 3 is a flowchart illustrating processing in a processing unit illustrated in FIG. 2. It is a figure explaining the 1st example of a successful example in map matching processing. It is a figure explaining the 1st example of a failure example in map matching processing. It is a figure explaining the 2nd example of a successful example in map matching processing. It is a figure explaining the 2nd example of a failure example in map matching processing. FIG. 9 is a diagram illustrating an error occurring in a map matching process and a case where a correction map matching process is performed in a vehicle traveling in a tunnel. FIG. 9 is a diagram illustrating a first example in which a correction map matching process is not performed. FIG. 9 is a diagram illustrating a first example in the case where a correction map matching process is performed. It is a figure explaining the 2nd example when not performing a correction map matching process. It is a figure explaining the 2nd example at the time of performing a correction map matching process. FIG. 5 is a schematic diagram illustrating steering angle information when a vehicle enters an underground parking lot. It is a figure explaining an inverse map matching process. FIG. 15 is an enlarged view of a rectangular broken line portion shown in FIG. 14, (a) a diagram showing first traveling route information before performing reverse map matching processing, and (b) a second updated after performing reverse map matching processing. It is a figure showing traveling route information. FIG. 4 is a diagram illustrating a traveling route of a vehicle traveling at a junction. FIG. 17 is an enlarged view of a rectangular broken line portion shown in FIG. 16. It is a block diagram for demonstrating the modification of the map information generation apparatus shown in FIG.

Hereinafter, an embodiment of the present invention will be described.
FIG. 1 is a schematic diagram of a map information generation system 1 according to one embodiment.
The map information generation system 1 includes a vehicle 10, a server 20, and a map information generation device 30.
The vehicle 10 acquires the probe information of the own vehicle and transmits the probe information to the server 20. Although only one vehicle 10 is shown in FIG. 1, a plurality of vehicles 10 may be provided.
The server 20 stores, for example, a plurality of pieces of probe information. Specifically, the server 20 is a traffic information collection device that stores a plurality of pieces of probe information transmitted from one or a plurality of vehicles 10.

The map information generation device 30 is a device that can process a relatively large amount of information suitable for processing of so-called big data, for example.
When a destination is set, a navigation device (not shown) mounted on the vehicle 10 guides a route to the destination. The map information generation device 30 causes the navigation device to display processing details by performing wireless communication with the navigation device.

Next, the map information generation device 30 will be described in detail with reference to FIG.
FIG. 2 is a block diagram illustrating the configuration of the map information generation device 30.
As shown in FIG. 2, the map information generating device 30 includes a communication unit 40, a storage unit 50, and a processing unit 100.

  The communication unit 40 communicates with the server 20 or the vehicle 10 via, for example, a communication network. The communication unit 40 acquires a plurality of pieces of probe information from the server 20 as an example based on the control of the map information generation device 30 (the position information acquisition unit 110). Note that the communication unit 40 may receive the probe information transmitted from the vehicle 10.

Here, the probe information is road traffic information generated using information such as the position where the automobile actually traveled and the vehicle speed.
The probe information includes at least travel position information and identification information. The traveling position information is information relating to the traveling position of the vehicle 10. The identification information is information (vehicle ID) for identifying the vehicle 10. Further, the probe information may include measurement time information indicating the time when the latitude and longitude information was measured.

The storage unit 50 is a device that stores various information including map information, various control programs, and the like.
The storage unit 50 stores in advance a point set as a destination as an example of storing map information. The point set as the destination is a point set as the end point of the guide route (travel route), and is specified by the position coordinate information on the map.

The map information generation device 30 transmits, for example, the map information stored in the storage unit 50 to the vehicle 10 via the communication unit 40 as described above, and causes the navigation device of the vehicle 10 to use the map information. You may.
Further, the map information generating device 30 may record the map information on a recording medium such as an external memory or an optical disk, for example. In this case, the vehicle 10 may read the map information recorded on the recording medium and use the map information in the navigation device.

  The processing unit 100 is a processor having a function of performing various processes in the map information generation device 30. The processing unit 100 may be realized by a logic circuit (hardware) or a dedicated circuit formed in an integrated circuit (IC (Integrated Circuit) chip, LSI (Large Scale Integration)) or the like, or by using a CPU (Central Processing Unit) and a memory. It may be realized by software.

The processing unit 100 includes an information acquisition unit 110, a map matching unit 120, a traveling route generation unit 130, and an alert unit 140.
The information acquisition unit 110 acquires various types of information via a communication network. The information acquisition unit 110 includes a position information acquisition unit 111 and a CAN information acquisition unit 112.

The position information acquisition unit 111 acquires, for one traveling route of the vehicle 10, latitude and longitude information measured by the GNSS positioning system during traveling together with measurement time information indicating a time at which the latitude and longitude information was measured.
In addition, the position information acquisition unit 111 may acquire a plurality of pieces of probe information from the departure place to the destination.

