WO2015129002A1 - 地図作成システム及び地図作成方法 - Google Patents
地図作成システム及び地図作成方法 Download PDFInfo
- Publication number
- WO2015129002A1 WO2015129002A1 PCT/JP2014/054954 JP2014054954W WO2015129002A1 WO 2015129002 A1 WO2015129002 A1 WO 2015129002A1 JP 2014054954 W JP2014054954 W JP 2014054954W WO 2015129002 A1 WO2015129002 A1 WO 2015129002A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- road
- data
- vehicle
- map
- traveling
- Prior art date
Links
Images
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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
-
- 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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- 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
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
- G01C21/3896—Transmission of map data from central databases
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
- G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
Definitions
- the present invention relates to a map creation system and a map creation method for creating a map used for map matching processing.
- a technique is known in which an onboard device mounted on a vehicle acquires the current position of the vehicle and estimates a road on which the vehicle is currently traveling based on road information on map data stored in advance.
- the vehicle-mounted device is a car navigation device, for example, and acquires the current position of the vehicle using a GPS, a gyro, a vehicle speed sensor, and the like.
- Map data uses information recorded in a storage medium.
- Priority is given to the user-friendly map data when the map is displayed on the display. Therefore, in practice, two or more roads overlapping in the height direction or two or more roads adjacent to each other are stored as map data with a gap therebetween. This makes it easier for the user to identify the map, but the current position estimated by the vehicle-mounted device may not match the road information on the map data. Therefore, map matching is performed when estimating the road on which the vehicle is currently traveling. Map matching is a technique for matching the current position of a vehicle to road information in map data.
- Patent Document 1 calculates a shift direction and a shift distance for a link that has no line width and is set at the center of the road width in the map data according to the parallel road width and positional relationship.
- a technique for setting a link and setting a map matching threshold is disclosed.
- JP 2008-14666 paragraphs [0009], [0010], [0025], etc.
- the map data stores road information at a position different from the actual road, and is not accurate. Therefore, for example, when a toll road and a toll road are parallel or branched, if it is determined that the vehicle is traveling on a toll road even though it is traveling on a toll road, The problem of being charged.
- the present invention has been made in view of such circumstances, and a map creation system and map capable of accurately creating road data on map data for estimating a road on which a vehicle is traveling
- the purpose is to provide a creation method.
- a map creation system includes a trajectory data creation unit that creates trajectory data of the vehicle traveling on a predetermined area of a first road based on vehicle position information, and a plurality of created Based on the representative point extracting unit for extracting representative points located on the second road side different from the first road in the trajectory data, and the plurality of representative points respectively extracted for the plurality of the predetermined regions,
- a road data creation unit that creates data of the first road on map data.
- the data of the first road created on the map data is created based on the trajectory of the vehicle traveling on the first road.
- representative points located on the second road side different from the first road are extracted, and an approximate line is created by connecting the extracted representative points.
- data of the first road is created.
- the trajectory data includes one or a plurality of position information of the vehicle.
- the representative point may be extracted based on a frequency distribution of a plurality of the trajectory data in the predetermined region.
- the position of the representative point extracted for each predetermined area is determined according to the frequency of a plurality of trajectory data in the predetermined area. For example, when the position of the representative point to be extracted is the second road side, if a certain vehicle is traveling on the first road, increase the probability that it is determined that the vehicle is located on the first road, In addition, the probability that it is determined that the vehicle is not located on the first road can be reduced. On the other hand, by reducing the position of the representative point to be extracted from the second road rather than the side closest to the second road, the probability of being determined to be located on the first road is reduced, and The probability that it is determined that the vehicle is not located on the first road can be increased.
- a representative point may be extracted.
- the position of the representative point extracted for each predetermined area is determined depending on whether or not the vehicle is charged by traveling on the first road. For example, by setting the position of the representative point to be extracted to the second road side, when a certain vehicle is traveling on the first road, the probability of being determined to be located on the first road is increased. At this time, if the first road is a toll road and a vehicle traveling on the first road is charged, omissions in charging can be reduced. On the other hand, when the first road is a free road and the vehicle traveling on the first road is not charged, and the vehicle traveling on the second road is charged, erroneous charges can be reduced.
- the second road is parallel to the first road or intersects the first road.
- the map creation method includes a step of creating trajectory data of the vehicle traveling on a predetermined area of the first road based on the position information of the vehicle, and a plurality of the trajectory data created A representative point located on a second road side different from the first road, and a plurality of the representative points extracted for each of the plurality of predetermined areas, Creating data for one road.
- road data on map data for estimating a road on which a vehicle is traveling can be created accurately.
- FIG. 1 is a block diagram showing a billing map creation system according to an embodiment of the present invention. It is a block diagram which shows the road billing system which concerns on one Embodiment of this invention. It is a flowchart which shows operation
- the billing map creation system 1 creates a map suitable for the road billing system 2.
- the road billing system 2 is a system that charges a vehicle traveling on a toll road using the vehicle-mounted device 3 mounted on the vehicle. If the road data L on the map data M stored in the vehicle-mounted device 3 has the attribute of a toll road or a free road by giving the road data L an attribute of a toll road or a free road, The billing process is performed.
- the billing map creation system 1 accurately determines whether or not a vehicle is charged in the above-mentioned road billing system 2 and the billing amount by accurately arranging a toll road that requires billing and a free road that does not require billing on the map. Create a billing map that can be acquired.
