JP7426784B2 - Route data generation system and route data generation program - Google Patents

Description

The present invention relates to a route data generation system that generates route data, and more particularly to a route data generation system that generates desired route data based on accumulated measurement data.

Generally, information on topography, buildings, structures, roads, bridges, tunnels, signs, etc. is acquired using MMS (Mobile Mapping System), etc., and the acquired information is stored in a database etc. as measurement data. is accumulated in.

For example, a measurement vehicle equipped with measurement devices such as a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), a laser scanner, and a camera can acquire the above information while driving on a road, thereby generating a huge amount of measurement data. It is accumulating.

In recent years, the above database has been used to determine whether special vehicles can pass through the roads they are scheduled to travel on, and whether repair work is required due to aging of roads, bridges, tunnels, etc. Accumulated measurement data is used. Furthermore, if the detailed shape of a road can be grasped based on point cloud data acquired by MMS, it can be expected to be used in so-called automatic driving systems.

In this way, the accumulated measurement data can be used in a variety of ways, and is considered important information for many services in the future.In order to increase the reliability of the accumulated measurement data itself, Techniques for preventing data tampering have been disclosed (for example, see Patent Document 1).

International Publication 2017/110801

However, although the technique described in Patent Document 1 can ensure the reliability of the accumulated measurement data itself, there is a problem in that the measurement data on any desired route cannot be effectively used.

Therefore, the present invention has been made in view of the above-mentioned problems, and one of the objects of the present invention is to provide a route data generation system that can effectively utilize measurement data on any desired route. It is to provide.

In order to achieve the above object, the present invention includes at least the following configuration or executes the procedure. In the following description, in order to facilitate understanding of the present invention, reference numerals shown in the drawings may be added, but each component of the present invention is limited to those shown in the drawings. Rather, it should be interpreted broadly within the technical understanding of those skilled in the art.

A route data generation system according to one aspect of the present invention is a route data generation system that generates route data, and includes a route receiving means for accepting a route having a starting point and an ending point on a map, and a route accepting means for accepting a route having a starting point and an ending point on a map, and a route receiving means for accepting a route having a starting point and an ending point on a map; a section generating means that divides into sections and generates a plurality of sections; a measured data determining section that judges whether or not measurement data exists in each of the plurality of sections; and route data generation means for generating route data of the route based on the route data.
With this configuration, the route data generation system according to one aspect of the present invention generates route data based on the measurement data existing in each of the plurality of sections by the route data generation means, so that the route data generation system according to one aspect of the present invention generates the measurement data on any desired route. can be used effectively.

Preferably, the section generation means receives a length that divides the direction along the route and a width that is a direction substantially orthogonal to the direction along the route, and defines an area surrounded by the length and width as a section. It is characterized by generating as follows.
With this configuration, in the route data generation system according to one aspect of the present invention, the section generation means generates an area of any size as a section, so that measurement data can be used more effectively depending on the user's purpose of use. It can be used for.

Preferably, the method further includes condition accepting means for accepting a desired period as a condition for the route data generated by the route data generating means, and the measured data determining means is configured to accept the desired period as a condition for each of the plurality of sections. The method is characterized in that it is determined whether or not there is measurement data that matches.
With this configuration, the route data generation system according to one aspect of the present invention extracts measurement data in each of a plurality of sections using a period as a condition, and thus generates route data based on measurement data in a period desired by a user. I can do it. As a result, the user can effectively utilize the accumulated measurement data according to the purpose of use.

Preferably, the route data generation means generates the route data of the route based on the latest measurement data among the measurement data determined to exist in each of the plurality of sections by the measurement data determination means. It is characterized by
With this configuration, the route data generation system according to one aspect of the present invention extracts the latest measurement data in each of a plurality of sections, so even if measurement data is not updated in some sections, the route data generation system according to one aspect of the present invention extracts the latest measurement data in each of a plurality of sections. Route data can be generated based on updated measurement data.