  The vehicle 10 can record the traveling position information of the vehicle 10 by using, for example, a Global Navigation Satellite System (GNSS) positioning system (hereinafter, simply referred to as a positioning system). By acquiring the position information continuously or intermittently, the vehicle 10 can record the position information (travel position information) of the route on which the vehicle 10 travels in the probe information.

The vehicle 10 records, in the probe information, a vehicle ID (identification information) for distinguishing the own vehicle from other vehicles.
The vehicle 10 records, for example, information (measurement time information) regarding the time when the traveling position information was acquired (or the traveling position information was recorded as probe information) in the probe information.
In addition, the information recorded in the probe information is not limited to the above example, and is obtained by information on the on / off of the wiper, information on the on / off of the headlight, and various sensors arranged in the vehicle 10. Information may be included.

Here, when generating the probe information, the vehicle 10 may record the destination set by the navigation device in the probe information. For example, when the navigation device is used, the vehicle 10 may record a point (coordinate) where the vehicle has departed from the link indicating the road in the probe information based on the traveling position information.
In addition, the position information acquisition unit 111 transmits the probe information from the server 20 (traffic information collection device) that accumulates the probe information of the vehicle 10 as the latitude / longitude information and the measurement time information in one traveling route of one specific vehicle 10. To get.

  The CAN information acquisition unit 112 acquires CAN information that is vehicle control information of the vehicle 10. The CAN information is vehicle control information including at least steering angle information indicating a steering angle and a traveling speed estimated from the number of rotations of wheels.

The map matching unit 120 includes a matching unit 121, a correction matching unit 122, and an inverse matching unit 123.
The matching unit 121 specifies a point indicated by the latitude and longitude information with respect to the position coordinate information of the map along the time series of the measurement time information, and performs a map matching process for performing position alignment on the map.

  Specifically, the matching unit 121 specifies which of the roads (links) indicated by the probe information the position indicated by the probe information is located at. At this time, the matching unit 121 performs the map matching process so as to be located on a road connected to the road on which the vehicle 10 was located before.

If it is determined that the matching is not performed and the latitude and longitude information indicated by the probe information is not located on any of the roads (when it is determined that the information is separated by a predetermined distance or more), it is determined that the map matching has failed. Then, the map matching process is performed so as to be located on the nearest road without considering the connection with the existing road.
The matching unit 121 performs the map matching process using at least one of the steering angle information and the vehicle speed in the CAN information.

  When the two points indicated by the latitude and longitude information in which the measurement time information is in a front-back relationship along the time series satisfy predetermined conditions, the correction matching unit 122 determines the steering angle information and the vehicle speed of the CAN information. Using at least one of them, a correction map matching process for correcting the position of the vehicle 10 with respect to the position coordinate information of the map is performed.

Specifically, the traveling direction of the vehicle is specified based on the steering angle, and the position is specified on the assumption that the vehicle has traveled the distance specified by the vehicle speed. For example, when the steering angle is 10 degrees in the right direction and the vehicle speed is 40 km, the correction matching unit 122 determines the position of the vehicle 10 after one second from the current position along a curved trajectory corresponding to the steering angle. It is estimated that it exists at a position of 11 m.
The details of the predetermined condition for starting the correction map matching process will be described later.

In the map matching process performed by the matching unit 121, the reverse matching unit 123 causes the two points indicated by the latitude / longitude information in which the measured time information is in a front-back relationship in time series to be discontinuous in the position coordinate information. If specified, the map matching process is performed in reverse time-series order.
Here, as a cause specified to be discontinuous, when the latitude / longitude information indicated by the probe information is determined not to be located on any road (when it is separated from the road by a predetermined distance or more, And the case where the front-rear positional relationship is equal to or greater than a predetermined threshold. Also, the reverse time-series order means that the measurement time information goes back from the new latitude / longitude information to the old latitude / longitude information.
In the following description, a map matching process performed in a time-series reverse order is referred to as a reverse map matching process.

  At this time, the reverse matching unit 123 performs a reverse map matching process starting from the position confidence point. The position confidence point is a point after the point indicated by the latitude / longitude information specified as being discontinuous in the position coordinate information, in the traveling route, where the two points indicated by the latitude / longitude information in the front-back relationship are indicated. Is a point indicated by the latitude and longitude information whose distance from the position coordinate information on the map specified by the matching unit 121 is within a predetermined distance, and indicates a point whose position is reliable. The position confidence point may be an end point on the traveling route of the vehicle 10. The end point on the traveling route indicates the last point on the route set on the map. Another specific example of the position confidence point is a place where the vehicle 10 reaches the destination, that is, a place where the engine of the vehicle 10 is turned off.

