WO2006101012A1 - Dispositif, procede et programme de mise a jour d'informations cartographiques et support d'enregistrement lisible par ordinateur - Google Patents

Dispositif, procede et programme de mise a jour d'informations cartographiques et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2006101012A1
WO2006101012A1 PCT/JP2006/305281 JP2006305281W WO2006101012A1 WO 2006101012 A1 WO2006101012 A1 WO 2006101012A1 JP 2006305281 W JP2006305281 W JP 2006305281W WO 2006101012 A1 WO2006101012 A1 WO 2006101012A1
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WO
WIPO (PCT)
Prior art keywords
map information
information
image
unit
road
Prior art date
Application number
PCT/JP2006/305281
Other languages
English (en)
Japanese (ja)
Inventor
Goro Kobayashi
Koji Koga
Takeshi Sato
Original Assignee
Pioneer Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corporation filed Critical Pioneer Corporation
Publication of WO2006101012A1 publication Critical patent/WO2006101012A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • Map information update device Map information update device, map information update method, map information update program, and computer-readable recording medium
  • the present invention relates to a map information update device such as a navigation device mounted on a vehicle, a map information update method, a map information update program, and a computer-readable recording medium.
  • a map information update device such as a navigation device mounted on a vehicle
  • map information update method such as a navigation device mounted on a vehicle
  • map information update program such as a map information update program
  • computer-readable recording medium such as a computer-readable recording medium.
  • the use of the present invention is not limited to the above-described map information update device, map information update method, map information update program, and computer-readable recording medium.
  • Such a travel information recording / reproducing apparatus captures a road sign around a travel road with a video camera, for example, and extracts a road sign image from the captured image signal with a video signal processing unit and stores it in a storage unit. . Then, when there is a request to retrieve the stored road sign image from the remote controller, the CPU retrieves the stored road sign image and displays it on the liquid crystal display. Therefore, even if a road sign is overlooked, it is possible to immediately display a road sign that has passed, and to obtain appropriate traveling information (for example, see Patent Document 1).
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2003-329464
  • the photographed road sign image can be immediately displayed on the display to complement the oversight of the road sign.
  • An example is the problem that road sign images cannot be used more effectively for map information such as navigation devices.
  • the map information update device is included in the map information from an imaging unit that captures the surroundings of the vehicle and an image of the surroundings of the vehicle that is captured by the imaging unit.
  • the extraction means for extracting at least one of a road sign image, an information image on the road, and a road surrounding facility image, and information represented by the image extracted by the extraction means
  • comparison verification means for comparing and verifying information included in the map information
  • updating means for updating the map information based on the comparison verification result compared and verified by the comparison verification means. It is characterized by that.
  • the map information updating method includes: an input step of receiving an input of a video around the vehicle; and a map information from the video around the vehicle input in the input step.
  • An image associated with the contained information includes an extraction process for extracting at least one of a road sign image, an information image on the road, and a road facility image, and an image extracted by the extraction process.
  • a comparison verification step for comparing and verifying information and information contained in the map information !, and an update step for updating the map information based on a comparison verification result comparatively verified by the comparison verification step. It is characterized by including.
  • map information update program according to the invention of claim 11 causes a computer to execute the map information update method according to any one of claims 6 to LO.
  • a computer-readable recording medium according to the invention of claim 12 records the map information update program according to claim 11.
  • FIG. 1 is a block diagram showing an example of a functional configuration of a map information updating apparatus that works according to an embodiment.
  • FIG. 2 is a flowchart showing an example of a map information update processing procedure of the map information update apparatus according to the embodiment.
  • FIG. 3 is an explanatory view showing an example of the inside of a vehicle equipped with a map information updating apparatus that is effective in the embodiment.
  • FIG. 4 is a block diagram showing an example of a hardware configuration of a map information updating apparatus that is effective in the embodiment.
  • FIG. 5 is a block diagram illustrating an example of an internal configuration of an image processing unit in the map information updating apparatus that is effective in the embodiment.
  • FIG. 6 is a flow chart showing an example of a map information update processing procedure of the map information update device which works on the embodiment.
  • FIG. 1 is a block diagram showing an example of a functional configuration of a map information updating apparatus that is useful in the embodiment of the present invention.
  • the map information updating device is mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle), and includes a photographing unit 101, an extracting unit 102, a comparison verification unit 103, and an updating unit 104.
  • the display unit 105, the audio output unit 106, and the storage unit 107 are provided.
  • the photographing unit 101 photographs the surroundings of the vehicle.
  • the periphery of the vehicle means, for example, the periphery of the entire vehicle, up and down, left and right, and all front and rear.
  • a specific example of the video imaged by the imaging unit 101 is an image of the front or side of the vehicle.
  • the photographing unit 101 is specifically composed of one or a plurality of photographing devices, for example.
  • the extraction unit 102 extracts a road sign image, an information image on the road, and a road periphery as an image related to information included in the map information from the video around the vehicle photographed by the photographing unit 101. At least one of the facility images is extracted. Examples of the information included in the map information include background information representing features (features) such as buildings, rivers, and the ground surface, and road shape information representing road shapes.