Preferably, the measurement data used when generating the route data includes at least either image data or point cloud data acquired at the measurement position where the measurement data was measured. .
With this configuration, the route data generation system according to one aspect of the present invention can utilize at least either image data or point cloud data in each of a plurality of sections. As a result, it is possible to provide a system that is intuitively visible and easy to use for the user.

Furthermore, each process performed by the route data generation system according to one aspect of the present invention described above can be regarded as a route data generation method that provides a series of processing procedures. This method is provided in the form of a program for causing a computer to execute a series of processing steps. This program may be downloaded from a predetermined server, accessed via the Internet to a predetermined server where the program is stored, or installed on a computer as recorded on a computer-readable recording medium. Good too. Furthermore, some or all of the functional blocks constituting the route data generation system according to one aspect of the present invention described above may be realized as an integrated circuit such as an LSI (Large-Scale Integration).

As described above, according to the present invention, it is an object of the present invention to realize a route data generation system that can effectively utilize measurement data on any desired route.

1 is a functional block diagram showing a route data generation system 100 according to an embodiment of the present invention. It is a flowchart showing a route data generation method 200 executed by the route data generation system 100 according to an embodiment of the present invention. 1 is a diagram showing an example of measurement data used in a route data generation system 100 according to an embodiment of the present invention. FIG. 3 is a diagram showing how a route having a starting point S and an ending point E is divided into sections each having a predetermined unit on a map. 5 is an enlarged view of section d shown in FIG. 4. FIG. FIG. 3 is a diagram illustrating measurement data in which a travel trajectory of a measured vehicle exists in section d. FIG. 5 is an enlarged view of section d shown in FIG. 4, showing measurement points of measurement data in which the travel trajectory of the measured vehicle exists in section d. It is a figure which shows the record which developed the measurement data for each measurement point in which the travel trajectory of the measurement vehicle exists in the area d. It is a figure which shows how the appropriate measurement point which matches conditions is selected from the measurement points which exist in the area d. It is a figure which shows the record corresponding to the measurement point selected as the appropriate measurement point which matches conditions in the area d. 3 is a diagram showing the results of route data generated for each of sections a to h, which are divided into sections a to section h in a route having a starting point S and an ending point E. FIG.

Embodiments of the present invention will be specifically described below with reference to the drawings. In addition, the embodiment described below is merely a specific example for implementing the present invention, and is not intended to be interpreted in a limited manner.

FIG. 1 is a functional block diagram showing each function in a route data generation system 100 according to an embodiment of the present invention, and FIG. 2 is a functional block diagram showing route data generated by the route data generation system 100 according to an embodiment of the present invention. 2 is a flowchart showing a generation method 200. FIG.

In FIG. 1, the route data generation system 100 includes a route reception means 110, a condition reception means 120, a section generation means 130, a measurement data determination means 140, a route data generation means 150, a route data presentation means 160, and recording means 170.

Each function in the route data generation system 100 is typically realized by a control unit such as a CPU. Each of the functions may be realized by one computer, or may be realized by a client-server system composed of a client and a server via a local network and the Internet. Further, the recording means 170 is a database stored in a portable storage medium such as a HDD (Hard Disk Drive), a nonvolatile memory (flash memory), a CDROM, a DVD, or an optical disc such as Blu-ray (registered trademark). Therefore, here, the configuration is such that it is included in the route data generation system 100, but it is also possible to have a configuration in which a database server is provided separately.

In FIG. 2, the route data generation method 200 includes a map display step S210, a route acceptance step S220, a period condition acceptance step S230, a section generation step S240, a measurement data search step S250, a measurement data determination step S260, It includes a route data generation step S270, a section existence determination step S280, and a route data presentation step S290.

In the map display step S210, the route data generation system 100 displays the map used in the system on the screen. For example, the map may be recorded in advance in the recording means 170 such as a memory or a database, or may be obtained by downloading from a server or another system.