The traveling route generation unit 130 generates traveling route information in which the traveling route is specified on the map by the map matching process. The traveling route generating unit 130 includes a first generating unit 131, a second generating unit 132, and an updating unit 133.
The first generation unit 131 aligns the travel route specified on the map by the map matching process, that is, the latitude / longitude information of the vehicle 10 acquired along the travel route with the position coordinate information on the map. The generated first travel route information is generated.

The second generation unit 132 adds the position coordinate information corrected by the correction matching unit 122 to the first travel route information. In addition, the second generation unit 132 generates second travel route information in which the travel route is specified on the map by the map matching process performed by the reverse matching unit 123.
Then, the update unit 133 updates the first travel route information with the second travel route information.

The alert unit 140 determines that two points indicated by the latitude / longitude information in which the measurement time information has a front-back relationship along the time series are identified in the map matching process so as to be discontinuous in the position coordinate information. Then, the user is prompted to confirm a moving image or the like captured by the video recording device mounted on the vehicle 10 at a predetermined time including the measurement time information corresponding to the latitude / longitude information.
Note that the alert unit 140 may prompt confirmation of image data or audio data recorded by a recording device mounted on the vehicle 10 instead of the moving image.

Next, the processing content of the processing unit 100 in the map information generation device 30 will be described with reference to FIG. FIG. 3 is a flowchart illustrating a process in the processing unit 100.
As shown in FIG. 3, first, the position information acquisition unit 111 in the processing unit 100 reads probe information (ST10).

Next, position information acquiring section 111 reads map information (ST20).
Map information is represented as position coordinate information. The position coordinate information is information indicating a road on which the vehicle 10 can travel on a map. Specifically, the map information is represented by a node that is a contact between links, and each link and each node includes: Position coordinate information at which the link or node is located is associated with each.
Here, the position information acquisition unit 111 may acquire the traffic regulation information simultaneously with the acquisition of the map information. The traffic regulation information is information indicating a section on a map, of which traffic is regulated by traffic regulation. The latest information on traffic regulation information is constantly updated.

Next, the matching unit 121 performs a map matching process (ST30). In the map matching processing, a point indicated by the latitude and longitude information is specified with respect to the position coordinate information of the map along the time series of the measurement time information, and the position on the map is aligned.
The matching unit 121 performs the map matching process by using the CAN information that is the vehicle control information of the vehicle 10 and estimating the steering angle information or the traveling direction of the vehicle 10 in the CAN information.
In addition, the matching unit 121 can perform a map matching process by specifying a traffic regulation section in which traffic is regulated using the acquired traffic regulation information and excluding the traffic regulation section on the map.

Here, the map matching process will be described with reference to FIGS. FIG. 4 is a diagram illustrating a first example of a successful example of the map matching process. FIG. 5 is a diagram illustrating a first example of a failure example in the map matching process.
4 and 5, circles indicate the latitude and longitude information specified by the positioning system, and triangles indicate map matching results obtained by aligning the latitude and longitude information with the position coordinate information on the map. It indicates the generated first traveling route information of the vehicle 10.

As shown in FIG. 4, when the road is curved, the map matching processing can be performed so that the position coordinates of the vehicle 10 change along the shape of the road. When the map matching process is performed in this manner, the first generation unit 131 generates first travel route information A in which the travel route is specified on the map.
By the way, since the latitude / longitude information obtained from the positioning system includes a lot of errors, when map matching is performed on the position coordinates of the map, for example, as shown in FIG. Error may occur.

  In this example, map matching processing is performed on a general road that is traveling straight ahead, where a curved highway is a legitimate route that is originally an elevated highway, and the first travel route information A1 is created. Was. Then, after a certain point, the position coordinates on the regular route are specified, and the driving route is specified along the curve of the road therefrom, whereby the first driving route information A1 separated from the first driving route information A1 is obtained. A2 has been generated.

  Such an error of the map matching process will be described with reference to FIGS. 6 and 7 and another example. In this example, the highway R1 and the general road R2 are laid in parallel. FIG. 6 is a diagram illustrating a second example of a successful example in the map matching process. FIG. 7 is a diagram illustrating a second example of a failure example in the map matching process.

6 and 7, circles indicate the latitude and longitude information specified by the positioning system, and triangles indicate map matching results obtained by aligning the latitude and longitude information with the position coordinate information on the map. It indicates the generated first traveling route information of the vehicle 10.
In the example illustrated in FIG. 6, the map matching process is performed on the latitude and longitude information acquired from the positioning system, and the position coordinates on the map are specified, so that the expressway R1 and the general road R2 are parallel. Even so, the running route can be specified smoothly.