  • the road sign refers to a display board showing traffic regulations and the like, which is installed by, for example, a public safety committee or a road manager, and includes this sign and an auxiliary sign.
  • An information image on the road is an image related to all information (existing) drawn on the road.For example, the speed limit display, the number of lanes, the pedestrian crossing, the sidewalk partitioned by white lines, (For example, the presence or absence of a center line, the color of the center line or a line or line shape that prohibits lane changes, etc.).
  • the road structure means, for example, a member that straddles a road, a member that covers a traveling lane, a bridge, a road surface (road pavement), a tunnel, and the like, and includes traffic lights and road white lines.
  • road surrounding facilities include facilities provided around the road, and buildings such as shops and buildings around the road.
  • the comparison verification unit 103 compares and verifies information represented by the image extracted by the extraction unit 102 and information included in the map information. For example, if the extracted image is the main sign of the road sign and the speed limit is 50kmZh, the information that the image represents is the information that indicates the speed limit of 50kmZh! Uh.
  • the update unit 104 updates the map information based on the comparison verification result verified by the comparison verification unit 103. Specifically, for example, if there is difference information between the extracted image force S information and the information included in the map information, the map information is reflected in the map information. It means updating the map information.
  • Display unit 105 displays the image extracted by extraction unit 102 on a display screen or the like.
  • the audio output unit 106 outputs audio indicating information represented by the image extracted by the extraction unit 102 from a speaker or the like.
  • the accumulation unit 107 accumulates the map information updated by the update unit 104 in a storage device or the like. (Map information update processing procedure of map information update device)
  • FIG. 2 is a flowchart showing an example of the map information update processing procedure of the map information update apparatus according to the embodiment of the present invention.
  • an image of the surroundings of the running or stopped vehicle is taken by the photographing unit 101, and the map information update device acquires an image of the surroundings of the vehicle (step S201).
  • the extraction unit 102 extracts an image related to the information included in the map information from the acquired video around the vehicle (step S202).
  • the extraction of the image related to the information included in the map information is performed by extracting at least one of a road sign image, an information image on the road, and a facility facility around the road, for example.
  • the comparison verification unit 103 compares and verifies the information represented by the image extracted by the extraction unit 102 and the information included in the map information (step S203), and based on the comparison verification result.
  • the update unit 104 updates the map information (step S204). For example, if there is difference information between the information represented by the image and the information contained in the map information, the map information is updated by reflecting the difference information in the map information and updating the map information. It is. Thus, a series of map information update processing according to this flowchart is completed. By updating the map information in this way, it is possible to immediately reflect on the map information the road conditions around the actual vehicle that change every moment.
  • the display unit 105 (see FIG. 1, the same applies hereinafter), for example, based on the extracted image, for example, An image may be displayed on the display screen.
  • the audio output unit 106 (see FIG. 1, the same shall apply hereinafter) may reproduce the sound representing the information represented by the image.
  • the updated map information may be stored in a storage device or the like by the storage unit 107 (see FIG. 1, the same applies hereinafter).
  • This storage process may be stored in the storage device of the map information update device main body, or stored in an external server or the like by data communication. You may do it. If map information is stored using an external server, a map information update system using a map information update device can be constructed.
  • the image related to the information included in the map information is extracted and extracted from the video around the photographed vehicle.
  • the map information is updated by comparing and verifying the information represented by the captured image and the information included in the map information. For this reason, the road conditions around the actual vehicle, which changes every moment, can be immediately reflected in the map information, and the map information can be automatically updated as appropriate.
  • FIG. 3 is an explanatory diagram showing an example of the interior of the vehicle in which the map information updating apparatus that is useful in the embodiment of the present invention is mounted.
  • a monitor 302a as the display unit 105 and a speaker 304 as an audio output unit of the audio output unit 106 in FIG. 1 are provided around the driver's seat 311 and the passenger seat 312.
  • the passenger seat 312 is provided with a monitor 302b as a display unit 105 for a passenger in the rear seat 313! /.
  • an in-car mirror 315 of the ceiling 314 of the vehicle is provided with a photographing device (camera) 317 as the photographing unit 101 in FIG. 1 for photographing the front of the vehicle.
  • the left and right side mirrors 316 have a photographing device (camera) 317 as the photographing unit 101 in FIG. 1 for photographing the front of the vehicle and a photographing device (photographing unit 101 in FIG. 1 for photographing the side of the vehicle) ( Force mela) 318 is provided.
  • the map information updating device 310 (310a, 310b) includes these monitors 302 (302a, 302b), a speaker 304, and photographing devices 317, 318!
  • the map information updating device 310 (310a, 310b) may have a structure that can be attached to and detached from the vehicle.
  • FIG. 4 is a block diagram showing an example of the hardware configuration of the map information updating apparatus that is useful in the embodiment of the present invention.