In the route accepting step S220, the route accepting means 110 accepts a route having a starting point S and an ending point E on the displayed map. Specifically, the user directly specifies the starting point S and ending point E on the map displayed on the screen using a keyboard or mouse, or inputs an address or location. Accordingly, the route accepting means 110 accepts a route having a starting point S and an ending point E.

In the period condition accepting step S230, the condition accepting means 120 accepts the route data generated by the route data generating means 150 with a desired period as a condition. Specifically, when the user inputs a desired period, the condition receiving means 120 receives the period and generates route data based on measurement data measured during the period.

Note that the condition accepting means 120 may accept the period based on the start and end dates input by the user, or may accept the period in a format that allows the user to select the oldest, latest, within one year, etc. I do not care.

Furthermore, the conditions do not have to be based on input from the user each time. For example, in the system, if it is assumed that the latest measurement data among the measurement data is most used by the user, the conditions may be set in advance. Then, the route data generation means 150 generates route data based on the latest measurement data.

Here, the measurement data generally refers to various data acquired by a measurement vehicle equipped with an MMS and a travel trajectory of the measurement vehicle. More specifically, the MMS includes a GPS that acquires position information of the measurement vehicle, an IMU that acquires the tilt of the measurement vehicle, and a system that emits multiple laser points and reflects the multiple laser points reflected by objects. It is equipped with measurement devices such as a laser scanner that acquires intensity and a camera that photographs objects from a measurement vehicle. Using these measuring devices, information on topography, buildings, structures, roads, bridges, tunnels, signs, etc. is acquired, and the acquired information is stored as measurement data in the recording means 170 such as a database. ing. Typically, the information includes measurement date and time, route, position information of the measurement vehicle, orientation information of the measurement vehicle, image data, point cloud data, and the like.

FIG. 3 is a diagram showing an example of measurement data used in the route data generation system 100 according to an embodiment of the present invention. In FIG. 3, each record shows data acquired while measuring each vehicle along the traveling trajectory of a measurement vehicle equipped with a GPS, an IMU, a laser scanner, and a camera.

Here, "No" is a number uniquely assigned to each record. "Measurement ID" is a value that combines the number of the measurement vehicle and the date and time when measurement was first started. The "scene number" is a value indicating how many times the measurement was performed after the start of the measurement. “Measurement date and time” is the date and time when measurement was first started. "Vehicle position information" is a value indicating position information obtained at predetermined intervals (for example, every 0.5 seconds, every 2 m, etc.) from a GPS installed in the vehicle. "Vehicle direction (angular displacement)" stores roll, pitch, and heading information acquired at predetermined intervals from an IMU or the like mounted on the vehicle. In addition to the above, the weather at the time of measurement, etc. may also be stored in the data.

For example, No. The record shown in 1 starts the measurement at 16:24 on July 15, 2015, and the measurement vehicle equipped with the measurement device (measurement vehicle number: "0708") is moved forward, and the data is measured by GPS at predetermined intervals. The position (coordinates) of the measurement vehicle is measured, and the direction (angular displacement) of the measurement vehicle is measured using an IMU or the like. Furthermore, at the predetermined intervals, image data taken using a camera, reflection intensity measured using a laser scanner, and point cloud data of position coordinates calculated from the measured vehicle position and direction of the measured vehicle are acquired. There is. In other words, information regarding the position of the measurement vehicle and the orientation of the measurement vehicle is acquired at predetermined intervals, and is stored as measurement data including image data and point cloud data linked to the measurement vehicle position. In this way, the measurement started at 16:24 on July 15, 2015, and the data acquired while moving the measurement vehicle is a series of measurement data ( It is managed as scene number S08). Similarly, No. The record shown in No. 2 is scene number S06. The record shown in 3 is managed as scene number S10.