On the other hand, in the example shown in FIG. 7, the first traveling route information A1 and A2 are divided because the map matching process for the position coordinates on the highway R1 is changed from the middle to the map matching process for the general road. Is expressed.
As described above, the cause of the error in the map matching process includes the above-described error in the positioning system and the traveling environment where the position information from the positioning system cannot be obtained. Other causes include the proximity of position coordinate information of a plurality of roads laid in parallel or in parallel, the influence of a sampling rate during high-speed running, and the like.

  Then, as shown in FIG. 3, in order to eliminate such an error occurring in the map matching process, the processing unit 100 of the map information generating device 30 of the present invention uses the correction matching process by the correction matching unit 122 (ST40). The reverse map matching process (ST50) by the reverse matching unit 123 is performed. This point will be described in detail.

First, the correction matching process performed by the correction matching unit 122 will be described with reference to FIGS. FIG. 8 is a diagram illustrating an error occurring in the map matching process and a case where the correction map matching process is performed in the vehicle 10 traveling in the tunnel.
FIG. 9 is a diagram illustrating a first example in which the correction map matching processing is not performed. FIG. 10 is a diagram illustrating a first example in the case where the correction map matching processing is performed. FIG. 11 is a diagram illustrating a second example in which the correction map matching processing is not performed. FIG. 12 is a diagram illustrating a second example in the case of performing the correction map matching process (ST40: see FIG. 3).

  In FIGS. 9 and 11, the circles indicate the first traveling route information specified by the map matching process. The circles in FIGS. 10 and 12 are obtained by adding the travel route information specified by the correction map matching process to the first travel route information.

As shown in the upper diagram of FIG. 8, for example, when the vehicle 10 travels in a tunnel, the latitude and longitude information from the positioning system may not be able to be acquired in the tunnel. In such a case, the coordinate values of the latitude and longitude information are stored as abnormal values. In FIG. 8, for the sake of explanation, latitude and longitude information whose coordinate values are abnormal values are arranged near the entrance and exit of the tunnel.
Here, as shown in the lower diagram of FIG. 8, the correction matching unit 122 specifies the position of the vehicle 10 based on the vehicle speed calculated from the CAN information and the elapsed time from the time when the vehicle passed through the tunnel entrance. Instead of the abnormal values arranged at the entrance and the exit of the tunnel, an appropriate position in the tunnel can be specified as the position of the vehicle 10 at each traveling time.

  That is, when the two points are equal to or smaller than a predetermined range (distance) or equal to or larger than a predetermined range (distance) as a predetermined condition, the correction matching unit 122 determines the latitude and longitude in which the measurement time information is earlier in time series. By adding a distance obtained by multiplying the information by the vehicle speed and the elapsed time from the measurement time information, the position of the vehicle 10 at the elapsed time is estimated.

For example, as shown in FIG. 9, when traveling in a tunnel on the seabed, if the correction map map matching process is not performed, the position coordinates of the vehicle 10 in the tunnel cannot be specified.
For this reason, in the first route information A1 generated by the first generation unit 131, a blank portion in which the traveling position is not specified is formed.

On the other hand, in the map information generating device 30 of the present invention, as shown in FIG. 10, the correction matching unit 122 specifies the position coordinates on the map of the vehicle 10 in the tunnel using the vehicle speed and the like of the CAN information.
Then, by adding the travel route information A2 specified by the correction map matching to the first route information A1, the second generation unit 132 can specify the travel route without forming a blank portion.

Next, another example will be described. Even when the position coordinates of the vehicle 10 in the tunnel cannot be specified as in the case shown in FIG. 11, the correction matching unit 122 performs the correction map matching process using the vehicle speed of the CAN information.
Thereby, as shown in FIG. 12, for the traveling route A2 whose position cannot be identified by the positioning system, the position coordinates of the vehicle 10 can be identified in time series and added to the first traveling route information A1.

In the correction matching, the steering angle information of the CAN information can be used for the map matching process. This will be described with reference to FIG.
FIG. 13 is a schematic diagram illustrating the steering angle information when the vehicle 10 enters the underground parking lot.

As shown in FIG. 13, the latitude and longitude information from the positioning system may not be able to be acquired in the underground parking lot. When the position information cannot be obtained from the positioning system in this way, when the vehicle speed is equal to or less than a certain value and the steering angle is equal to or more than a certain threshold value, it can be estimated that the vehicle has entered the parking lot.
Then, by using the vehicle speed and the steering angle information together, the position coordinates of the vehicle 10 in the parking lot can be specified.

In addition, the correction matching unit 122 may use the acquired traffic regulation information to identify a traffic regulation section in which traffic is restricted, exclude the traffic regulation section on the map, and perform the correction map matching process. it can.
This makes it possible to grasp the roads whose traffic is restricted in real time, and perform a highly accurate correction map matching process.