  • the map information update device 310 is mounted on the vehicle in a detachable manner, for example, and includes a navigation control unit 400, a user operation unit (remote control, touch panel) 401, and the like. , Display unit (monitor) 402, position acquisition unit (GPS, sensor) 403, recording medium (HD, DVD, etc.) 404, recording medium decoding unit (drive) 405, guidance sound output unit 406, communication Unit 407, route search unit 408, route guidance unit 409, guidance sound generation unit 410, speaker 411, image processing unit 412, image input / output IZF 413, audio processing unit 414, and imaging unit (camera) 415 and a map information database (hereinafter referred to as “map information DB”) 416.
  • Map information DB map information database
  • the navigation control unit 400 controls the entire map information update device 310, for example, and executes various arithmetic processes in accordance with a control program and the like, thereby comprehensively controlling each unit included in the map information update device 310. To do.
  • the navigation control unit 400 includes, for example, a central processing unit (CPU) that executes predetermined arithmetic processing, a read only memory (ROM) that stores various control programs, and a random access memory (RAM) that functions as a work area for the CPU. It can be realized by a microphone-type computer constituted by a memory).
  • the navigation control unit 400 records, from the recording medium 404, information related to the current position of the vehicle (current position information) acquired by a position acquisition unit 403, which will be described later, for example, when guiding the route of the vehicle related to navigation. Based on the map information obtained through the media decoding unit 405 and the map information obtained from the map information DB 416, it is calculated which position on the map the vehicle is driving and the calculation result is output to the display unit 402 To do.
  • the navigation control unit 400 inputs and outputs information related to route guidance between a route search unit 408, a route guidance unit 409, and a guidance sound generation unit 410, which will be described later, during the above-described route guidance, and obtains information obtained as a result. Output to display unit 402 and guidance sound output unit 406
  • the navigation control unit 400 performs, for example, a map information update process, which will be described later. Included in the map information obtained from the recording medium 404 and the map information DB 416, and the information related to the information included in the map information acquired from the imaging unit 415 through the image processing unit 412 Compare and verify the information. This comparison verification process is performed by, for example, comparing and verifying whether there is difference information between the information represented by the image and the information included in the map information.
  • User operation unit 401 outputs information input by the user, such as characters, numerical values, and various instructions, to navigation control unit 400.
  • information input by the user such as characters, numerical values, and various instructions
  • various known forms such as a push button switch that detects physical depression Z non-depression, a touch panel, a keyboard, and a joystick can be employed.
  • the user operation unit 401 may be configured to perform an input operation by voice using, for example, a microphone that inputs voice of external power.
  • the user operation unit 401 may be provided integrally with the map information update device 310, and may be operated from a position away from the map information update device 310 like a remote controller. Possible forms may be possible. In addition, the user operation unit 401 may be configured in any one of the various forms described above, or may be configured in a plurality of forms. The user inputs information by appropriately performing an input operation according to the form of the user operation unit 401.
  • Information input by the input operation of the user operation unit 401 includes, for example, information on a destination regarding navigation. Specifically, for example, when the map information update device 310 is provided in a vehicle or the like, a point to be reached by the passenger of this vehicle is set. Further, as information input to the user operation unit 401, for example, regarding display processing on the display unit 402, display form information of an image such as a road sign to be displayed can be cited. Specifically, for example, an image displayed in the form (image size, display position, etc.) and timing desired by the passenger of the vehicle is displayed and set.
  • the touch panel when a touch panel is adopted as the form of the user operation unit 401, the touch panel is used by being stacked on the display screen side of the display unit 402, for example.
  • the user operation timing on the touch panel user operation unit 4001
  • the position coordinates thereof Recognize information input by input operation.
  • a touch panel stacked on the display unit 402 as a form of the user operation unit 401, a large amount of information can be input without increasing the size of the user operation unit 401. Will be able to.
  • the touch panel various known touch panels such as a resistance film type and a pressure sensitive type can be used.
  • Display unit 402 includes, for example, a CRT (Cathode Ray Tube), a TFT (Thin Film Transistor) liquid crystal display, an organic EL (Electroluminescence) display, a plasma display, and the like.
  • the display unit 402 can be configured by, for example, a video IZF (not shown) or a video display device connected to the video IZF.
  • the video IZF specifically includes, for example, a graphic controller that controls the entire display device, a buffer memory such as a VRAM (Video RAM) that temporarily stores image data that can be displayed immediately, and the like. Based on the image data output from the graphics controller, it consists of a control IC that controls the display of the display device and a GPU (Graphics Processing Unit).
  • the display unit 402 displays, for example, icons, cursors, menus, windows, or various information such as characters and images.
  • the display unit 402 displays an image processed by an image processing unit 412 described later, a map based on map information from the recording medium 404 or the map information DB 416, and the like.
  • the position acquisition unit 403 acquires the current position information (latitude and longitude information) of the vehicle on which the map information update device 310 is mounted, for example, by receiving radio waves of artificial satellite power.
  • the current position information is information for receiving the radio wave of the artificial satellite force and obtaining the geometric position with the artificial satellite as described above, and can be measured anywhere on the earth.
  • the position acquisition unit 403 includes a GPS antenna (not shown).