In section generation step S240, section generation means 130 divides the route into sections each serving as a predetermined unit to generate a plurality of sections. Here, the section is an area surrounded by a length that divides the direction along the route and a width that is approximately orthogonal to the direction along the route. Typically, the length is the area that is defined by the measurement data. It is set based on the measurement interval, and the width is set based on the road width. In addition, when using the system to determine the passage of a special vehicle, the width may be set to a size that allows for a margin when traveling to the width of the special vehicle (for example, vehicle width + 2 m), or The size may be set in consideration of right turns, left turns, and curved roads, including the length of the special vehicle.

FIG. 4 is a diagram showing how a route having a starting point S and an ending point E is divided into predetermined units of sections on a map. In FIG. 4, a route having a starting point S and an ending point E accepted by the route accepting means 110 in the route accepting step S220 is divided into sections a to h. Here, in order to simplify the explanation, a route having a starting point S and an ending point E is set to have a short distance and be a straight line, but in reality, it may include right turns, left turns, and curved roads. In some cases, a longer route may be set.

Note that here, the section is formed by setting the length to 2 m and the width to the road width, but the user may specify these each time route data is generated, or only the length may be specified. The user may specify the width, and the road width may be automatically set. Furthermore, regarding the length, a fixed value may be set in advance, or a value may be set based on the measurement interval of the measurement data.

In addition, as shown in Figure 4, (A) the 2015 measurement includes part of section c and section d as the traveling trajectory of the measured vehicle, and (B) the 2016 measurement includes the traveling trajectory of the measured vehicle. (C) 2018 measurement includes sections b, part of section g, and sections c to f as the traveling locus of the measured vehicle. In other words, (A) measurement data for sections c and d may have been accumulated in the 2015 measurement, and (B) measurement data for sections a to section h may have been accumulated in the 2016 measurement. (C) In the 2018 measurement, there is a possibility that measurement data from section b to section g has been accumulated.

In the measurement data search step S250, the measurement data determination means 140 searches for measurement data in which the travel trajectory of the measured vehicle exists for each section among the measurement data recorded in the recording means 170, and generates route data. Extract candidate measurement data.

The following is a process that is actually repeatedly executed for each section divided into a plurality of sections, but here, the measurement data and processing for section d will be mainly described as an example.

FIG. 5A is an enlarged view of section d shown in FIG. 4, and FIG. 5B is a diagram showing measurement data in which the traveling trajectory of the measured vehicle exists in section d. As shown in FIG. 5A, in section d, there are travel trajectories of the measured vehicle in (A) 2015 measurement, (B) 2016 measurement, and (C) 2018 measurement, and as shown in FIG. 5B. Like, record no. 1 ((A) 2015 measurement), Record No. 2 ((B) 2016 measurement), and record No. 3 ((C) 2018 measurement) is extracted as a candidate.

In the measurement data determination step S260, the measurement data determination unit 140 determines whether or not measurement data exists in each of the plurality of sections. Specifically, the measurement data determining means 140 determines whether there is actually a measurement point of a measurement vehicle from which measurement data was acquired in each section among the measurement data candidates extracted in the measurement data search step S250. Determine whether

FIG. 6A is an enlarged view of section d shown in FIG. 4, and is a diagram showing measurement points of measurement data where the traveling trajectory of the measured vehicle exists in section d, and FIG. 6B is an enlarged view of section d shown in FIG. It is a figure which shows the record which developed the measurement data for each measurement point in which the driving|running|working trajectory exists.

As shown in Figure 6A, in section d and its surroundings, (A) measurement points (1-1) (1-2) in the 2015 measurement, (B) measurement points (2-1) (2) in the 2016 measurement. -2) (2-3), and (C) Measurement points (3-1) (3-2) (3-3) in 2018 measurement exist.

Here, a measurement vehicle equipped with a GPS, an IMU, a laser scanner, and a camera acquires measurement data while driving. , or every 2m) to obtain various measurement data. The position of the measurement vehicle that acquires the various measurement data is called a measurement point.