Next, the reverse map matching process (ST50: see FIG. 3) by the reverse matching unit 123 will be described.
The reverse map matching process is performed, for example, on data of a running history after running. Thereby, the data of the traveling history can be updated, and an accurate traveling history can be obtained. Note that the present invention is not limited to such an embodiment, and the reverse matching unit 123 may perform the reverse map matching process in real time during traveling.

  In the case where an error occurs on the traveling route, that is, in the map matching process, the reverse matching unit 123 determines the two points indicated by the latitude and longitude information in which the measured time information has a front-back relationship along the time series, and displays the position coordinates. When the information is specified to be discontinuous, an inverse map matching process is performed.

  In the reverse map matching process, the end point of the traveling route is set as the position reliability point, and the end point is used as the starting point, and the map matching process is performed in reverse time-series order. Note that the position confidence point does not have to be the end point of the traveling route, and may be any point after the point where the map matching processing error has occurred in the traveling route, and any point whose position is reliable.

  This inverse map matching processing will be specifically described with reference to FIGS. FIG. 14 is a diagram illustrating the reverse map matching process (ST50: see FIG. 3). FIG. 15 is an enlarged view of the rectangular broken line portion shown in FIG. 14, in which FIG. 15 (a) shows the first travel route information before performing the reverse map matching process, and FIG. It is a figure showing the 2nd run route information updated after performing map matching processing.

In FIGS. 14 and 15A, circles indicate the first travel route information.
In FIGS. 15B, 16, and 17, a circle indicates the second travel route information generated by the second generation unit 132 and updated by the update unit 133. I have.

In the traveling route shown in FIG. 14, a map matching process is performed from the end point (GOAL) to the start point (START). This will be described in detail with reference to FIG.
In the traveling route shown in FIG. 15A, a part of the traveling route is laid in parallel with the highway due to an error in the map matching process, although the vehicle is actually traveling on the highway. The first travel route information A1, A2, A3 specified on the general road has been generated.
In the first travel history information, a map matching error is detected during the process of turning rightward in the position coordinate information of the vehicle 10 traveling from the lower side to the upper side of the map, and the original Map matching is performed on the expressway.

Then, when reverse map matching is performed on the traveling history in which an error has occurred in such a map matching process, the position of the latitude / longitude information and the position coordinate information on the map are aligned in the reverse order of the traveling route from the end point. .
In this case, unlike the forward map matching process during traveling, in the process of performing the reverse map matching, the departure point of the vehicle 10 (start point: a point reached by the reverse map matching) is determined. Further, the first map matching processing specifies where the latitude / longitude information preceding the measurement time information is located. For this reason, it is easy to determine what route to follow from the end point to the start point, and a highly accurate map matching process can be performed.
Then, based on the information obtained by the inverse map matching processing, the second generator 132 generates second travel route information A4 as shown in FIG. 15B.

In addition, the reverse matching unit 123 may specify a traffic regulation section in which traffic is restricted using the acquired traffic regulation information, exclude the traffic regulation section on the map, and perform the map matching process. .
Thereby, by excluding from the traveling route the portion on which the vehicle 10 could not travel on the actual road, accurate reverse map matching processing can be performed.

Further, the reverse matching unit 123 can perform the reverse map matching process by using the CAN information that is the vehicle control information of the vehicle 10 and estimating the traveling direction of the vehicle 10 from the steering angle information in the CAN information. .
The use of CAN information in such reverse map matching will be described with reference to FIGS. FIG. 16 is a diagram illustrating a traveling route of the vehicle 10 traveling at a junction. FIG. 17 is an enlarged view of the rectangular broken line portion shown in FIG.

  As shown in FIGS. 16 and 17, an error in the map matching process is likely to occur on a road whose traveling direction is meandering, such as a junction on a highway. When the vehicle 10 is traveling at high speed, not only does the interval of the sampling rate of the positioning system affect, but also the road itself intersects and the links represented by the position coordinate information on the map overlap. Because there is.

  Here, when the steering angle at a certain point is specified using the steering angle information in the CAN information, the subsequent traveling direction of the vehicle 10 can be estimated. As a result, it is possible to specify the link of the road on which the vehicle 10 should travel thereafter, and it is possible to perform a highly accurate reverse map matching process.

  Then, as shown in FIG. 3, finally, the updating unit 133 performs an updating process of updating the first traveling route information with the second traveling route information (ST60). As a result, highly accurate second travel route information can be used as the travel history of the vehicle 10 instead of the first travel route information in which an error has occurred.

  As such use of the travel history of the vehicle 10, for example, use for non-life insurance can be considered. For example, when the vehicle 10 is involved in an accident, there is a request to confirm the traveling history of the vehicle 10 to confirm whether the driving of the vehicle 10 was appropriate. In such a case, highly accurate travel history information is required.