  • the GPS Global Positioning System
  • This position acquisition unit 403 is, for example, a tuner that demodulates radio waves received by satellite power or demodulated information. It can be configured by an arithmetic circuit for calculating the current position based on the above.
  • Radio waves from artificial satellites are generated using 1.57542 GHz carrier waves such as L1 radio waves carrying CZA (Coarse and Access) codes and navigation messages.
  • CZA Coarse and Access
  • the current position (latitude and longitude) of the vehicle on which the map information update device 310 is mounted is detected.
  • information collected by various sensors such as a vehicle speed sensor and a gyro sensor may be used.
  • the vehicle speed sensor detects the vehicle speed from an output shaft of a transmission of a vehicle on which the map information update device 310 is mounted, for example.
  • the angular velocity sensor detects, for example, an angular velocity when the vehicle is rotating, and outputs angular velocity information and relative orientation information.
  • the mileage sensor calculates the number of pulses per rotation of the wheel by counting the number of pulses of a pulse signal with a predetermined period that is output as the wheel rotates, and based on the number of pulses per rotation It outputs mileage information.
  • the inclination angle sensor detects, for example, the inclination angle of the road surface and outputs inclination angle information. Furthermore, the lateral G sensor detects lateral G, which is an outward force (gravity) generated by centrifugal force, for example, when cornering a vehicle, and outputs lateral G information.
  • the vehicle current position information acquired by the position acquisition unit 403 and the information detected by the vehicle speed sensor, gyro sensor, angular velocity sensor, travel distance sensor, inclination angle sensor, and lateral G sensor are the navigation control unit. Output to 400.
  • the recording medium 404 records various control programs and various information in a state that can be read by a computer.
  • the recording medium 404 accepts writing of information by the recording medium decoding unit 405 and records the written information in a nonvolatile manner.
  • the recording medium 404 can be realized by, for example, HD (Hard Disk).
  • the recording medium 404 is not limited to the above HD. Instead of HD or in addition to HD, various DVDs (Digital Versatile Disks), CDs (Compact Disks), etc. can be attached to and detached from the recording medium decoding unit 405.
  • a possible and portable medium is a recording medium 40 It may be used as 4.
  • the recording medium 404 is not limited to a DVD and a CD, but to a recording medium decoding unit 405 such as a CD-ROM (CD-R ⁇ CD-RW), MO (Magneto-Optical disk), or a memory card.
  • CD-ROM CD-R ⁇ CD-RW
  • MO Magnetto-Optical disk
  • a removable and portable media can be used for ⁇ IJ.
  • the recording medium 404 is recorded with a map information update program, a navigation program, various image and audio data, map information, and the like that realize the present invention!
  • Image data refers to the value of a two-dimensional array that represents an image of a video taken around the vehicle, for example, and audio data refers to data for reproducing music such as music.
  • the map information includes, as information contained in the map information, for example, background information representing features (features) such as buildings, rivers, and the ground surface, and road shape information representing road shapes. In other words, it refers to information drawn in two dimensions or three dimensions on the display screen of the display unit 402.
  • the background information includes background shape information representing the shape of the background and background type information representing the type of the background.
  • the background shape information includes information indicating, for example, representative points of features, polylines, polygons, coordinates of features, and the like.
  • the background type information includes, for example, text information indicating the name, address, and telephone number of the feature, type information indicating the type of the feature such as a building or a river.
  • the road shape information is information relating to a road network having a plurality of nodes and links.
  • the node is information indicating an intersection where a plurality of roads such as a three-way intersection, a crossroad, and a five-way intersection intersect.
  • a link is information indicating a road connecting nodes. Some of these links have shape interpolation points that allow the expression of curved roads.
  • the road shape information includes traffic condition information. This traffic condition information is information indicating the characteristics of the intersection, the length (distance) of each link, the vehicle width, the traveling direction, the traffic prohibition, the road type, and the like.
  • the traffic condition information includes, for example, road sign information.
  • a road sign is a display board that is installed by, for example, the Public Safety Commission or a road manager and shows traffic regulations. Specifically, this sign and an auxiliary sign are included.
  • This sign includes, for example, a regulation sign, an instruction sign, a warning sign, and a guidance sign.
  • the control sign prohibits a specific traffic method or follows a specific traffic method. It is a sign that instructs to pass.
  • the instruction sign is a sign indicating that a specific transportation method is possible or a place determined in terms of road traffic.
  • a warning sign is a sign that alerts road users in advance about road hazards and conditions to be aware of, and encourages attention.
  • the guide sign is a sign intended to facilitate transportation by indicating the name, direction, distance, etc. of the point.
  • auxiliary signs are installed below the signs to supplement the meaning of the signs, such as regulatory signs, to indicate the reason for the regulation, the time when the regulation is applied, the day of the week, the automobile It is a sign that identifies the type of the.
  • the guide signs include landmarks such as historic sites, museums, art galleries, amusement parks, golf courses, etc.
  • the road shape information includes, for example, road structure information.