As shown in Figure 6A, in section d, although the traveling trajectory of the measured vehicle in (A) 2015 measurement exists, measurement points (1-1) (1-2) do not exist in section d. do not have. (B) Among measurement points (2-1), (2-2), and (2-3) in the 2016 measurement, measurement point (2-2) exists in section d. (C) Among measurement points (3-1), (3-2), and (3-3) in the 2018 measurement, measurement point (3-2) exists in section d.

Figure 6B shows the measurement points (1-1) (1-2) (2-1) (2-2) (2-3) (3-1) (3-2) (3-3) shown in Figure 6A. ) shows records of measurement data for each. For example, the records shown in (1-1) and (1-2) indicate that in (A) 2015 measurement, the GPS, IMU, laser scanner, and camera installed in the measurement vehicle were used while the measurement vehicle was moving forward. This is measurement data at one point, acquired at predetermined intervals. Similarly, the records shown in (2-1), (2-2), and (2-3) are measurement data at each point acquired at predetermined intervals in (B) 2016 measurement, and (3) -1) The records shown in (3-2) and (3-3) are measurement data at each point acquired at predetermined intervals in (C) 2018 measurement.

In other words, measurement points (1-1) (1-2) (2-1) (2-2) (2-3) (3-1) (3-2) are the positions of the measurement vehicle at the time of measurement. (3-3) Various measurement data acquired every time is accumulated. Various measurement data typically include reflection intensity measured from a measurement point using a laser scanner, point cloud data of position coordinates calculated from the measurement vehicle position and direction of the measurement vehicle, and point cloud data of position coordinates taken from the measurement point. Contains image data, etc.

Here, in the case of the present embodiment, it is determined that the measurement points (2-2) and (3-2) are present in the section d (Yes in step S260), and the other measurement points are in the section d. It is determined that it does not exist (No in step S260, step S300).

The measurement data at the measurement points (2-2) and (3-2) determined to exist in section d in the measurement data determination step S260 will be used for subsequent processing, but the conditions accepted in the period condition reception step S230 The appropriate measurement data is selected.

FIG. 7A is a diagram showing how appropriate measurement points that match the conditions are selected from among the measurement points existing in section d, and FIG. 7B is a diagram showing how appropriate measurement points that match the conditions are selected in section d. FIG. 3 is a diagram showing records corresponding to measured measurement points. For example, in the period condition acceptance step S230, if the user inputs the condition 2017-2018 or selects the latest condition, the measurement point (3-2) is set as the condition as shown in FIG. 7A. is selected as appropriate measurement data that matches.

In route data generation step S270, route data generation means 150 generates route data based on measurement data existing in each of the plurality of sections. More specifically, when the measurement point (3-2) is selected in the section d in the measurement data determination step S260 as described above, the measurement data at the measurement point (3-2) is used as the measurement information for the section d. and form a measurement data management section route line 700. The measurement data management section route line 700 indicates that there is measurement data managed in the section d, and the measurement information provided is typically image data at the measurement point (3-2). and measurement data including point cloud data and the like.

In this way, the route data generation means 150 forms the measurement data management section route line 700 based on the measurement data at the measurement point (3-2) in the section d, and typically generates the measurement data management section route line 700 based on the measurement data at the measurement point (3-2). Route data is generated by adding measurement data including data as measurement information.

Note that although an example is shown here in which the latest measurement point (3-2) is selected, other measurement points may be selected depending on the conditions accepted in the period condition acceptance step S230. . For example, if a disaster or accident occurred in the past and measurement data from before is required, measurement data for a specific period is requested and selected instead of the latest measurement data. Then, measurement data (typically, image data and point cloud data) at the selected measurement point is given as measurement information for section d, and a measurement data management section route line 700 is formed.