  Further, the map information generation device 30 of the present invention includes an alert unit 140 as a function of supplementing the travel history information. The alert unit 140 checks a moving image or the like captured by a video recording device mounted on the vehicle 10 for a portion (suspended portion) having different contents between the first travel route information and the second travel route information. Prompt.

  Here, the pending portion is such that in the first map matching process, two points indicated by the latitude and longitude information in which the measurement time information is in a front-to-back relationship along the time series are discontinuous in the position coordinate information. When specified, it indicates a predetermined time including measurement time information corresponding to the latitude / longitude information. That is, by confirming whether or not the operation of the vehicle 10 is appropriate in the concerned part, it is possible to confirm whether or not there is an unsuitable part for the operation of the vehicle 10 such as, for example, a reverse run or entry into a no-go zone. be able to.

  As described above, according to the map information generating device 30 according to the present embodiment, in the map matching processing performed by the matching unit 121, the measured time information is indicated by the latitude / longitude information in a front-to-back relationship in time series. When two points are specified so as to be discontinuous in the position coordinate information, the reverse matching unit 123 performs reverse map matching processing in a time-series reverse order starting from the position confidence point.

Therefore, by performing the reverse map matching process while tracing the traveling history from behind, if an error occurs in the normal matching process, the error can be corrected.
Then, the updating unit 133 updates the first traveling route information initially matched with the second traveling route information matched by the reverse matching unit 123, so that the accuracy of the map matching process can be improved.

  Further, since the position coordinate information is information indicating a road on which the vehicle 10 can travel on the map, even if the latitude and longitude information acquired from the positioning system has an error, the road on which the vehicle 10 should travel The upper position can be specified accurately.

  In addition, since the position reliability point is the end point in the traveling route of the vehicle 10, the last point reached in the traveling route is used as the starting point of the inverse map matching, so that highly accurate inverse map matching is performed as a reliable point. be able to.

  Further, the matching unit 121 and the reverse matching unit 123 perform a map matching process using the acquired traffic regulation information. For this reason, a road on which the vehicle 10 cannot travel can be excluded from the travel route, and errors that occur in the map matching processing can be reduced.

  Further, the matching unit 121 and the inverse matching unit 123 use the CAN information that is the vehicle control information of the vehicle 10 and estimate the traveling direction of the vehicle 10 from the steering angle information in the CAN information, and perform the map matching process. . For this reason, even in a traveling environment in which the latitude and longitude information cannot be obtained by the positioning system, the position of the vehicle 10 can be estimated, and a highly accurate traveling route can be specified.

  Further, the position information acquisition unit 111 acquires probe information from the traffic information collection device that accumulates probe information of the vehicle 10 as latitude / longitude information and measurement time information of one specific vehicle 10 in one traveling route. Therefore, the latitude and longitude information and the measurement time information of the specific vehicle 10 can be acquired with high accuracy.

  In addition, the map information generation device 30 includes an alert unit 140 that prompts confirmation of a moving image or the like captured by the video recording device for a part of the travel history where an error has occurred in the map matching process. For this reason, it is possible to confirm whether or not the error in the map matching processing is caused by the driving failure of the vehicle 10.

  In addition, the map information generation device 30 adds the correction matching unit 122 that performs the correction map matching process and the position coordinate information corrected by the correction matching unit 122 to the first travel route information, so that the second travel route information is obtained. And a second generation unit 132 to be created. Therefore, even in an environment where the latitude and longitude information cannot be obtained from the positioning system, the second generation unit 132 adds the position coordinate information corrected by the correction matching unit 122, so that the travel position of the vehicle 10 is added to the travel history. There is no occurrence of a blank portion in which the vehicle cannot be specified, and a highly accurate traveling history can be obtained.

  When the two matching points are equal to or smaller than a predetermined range or equal to or larger than a predetermined range as a predetermined condition, the correction matching unit 122 determines the vehicle speed with respect to the latitude / longitude information whose measurement time information is earlier in time series. And the distance multiplied by the elapsed time from the measurement time information, the position of the vehicle 10 at the elapsed time is estimated. This makes it possible to clarify a portion of the traveling route that requires the correction map matching processing.

Note that the above-described configuration is merely an embodiment, and various changes and functions can be aggregated or separated without departing from the spirit of the present invention.
For example, in the present embodiment, the configuration in which the map information generating device 30 is a device different from the navigation device mounted on the vehicle 10 has been described, but the present invention is not limited to such a mode. Some of the functions of the map information generating device 30 may be realized by a control unit mounted on the navigation device.