  • a road structure is, for example, a member that straddles a road, a member that covers a traveling lane, a bridge, a road surface (road pavement), a tunnel, and the like, and includes traffic lights and road white lines.
  • the background information includes, for example, road peripheral facility information.
  • facilities around the road are facilities provided around the road and include buildings such as shops and buildings around the road.
  • these road sign information, road structure information, and road facility information are associated with map information.
  • intersections include, for example, intersections with complicated shapes such as three- and five-way intersections, intersections where the road branches at a shallow angle, intersections around destinations, expressway entrances and junctions And intersections with a high route departure rate.
  • the past departure history power can be calculated as the route departure rate.
  • road types include expressways, toll roads, and general roads.
  • the force for recording map information or the like on the recording medium 404 is not limited to this.
  • the map information etc. may be recorded in, for example, the map information DB 416, or the map information update device 310 is not limited to the one that is integrated with the hardware of the map information update device 310. It may be provided outside. If it is provided outside, for example, data communication with external map information DB416 etc. is performed via the communication unit 407 described later, and map information is acquired or updated. You may do it.
  • the map information update device 310 acquires map information from the map information DB 416 such as a server existing in an external network, for example, via the communication unit 407, or sends the map information DB 416 to the map information DB 416. Or provide updated map information.
  • the map information acquired in this way may be stored in a memory or the like, for example, not shown in the navigation control unit 400.
  • the recording medium decoding unit 405 controls reading and writing of information with respect to the recording medium 404.
  • the recording medium decoding unit 405 is an HDD (Hard Disk Drive).
  • the recording medium decoding unit 405 is a drive device such as a DVD drive or a CD drive.
  • CD-ROM CD-R, CD-RW
  • MO electrically erasable and removable recording medium
  • memory card or the like
  • a dedicated drive device capable of reading information recorded on various recording media may be appropriately used as the recording medium decoding unit 405.
  • the guidance sound output unit 406 reproduces the navigation guidance sound by controlling the output to the connected speaker 411.
  • the speaker 411 may be one or plural.
  • the guide sound output unit 406 can be realized by, for example, a voice IZF (not shown) connected to the speaker 411 for voice output.
  • the audio IZF performs, for example, a DZA converter that performs DZ A conversion of a digital audio signal, an amplifier that amplifies an analog audio signal output from the DZA converter, and AZD conversion of an analog audio signal. It can consist of an AZD converter.
  • the communication unit 407 communicates with, for example, another map information update device 310, or communicates with an external server.
  • the communication unit 407 specifically transmits / receives map information to / from the map information DB 416 of an external server.
  • the communication unit 407 of the present embodiment is directly connected to another map information updating device 310 that may be a communication module that communicates with a communication server via a base station (not shown), such as a mobile phone. It may be a communication module that performs wireless communication.
  • wireless communication by the communication unit 407 refers to communication performed using radio waves, infrared rays, ultrasonic waves, or the like without using a wire line as a communication medium.
  • wireless LAN Local Area Network
  • IrDA Infrared Data Association
  • HomeRF Home Radio Frequency ;, BlueTooth
  • the wireless LAN can be used as a preferable example in terms of information transfer speed and the like.
  • the communication unit 407 may receive road traffic information such as traffic jams and traffic regulations regularly (or irregularly). Specifically, the reception of road traffic information by the communication unit 407 may be performed at the timing when the road traffic information is distributed from the VICS (Vehicle Information and Communication System) center or periodically to the VICS center. This may be done by requesting road traffic information distribution.
  • the communication unit 407 can be realized as, for example, an AM / FM tuner, a TV tuner, a VICS / beacon receiver, and other communication devices.
  • RviCSj is a vehicle navigation device that transmits road traffic information such as traffic jams and traffic regulations edited and processed at the VICS center in real time. It is an information communication system that displays characters on the in-vehicle device. As a method of transmitting road traffic information (VICS information) edited and processed in this VICS center to the navigation device, there is a method of using “beacon” and “FM multiplex broadcasting” installed on each road. .
  • beacons include “radio wave beacons” mainly used on expressways and “optical beacons” used on major general roads.
  • FM multiplex broadcasting road traffic information in a wide area can be received.
  • a “beacon” it is possible to receive necessary road traffic information at the location where the vehicle is located, such as detailed information on the most recent road based on the vehicle (vehicle) position. It becomes possible.
  • the communication method with the other map information update device 310 is different from the communication method for receiving map information and road traffic information, the communication unit 407 corresponds to each communication method. It is possible to have multiple communication means.
  • the route search unit 408 finds an optimal route from the current position to the destination based on the current position information of the vehicle acquired by the position acquisition unit 403 and the destination information input by the user. calculate.
  • the route guide unit 409 includes information on the route (guide route) searched by the route search unit 408, or route information received by the communication unit 407, current position information acquired by the position acquisition unit 403, and a recording medium 404. Based on the map information obtained from the recording medium decoding unit 405 and the map information obtained from the map information DB 416, real-time route guidance information is generated.
  • the route guidance information generated by the route guidance unit 409 is output to the display unit 402 via the navigation control unit 400.