In the section existence determination step S280, the measurement data determining means 140 determines whether there is a section to be processed next. In the case of this embodiment, the measurement data search step S250, measurement data determination step S260, and route data generation step S270 are repeatedly executed from section a to section h, but once the processing for section h is completed, the next step is performed. It is determined that there is no section to be processed (No in step S280), and the process proceeds to the next process (step S290).

Here, the measurement data in the section d has been explained as an example, but the measurement data search step S250, the measurement data determination step S260, and the route data generation step S270 are performed based on a route divided in a route having a starting point S and an ending point E. The process is repeated for sections a to h.

FIG. 8 is a diagram showing the results of route data generated for each of sections a to h, which are divided into sections a route having a starting point S and an ending point E. Here, "MMS measurement data file name" is point cloud data of position coordinates calculated from reflection intensity measured using a laser scanner, measurement vehicle position, measurement vehicle direction, etc., image data taken from measurement points, etc. is a value indicating the stored file name and measurement point. Load the point cloud data and image data from the file name of the above value, and based on the measurement point, point cloud data of the position coordinates calculated from the reflection intensity measured at the measurement point, the measurement vehicle position, the measurement vehicle orientation, etc. It becomes possible to read image data taken from measurement points. In addition, "MMS measurement data file name" includes point cloud data of position coordinates calculated from reflection intensity measured using a laser scanner, measurement vehicle position, measurement vehicle orientation, etc., and image data taken from measurement points. , or the name of the stored file. In this case, by using the vehicle position information as the measurement point, it is possible to read the point cloud data and image data of the position coordinates calculated from the reflection intensity measured at the measurement point, the measurement vehicle position, the measurement vehicle orientation, etc. Become. As shown in FIG. 8, route data is generated for each section a to section h, and as a result, route data for a route having a starting point S and an ending point E on the map is generated.

In section d, as shown in the above example, the measurement data at measurement point (3-2) of (C) 2018 measurement is selected and added to the measurement data management section route line 700 as measurement information for section d. ing.

In addition, for section a, section b, section g, and section h, (B) measurement data at measurement points existing in each section of the 2016 measurement are selected, respectively, and section a, section b, section g, and section h are selected. The measurement information is given to each measurement data management section route line 700. In addition, in section c, section e, and section f, the measurement data at the measurement points existing in each section of (C) 2018 measurement are selected, and as the measurement information of section c, section e, and section f, Each is given to the measurement data management section route line 700.

In this way, if route data is generated based on measured data for each section on a route that has a starting point S and an ending point E, even if the measured data is not updated in some sections, the other sections can be updated. Route data can be generated based on the measured data. More specifically, here, for a route having a starting point S and an ending point E, (B) a series of measurement data measured in 2016 exists, but among sections a to h, sections c to section (C) Measurement data measured in 2018 exists in f. In other words, when a user requests the latest route data for a route that has a starting point S and an ending point E, for sections c to f where newer measurement data exists, (C) based on measurement data measured in 2018 route data can be generated using

In the route data presentation step S290, the route data presentation means 160 presents the route data generated in the route data generation step S270 in a format superimposed on the map.

More specifically, along a route having a start point S and an end point E displayed on the map, the route data generation step S270 generates measurement information in the measurement data management section route line 700 for each section a to section h. The assigned image data is displayed superimposed on the map. As a result, image data is displayed continuously from the start point to the end point of the route specified by the user, and the user can confirm appropriate image data that matches the desired conditions on the route. You can visually check roads, cityscapes, and other scenery.

Also, along the route having the starting point S and the ending point E displayed on the map, points added as measurement information to the measurement data management section route line 700 for each section a to section h in the route data generation step S270. The group data is superimposed and displayed on the map. As a result, point cloud data is displayed continuously from the start point to the end point of the route specified by the user, making it easy for the user to check the appropriate point cloud data that matches the desired conditions on the route. can. Since the shapes of roads, bridges, buildings, etc. can be specifically confirmed, it is possible to determine, for example, whether the roads or bridges can be passed by large special vehicles.