  In the above-described embodiment, the configuration in which the correction matching unit 122 performs the map matching process using the CAN information has been described. However, the configuration is not limited to such a mode. By integrating the functions of the correction matching unit 122 into matching, the matching unit 121 having the function as the correction matching unit 122 may perform a map matching process using the CAN information.

  Further, in the above-described embodiment, the configuration including the matching unit 121, the correction matching unit 122, and the reverse matching unit 123 as the functions of the map matching unit 120 has been described, but the present invention is not limited to such an embodiment. The map matching unit 120 of the map information generation device 30 may include only the functions of the matching unit 121 and the correction matching unit 122, for example, or may include only the functions of the matching unit 121 and the inverse matching unit 123.

  In addition, each unit of the map information generating device 30 described above may be realized as a function of an arithmetic processing unit of a computer. That is, the information acquisition unit 110, the map matching unit 120, the traveling route generation unit 130, and the alert unit 140 in the processing unit 100 of the map information generation device 30 are provided with an information acquisition function, a map matching function, It may be realized as a traveling route generation function and an alert function, respectively.

  In such a case, the information acquisition function includes a position information acquisition function and a CAN information acquisition function, and the map matching function includes a matching function, a correction matching function, and an inverse matching function. The traveling route generation unit 130 has a first generation function, a second generation function, and an update function.

  Further, the map information generation program can cause a computer to realize each of the functions described above. The map information generation program may be recorded on a non-transitory computer-readable recording medium such as an external memory or an optical disk.

  Further, as described above, each unit of the map information generation device 30 may be realized by an arithmetic processing unit of a computer. The arithmetic processing device or the like is configured by, for example, an integrated circuit or the like. Therefore, each unit of the map information generation device 30 may be realized as a circuit configuring an arithmetic processing device or the like. That is, as shown in FIG. 18, the processing unit 100 of the map information generation device 30 may be realized as a processing circuit 100a configuring an arithmetic processing device or the like of a computer. In this case, the processing circuit 100a includes an information acquisition circuit 110a, a map matching circuit 120a, a traveling route generation circuit 130a, and an alert circuit 140a.

  Also, the communication unit 40 and the storage unit 50 of the map information generation device 30 may be realized as, for example, a communication circuit 40a and a storage circuit 50a as illustrated in FIG. 18 by being configured by an integrated circuit or the like. Good. In addition, the communication unit 40 and the storage unit 50 of the map information generation device 30 may be configured as a communication device and a storage device, for example, by being configured by a plurality of devices.

1 map information generation system 10 vehicle 20 server 30 map information generation device 40 communication unit 50 storage unit 100 processing unit 110 information acquisition unit 111 position information acquisition unit 112 CAN information acquisition unit 120 map matching unit 121 matching unit 122 correction matching unit 123 reverse Matching unit 130 Travel route generation unit 131 First generation unit 132 Second generation unit 133 Update unit 140 Alert unit

Claims (22)