  • Guide sound generation section 410 generates tone and voice information corresponding to various patterns.
  • the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated, and the guidance sound is output via the navigation control unit 400. Output to part 406.
  • the speaker 411 reproduces (outputs) the navigation guidance sound output from the guidance sound output unit 406 and the sound output from the audio processing unit 414 described later. It should be noted that, for example, a headphone or the like is provided in the speaker 411 so that the output form of the guidance sound and voice is appropriately changed so that the sound field of the guidance sound and voice output from the entire vehicle interior is not obtained.
  • the image processing unit 412 performs overall image processing in the map information update device 310. Specifically, the image processing unit 412 performs, for example, image processing of a video around the vehicle acquired from the imaging unit 415 described later through the image input / output IZF413. The image processing unit 412 may perform image processing such as an image acquired from the communication unit 407 through the image input / output IZF 413 or an image recorded on the recording medium 404! / ⁇ . Specifically, the image processing unit 412 is configured by a GPU, for example.
  • the image processing by the image processing unit 412 is related to information included in the map information from, for example, a video around the vehicle acquired from the photographing unit 415 via the image input / output IZF 41 3. Extraction of images to be performed.
  • the image processing unit 412 performs image extraction processing, for example, in accordance with a control command from the navigation control unit 400.
  • the image extraction processing refers to an image around the vehicle photographed by the photographing unit 415 including a photographing device such as a digital still camera (DSC) or a digital video power camera (DVC).
  • DSC digital still camera
  • DVC digital video power camera
  • the road sign information included in the map information, the road structure information, and the road facility information are included in the road sign image, the road information image, and the road facility image. This means extracting at least one of them.
  • the image processing unit 412 may be configured to have a DSP (Digital Signal Proces sor) function, for example.
  • the information image on the road refers to an image relating to all information drawn (existing) on the road.
  • an image relating to information indicating “speed limit display”, “lane” An image related to information indicating the number, an image related to information indicating the pedestrian crossing, an image related to the information indicating the sidewalk partitioned by white lines, and a display related to the center line (for example, the presence or absence of the center line and the center line)
  • a display related to the center line for example, the presence or absence of the center line and the center line
  • Image Input / Output IZF 413 performs input / output processing of an image (image data) that is also input / output to / from image processing unit 412, for example.
  • This image input / output IZF413 is an example of images from the recording medium 404 that stores images taken by the DSC or DVC, or images stored in the DSC or DVC, such as USB (Universal Serial Bus), IEEE 1394 (I nstitute of Electrical and Electronic Engineers 1394) and images such as infrared images that are input from the communication unit 407 and images of the surroundings of the vehicle captured by the imaging unit 415 are output to the image processing unit 412 for image processing.
  • the image output from the unit 412 is output to the recording medium 404 and the communication unit 407.
  • the image input / output IZF 413 may have a controller function for controlling read Z write of the recording medium 404, for example, when inputting / outputting an image to / from the recording medium 404. Further, the image input / output IZF 413 may have a function of a communication controller that controls communication with the communication unit 407 when performing image input / output with the communication unit 407, for example.
  • the audio processing unit 414 receives audio data obtained from the recording medium 404 through the recording medium decoding unit 405 and audio data obtained from the communication unit 407 through the navigation control unit 400. Data is selected, and the selected audio data is played back. In addition, the audio processing unit 414 performs reproduction processing of audio data stored in a storage device such as an audio database (hereinafter referred to as “audio DB”) (not shown).
  • audio DB an audio database
  • Examples of the audio data reproduced by the audio processing unit 414 include audio data such as audio data and sound effects constituting a musical composition.
  • the reproduction processing in the audio processing unit 414 includes, for example, control of the sound field formed by the audio output from the speaker 411.
  • the audio processing unit 414 may be configured to reproduce, for example, radio or television audio.
  • the audio processing unit 414 controls output of audio output from the speaker 411, for example. Specifically, for example, sound volume adjustment / colorizing processing, sound image localization processing, and the like are performed based on selected and reproduced sound data, and the sound output state is controlled.
  • the audio output control by the audio processing unit 414 is performed by, for example, an input operation from the user operation unit 401 or a control by the navigation control unit 400.
  • the photographing unit 415 is composed of, for example, photographing devices (cameras) 317 and 318 mounted on the vehicle in FIG. 3 and external photographing devices such as the above-described DSC and DVC. It has a photoelectric conversion element and takes an image around the vehicle.
  • This photographing unit 415 is connected to, for example, the map information updating device 310 by wire or wirelessly, and, for example, a video (image) including the front and side outside the vehicle is obtained by a photographing command from the navigation control unit 400 at all times. Take a picture.
  • the image photographed by the photographing unit 415 is output to the image processing unit 412 via the image input / output IZF 413.
  • the map information DB 416 is connected, for example, directly to the navigation control unit 400 or indirectly by data communication via the communication unit 407, etc., and stores the above-described background shape information, background type information, and road surrounding facility information. Map information including background information including road shape information including road condition information including road sign information and road structure information is stored. The map information DB 416 accumulates (stores) the map information updated by the navigation control unit 400. Map information The map information stored in DB416 is recorded on the recording medium. When the map information is newer than the map information recorded in 404, it is preferentially used by the map information update device 310 and used for navigation or the like.