As described above, according to the route data generation system 100 and the route data generation method 200 according to an embodiment of the present invention, measurement data on any desired route can be effectively used.

In this embodiment, only one measurement data at the measurement point (3-2) is selected as appropriate measurement data that matches the conditions accepted in the period condition acceptance step S230 in the interval d, but for example, , there may be a case where there are multiple measurement points (measurement data) that match the condition. In that case, the optimal measurement data may be selected by having the user select one of the plurality of measurement data, or by setting additional conditions and priority keys in advance. For example, if the period condition accepted by the user is from 2000 to 2019, the latest of these may be set.

On the other hand, there may be a case where there is no measurement point (measurement data) that matches the condition. In that case, it is possible to respond that the measurement data does not exist, or it is possible to leave only the section where the measurement data does not exist blank. Alternatively, the measurement data may be estimated and supplemented based on the section adjacent to the section in which the measurement data does not exist.

The embodiments of the present invention have been specifically described above. The above description is just one embodiment, and the scope of the present invention is not limited to this one embodiment, but is to be broadly interpreted to the extent that those skilled in the art can understand.

INDUSTRIAL APPLICATION This invention can be utilized for the system etc. which generate desired route data based on the accumulated measurement data, Comprising: It is especially useful for the system etc. which determine whether a vehicle can pass, etc.

100 route data generation system 110 route reception means 120 condition reception means 130 section generation means 140 measurement data determination means 150 route data generation means 160 route data presentation means 170 recording means 200 route data generation method 700 measurement data management section route line S210 map display Step S220 Route reception step S230 Period condition reception step S240 Section generation step S250 Measurement data search step S260 Measurement data determination step S270 Route data generation step S280 Section existence determination step S290 Route data presentation step a, b, c, d, e, f , g, h Section A, B, C Travel trajectory S Starting point E Ending point

Claims (4)

A route data generation system that generates route data,
route accepting means for accepting a route having a starting point and an ending point on a map;
section generating means for generating a plurality of sections by dividing the route into sections each serving as a predetermined unit;
measurement data determining means for determining whether point cloud data exists in each of the plurality of sections;
route data generation means for generating the route data consisting of point cloud data existing in each of the plurality of sections;
The measurement data determining means determines that the point cloud data exists in the section including the measurement point in the point cloud data measured at each of a plurality of measurement points that are the positions of the measurement vehicle at the time of measurement. ,
further comprising condition acceptance means for accepting a desired period as a condition for the route data generated by the route data generation means;
The route data generation system is characterized in that the measurement data determining means determines whether or not point cloud data matching the desired period exists in each of the plurality of sections . The section generation means receives a length dividing the direction along the route and a width that is a direction substantially perpendicular to the direction along the route, and generates an area surrounded by the length and width as a section. The route data generation system according to claim 1, characterized in that: The route data generation means generates route data of the route based on the latest point cloud data among the point cloud data determined to exist in each of the plurality of sections by the measurement data determination means. The route data generation system according to claim 1 or claim 2 . A route data generation program that causes a computer to execute a route data generation method for generating route data,
a route acceptance step of accepting a route having a starting point and an ending point on the map;
a section generation step of dividing the route into sections each serving as a predetermined unit to generate a plurality of sections;
a measurement data determination step of determining whether point cloud data exists in each of the plurality of sections;
a route data generation step of generating the route data consisting of point cloud data existing in each of the plurality of sections;
The measurement data determining step determines that the point cloud data exists in the section including the measurement point in the point cloud data measured at each of a plurality of measurement points that are the positions of the measurement vehicle at the time of measurement. ,
further comprising a condition acceptance step of accepting a desired period as a condition for the route data generated in the route data generation step;
A route data generation program that causes a computer to execute a route data generation method, wherein the measurement data determining step determines whether or not point cloud data matching the desired period exists in each of the plurality of sections. .

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