A position information acquisition unit that acquires latitude and longitude information measured by a GNSS positioning system during traveling together with measurement time information indicating a time when the latitude and longitude information is measured for one traveling route of the vehicle;
Along with the time series of the measurement time information, a point indicated by the latitude / longitude information is specified with respect to the position coordinate information of the map, and a matching unit that performs a map matching process for positioning on the map,
A first generator configured to generate first travel route information in which the travel route is specified on the map by the map matching process;
In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along a time series, when the two points are identified as discontinuous in the position coordinate information, A position reliability point indicated by the latitude / longitude information, which is a point after the point indicated by the latitude / longitude information on the traveling route and whose distance from the position coordinate information on the map specified by the matching unit is within a predetermined distance. An inverse matching unit that performs the map matching process in a time-series reverse order, with
A second generation unit configured to generate second travel route information in which the travel route is specified on the map by a map matching process performed by the reverse matching unit;
An update unit configured to update the first travel route information with the second travel route information. The map information generation device according to claim 1, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. The map information generation device according to claim 1, wherein the position confidence point is an end point on a traveling route of the vehicle. The matching unit and the reverse matching unit identify a traffic regulation section in which traffic is restricted using the acquired traffic regulation information, exclude the traffic regulation section on the map, and perform the map matching process. The map information generation device according to any one of claims 1 to 3, wherein the map information generation device performs: The matching unit and the reverse matching unit use the CAN information that is vehicle control information of the vehicle, estimate the traveling direction of the vehicle from steering angle information in the CAN information, and perform the map matching process. The map information generation device according to claim 1. The said position information acquisition part acquires the said probe information from the traffic information collection apparatus which accumulates the probe information of a vehicle as the said latitude-longitude information and the measurement time information in one driving | running route of one specific vehicle. 6. The map information generation device according to any one of claims 1 to 5. In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along the time series, when the two points are identified as being discontinuous in the position coordinate information, 7. The alert device according to claim 1, further comprising: an alert unit that prompts a user to confirm a moving image captured by a video recording device mounted on the vehicle during a predetermined time including measurement time information corresponding to the latitude and longitude information. 8. Map information generation device. Computer
A position information acquisition step of acquiring latitude and longitude information measured by the GNSS positioning system during traveling together with measurement time information indicating a time at which the latitude and longitude information is measured for one traveling route of the vehicle;
Along with the time series of the measurement time information, a point indicated by the latitude / longitude information is specified with respect to the position coordinate information of the map, and a matching step of performing a map matching process for positioning on the map,
A first generation step of generating first travel route information in which the travel route is specified on the map by the map matching process;
In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along a time series, when the two points are identified as discontinuous in the position coordinate information, A position reliability point indicated by the latitude / longitude information, which is a point after the point indicated by the latitude / longitude information on the traveling route, and whose distance from the position coordinate information on the map specified by the matching step is within a predetermined distance. From the starting point, a reverse matching step of performing the map matching process in reverse chronological order,
A second generation step of generating second travel route information in which the travel route is specified on the map by a map matching process performed by the reverse matching step;
An updating step of updating the first travel route information with the second travel route information. 9. The map information generating method according to claim 8, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. The map information generation method according to claim 8, wherein the position confidence point is an end point on a traveling route of the vehicle. In the matching step and the reverse matching step, a traffic regulation section in which traffic is regulated is identified using the acquired traffic regulation information, and after excluding the traffic regulation section on the map, the map matching process is performed. The map information generation method according to any one of claims 8 to 10, wherein the map information generation is performed. In the matching step and the reverse matching step, the map matching process is performed by using CAN information that is vehicle control information of the vehicle and estimating a traveling direction of the vehicle from steering angle information in the CAN information. The map information generating method according to claim 8. The said position information acquisition step WHEREIN: The said probe information is acquired from the traffic information collection apparatus which accumulates the probe information of a vehicle as the said latitude longitude information and the measurement time information in one travel route of one specific vehicle. 13. The map information generating method according to any one of items 1 to 12. In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along the time series, when the two points are identified as being discontinuous in the position coordinate information, The alert step according to any one of claims 8 to 13, wherein an alert step is performed to prompt confirmation of a moving image taken by a video recording device mounted on the vehicle at a predetermined time including measurement time information corresponding to the latitude and longitude information. Map information generation method. On the computer,
A position information acquisition function for acquiring latitude and longitude information measured by the GNSS positioning system during traveling together with measurement time information indicating a time when the latitude and longitude information is measured for one traveling route of the vehicle;
Along with the time series of the measurement time information, a point indicated by the latitude / longitude information is specified with respect to the position coordinate information of the map, and a matching function of performing a map matching process for positioning on the map,
A first generation function of generating first travel route information in which the travel route is specified on the map by the map matching process;
In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along a time series, when the two points are identified as discontinuous in the position coordinate information, A position reliability point indicated by the latitude / longitude information, which is a point after the point indicated by the latitude / longitude information on the traveling route, and whose distance from the position coordinate information on the map specified by the matching function is within a predetermined distance. A reverse matching function of performing the map matching process in a time series reverse order,
A second generation function of generating second travel route information in which the travel route is specified on the map by a map matching process performed by the reverse matching function;
A map information generation program for realizing an update function of updating the first travel route information with the second travel route information. The map information generation program according to claim 15, wherein the position coordinate information is information indicating a road on which the vehicle can travel on the map. The map information generation program according to claim 15, wherein the position confidence point is an end point on a traveling route of the vehicle. The matching function and the reverse matching function use the acquired traffic regulation information to identify a traffic regulation section in which traffic is restricted, exclude the traffic regulation section on the map, and perform the map matching process. The map information generation program according to any one of claims 15 to 17, which performs: The matching function and the reverse matching function use CAN information that is vehicle control information of the vehicle, estimate the traveling direction of the vehicle from steering angle information in the CAN information, and perform the map matching process. The map information generation program according to any one of claims 15 to 18. The said position information acquisition function acquires the said probe information from the traffic information collection apparatus which accumulates the probe information of a vehicle as the said latitude / longitude information and the measurement time information in one driving | running route of one specific vehicle. 20. The map information generation program according to any one of items 1 to 19. In the map matching process, when two points indicated by each of the latitude and longitude information in which the measurement time information is in a front-to-back relationship along the time series, when the two points are identified as being discontinuous in the position coordinate information, 21. The apparatus according to claim 15, wherein an alert function for prompting confirmation of a moving image taken by a video recording device mounted on the vehicle at a predetermined time including measurement time information corresponding to latitude and longitude information is realized. Map information generation program.   A storage medium storing the map information generation program according to any one of claims 15 to 21.

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