  • the photographing unit 101 in FIG. 1 specifically realizes its function by, for example, the photographing unit 415
  • the extracting unit 102 realizes its function by, for example, the image processing unit 412 and the navigation control unit 400.
  • the comparison verification unit 103 and the update unit 104 in FIG. 1 specifically realize their functions by, for example, the navigation control unit 400.
  • the display unit 105 in FIG. 1 specifically realizes its function by the display unit 402, for example, and the audio output unit 106 realizes its function by, for example, the audio processing unit 414.
  • the storage unit 107 in FIG. 1 specifically realizes its function by, for example, the navigation control unit 400, the recording medium 404, and the map information DB 416.
  • FIG. 5 is a block diagram showing an example of the internal configuration of the image processing unit in the map information updating apparatus useful for the embodiment of the present invention.
  • an image processing unit 412 includes an image analysis unit 510, a display control unit 511, an image recognition unit 512, an image storage unit 513, and an image database (hereinafter referred to as “image DB”) 514. Constructed and prepared.
  • image DB image database
  • the image analysis unit 510 uses an image input / output IZF 413 to capture an image input to the image processing unit 412 (see FIG. 4; the same applies hereinafter) and the image processing unit 412; and a recording medium decoding unit 405 (see FIG. 4; The same is applied to the image processing unit 412 from the recording medium 404 (refer to FIG. 4; the same applies to the following) through the navigation control unit 400 (see FIG. 4, the same applies hereinafter).
  • the image analysis unit 510 is configured by a GPU, for example.
  • the display control unit 511 performs control for displaying the image output from the image analysis unit 510 on the display screen of the display unit 402. Based on the image input to the image analysis unit 510, the image recognition unit 512 recognizes what image image is included in the image. Specifically, the image recognition unit 512 reads an image such as a road sign image stored in the image DB 514, for example, and recognizes whether the image of the input image represents a road sign or the like.
  • the image storage unit 513 is input to the image analysis unit 510.
  • the image DB 514 stores images such as road sign images.
  • FIG. 6 is a flowchart showing an example of the map information update processing procedure of the map information update apparatus according to the embodiment of the present invention.
  • map information update processing is performed based on road signs.
  • FIG. 6 first, an image around the vehicle is photographed by the photographing unit 415 provided in the vehicle (see FIG. 4, the same applies hereinafter) (step S601).
  • the captured image of the surroundings of the vehicle is input to the image processing unit 412 (see Fig. 5 and the same below) via the image input / output IZF413 (see Fig. 4 and the same below), and the image analysis unit 510 (
  • the image analysis processing is performed by the image recognition unit 512 (see FIG. 5, the same applies hereinafter), and the road sign image from the image DB 514 (see FIG. Then, it is determined whether or not the road sign image is included (step S602).
  • step S602 If it is determined in step S602 that the road sign image is not included! / (Step S6002: No), the process returns to step S601 to shoot a video around the vehicle.
  • step S602 when it is determined that the road sign image is included (step S602: Yes), the navigation control unit 400 (see FIG. 4, the same applies hereinafter) is obtained from the position acquisition unit 403 (see FIG. 4, the same applies hereinafter), The latitude and longitude information is acquired, and the position information of the point where the photographed road sign is located is confirmed (step S603).
  • the position information may be confirmed using information such as the distance from the vehicle position to the road sign, the angle, the vehicle speed, and the vehicle latitude and longitude in addition to the latitude and longitude information. .
  • the navigation control unit 400 After confirming the position information, the navigation control unit 400 reads the external map via the recording medium 404 (see FIG. 4; the same applies hereinafter), the map information DB 416 (see FIG. Map information is acquired from the information DB 416 (step S604). The navigation control unit 400 then compares and verifies the road sign information represented by the photographed road sign image and the road sign information represented by the road sign of the photographed point included in the acquired map information (step S605). ), It is determined whether or not there is difference information between the road sign information (step S606).
  • step S606 the determination of whether or not there is difference information in step S606 is, for example, that the road sign information represented by the photographed road sign image indicates “parking and parking prohibited” and the location of the photographed point If the road sign information indicated by the road sign also indicates “no parking”, it is determined that there is no difference information. On the other hand, if the road sign information indicated by the photographed road sign image indicates “no parking” and the road sign information indicated by the road sign at the photographed point indicates “no parking”, the difference information may be It is judged that there is.
  • step S606 when it is determined in step S606 that there is no difference information (step S606: No), the process returns to step S601 to capture a video around the vehicle. If it is determined in step S606 that there is difference information (step S606: Yes), the navigation control unit 400 reflects the difference information in the map information (step S607). In step S 607, the difference information is added to the map information and the overwriting process is performed as a method for reflecting the difference information.
  • the navigation control unit 400 After reflecting the difference information on the map information, the navigation control unit 400 outputs the updated map information to the external map information DB 416 via the recording medium 404, the map information DB 416 or the communication unit 407. Then, the map information is updated (step S608).
  • the map information update device 310 (see FIG. 4; the same applies hereinafter) accumulates the map information in the map information DB 416 by the navigation control unit 400 or the recording medium decoding unit 405 (see FIG. 4; the same applies hereinafter).
  • the updated map information is stored by storing the map information in the recording medium 404 or by storing the map information in the external map information DB 416 by an external server (step S609).
  • map information updated and accumulated by the map information update device 310 can be shared with other map information update devices 310. It is also possible to construct a map information update system by using the map information DB 416 such as an external server. In addition to the map information update process based on the road signs described above, the map information update process based on road structures, road surrounding facilities, etc. It can be updated according to road conditions. [0092] As described above, the map information updating apparatus according to the present embodiment extracts the road sign image from the video around the vehicle and is included in the information indicating the extracted road sign image and the map information. The map information is updated by comparing and verifying with the road sign information indicated by the road sign of the photographed location. Therefore, the map information can be updated by appropriately reflecting the road conditions around the actual vehicle in the map information.
  • the map information update device As described above, according to the map information update device, the map information update method, the map information update program, and the computer-readable recording medium according to the present invention, the road in which the image power around the photographed vehicle is also extracted. Based on images such as signs, the map information can be automatically updated as appropriate! /, And the map information can be updated to match the actual road conditions.
  • map information updating method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, CD-ROM, MO, and DVD, and is executed by being read by the computer.
  • the program may be a transmission medium that can be distributed through a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un dispositif de mise à jour d'informations cartographiques, qui comprend : une unité d'imagerie (101) pour créer l'image de l’environnement d’un véhicule, une unité d'extraction (102) pour extraire au moins un panneau de circulation routière, une image informative sur une route ou une image d'une structure proche de la route sous forme d'image associée à des informations parmi celles de la vidéo acquise par l'unité d'imagerie (101) autour du véhicule, une unité de comparaison et de vérification (103) pour comparer et vérifier les informations contenues dans l'image extraite par l'unité d'extraction (102) et des informations cartographiques, enfin une unité de mise à jour (104) pour actualiser les informations cartographiques en fonction du résultat obtenu par l'unité de comparaison et de vérification (103).
PCT/JP2006/305281 2005-03-18 2006-03-16 Dispositif, procede et programme de mise a jour d'informations cartographiques et support d'enregistrement lisible par ordinateur WO2006101012A1 (fr)

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US8725398B2 (en) 2007-04-04 2014-05-13 Sirius Xm Radio Inc. System and method for improved traffic flow reporting using satellite digital audio radio service (SDARS) and vehicle communications, navigation and tracking system
EP2283315A4 (fr) * 2008-05-30 2012-09-12 Atlas Copco Rock Drills Ab Méthode et agencement pour calculer une conformité entre la représentation d'un environnement et ledit environnement
US8473142B2 (en) 2008-05-30 2013-06-25 Atlas Copco Rock Drills Ab Method and arrangement for calculating a conformity between an estimated representation of an environment and the actual environment
EP2283315A1 (fr) * 2008-05-30 2011-02-16 Atlas Copco Rock Drills AB Méthode et agencement pour calculer une conformité entre la représentation d'un environnement et ledit environnement
US8284995B2 (en) 2008-07-16 2012-10-09 Volkswagen Of America, Inc. Method for updating a geographic database for an in-vehicle navigation system
JP2011215474A (ja) * 2010-04-01 2011-10-27 Toyota Motor Corp 道路情報取得装置
CN106996785A (zh) * 2016-01-25 2017-08-01 北京四维图新科技股份有限公司 一种对导航数据进行更新的方法及装置
CN106996785B (zh) * 2016-01-25 2019-12-10 北京四维图新科技股份有限公司 一种对导航数据进行更新的方法及装置
JP2019502152A (ja) * 2016-06-15 2019-01-24 華為技術有限公司Ｈｕａｗｅｉ Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｃｏ．，Ｌｔｄ． 地図更新方法および車載端末
EP3336755A1 (fr) 2016-12-15 2018-06-20 Hitachi, Ltd. Appareil de traitement d'images, système de traitement d'images et procédé de traitement d'images
US10719721B2 (en) 2016-12-15 2020-07-21 Hitachi, Ltd. Image processing apparatus, image processing system, and image processing method
JP2018163438A (ja) * 2017-03-24 2018-10-18 株式会社デンソー 情報処理装置及び情報処理システム
WO2018174255A1 (fr) * 2017-03-24 2018-09-27 株式会社デンソー Dispositif et système de traitement d'informations
US11248915B2 (en) 2017-03-24 2022-02-15 Denso Corporation Information processing apparatus and information processing system
CN110069578A (zh) * 2017-08-23 2019-07-30 富士通株式会社 更新地图信息的方法、装置和电子设备
CN108090413A (zh) * 2017-11-21 2018-05-29 武汉中海庭数据技术有限公司 一种交通标志牌关联方法及装置

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