- the billing map creation system 1 includes, for example, a vehicle-mounted device 3 mounted on a vehicle and a map creation server device 4 that can transmit / receive data to / from the vehicle-mounted device 3 and creates a billing map.
- the vehicle-mounted device 3 includes a position information acquisition unit 6 that acquires the position of the vehicle, a trajectory data generation unit 7 that generates and stores trajectory data T based on a temporal change in the position of the vehicle, and trajectory data.
- a transmission / reception unit 8 that transmits T to the map creation server device 4 and receives map data M created or updated from the map creation server device 4 is provided.
- the vehicle-mounted device 3 is, for example, a car navigation device, and the position information acquisition unit 6 acquires the current position P of the vehicle using a GPS, a gyro, a vehicle speed sensor, and the like (see FIG. 6).
- a plurality of the current position P obtained from a plurality of vehicles traveling on the road R 1 and the road R 2 are plotted.
- the trajectory data creation unit 7 uses a time series of the plurality of current positions P as shown in FIG.
- Vehicle trajectory data T is created and recorded in a storage medium.
- the trajectory data T recorded in the storage medium is transmitted to the map creation server device 4 according to a predetermined timing, for example, a certain time interval or traveling condition.
- the map data M created by the map creation server device 4 is transmitted from the map creation server device 4 to the vehicle-mounted device 3 in accordance with the driving conditions of the vehicle, the update timing of the map data M, and the like.
- the map creation server device 4 receives the trajectory data T from the vehicle-mounted device 3, and transmits the created or updated map data M to the vehicle-mounted device 3, and a plurality of transmission / reception units 11.
- an analysis unit 12 which determines the representative point P a required to create the road data L from the trajectory data T, the road data creation unit 13 for creating a road data L based on the determined representative point P a, were created
- a map update unit 14 for updating the map data M from the road data L is provided.
- the analysis unit 12 divides the target roads R 1 and R 2 to create a plurality of regions A, and obtains from a plurality of vehicle-mounted devices 3 in the region A.
- a representative point extraction unit 32 that extracts a representative point PA based on the trajectory data T is provided.
- the area creating unit 31 draws a dividing line D in a direction perpendicular to the traveling direction of the target road, and creates a plurality of areas A sandwiched by two dividing lines D along the traveling direction of the road. To do.
- the representative point extraction unit 32 extracts a representative point P A (see FIG. 8) based on the frequency distribution of the plurality of trajectory data T in a plurality of regions A of the target road.
- the representative point extraction unit 32 is configured to represent the representative points based on the charging information about the target road and the charging information about the road parallel to or intersecting with the target road in the plurality of areas A of the target road. to extract the P a.
- Road data creation unit 13 tying a plurality of representative points P A extracted by asking for approximate line, to create a straight or curved road data L as shown in FIG.
- the road data L created here may be position information related to a road, and may be information related to a line having no road width and no line width.
- the map update unit 14 compares the generated road data L with the road data L of the existing map data M that has already been created. New map data M is created. Then, the map update unit 14 updates the map data M used for the road billing system 2.
- the road billing system 2 includes, for example, a vehicle-mounted device 3 mounted on a vehicle and a charging server device 5 that can transmit and receive data to and from the vehicle-mounted device 3 and performs a charging process for each vehicle.
- the in-vehicle device 3 determines the presence / absence of billing of the road on which the vehicle is running, the billing amount, etc. based on the above-described position information acquisition unit 6 and the acquired current position of the vehicle, and stores the billing data 9 and a transmission / reception unit 8 for transmitting / receiving the accounting data to / from the accounting server device 5.
- the billing server device 5 includes a transmission / reception unit 21 that transmits / receives billing data to / from the vehicle-mounted device 3, a billing processing unit 22 that performs billing processing / management of each vehicle based on the billing data, and the like.
- the vehicle-mounted device 3 acquires position information related to the current position P of the vehicle (step S1).
- the position information includes, for example, data regarding latitude, longitude, and a road on which the vehicle is traveling. If the data relating to the traveling road can be sequentially identified from the map data M based on the latitude and longitude by map matching processing or the like, the data is acquired as data relating to the traveling road.
- the map data M cannot be identified sequentially such as when there are a plurality of candidates, it is identified after estimation from the trajectory data T including the current position P before and after in post-processing.
- the in-vehicle device 3 acquires a plurality of pieces of position information, associates them in time series, and creates vehicle trajectory data T (step S2).
- the created trajectory data T is recorded on a storage medium. Then, the trajectory data T is transmitted to the map creation server device 4 according to a predetermined timing, for example, a time interval or a traveling condition (step S3).
- the map creation server device 4 receives a plurality of trajectory data T from the plurality of vehicle-mounted devices 3 (step S11). Then, analysis is performed from a plurality of trajectory data T (step S12), road data L is created (step S13), and map data M is updated from the created road data L (step S14). Specifically, as described later, the representative point P A required to create the locus data T of the road data L, extracted for each area A. Then, to create a road data L based on the determined representative point P A, and updates the map data M from the road data L created.
- the map data M created by the map creation server device 4 is transmitted from the map creation server device 4 to the vehicle-mounted device 3 in accordance with the driving conditions of the vehicle and the update timing of the map data M (step S15). Then, the onboard equipment 3 receives the updated map data M (step S4), and updates the map data M stored in the onboard equipment 3 (step S5).
- the map creation server device 4 associates a plurality of trajectory data T for each road (step S21). Further, the target road is divided to create a plurality of areas A (step S22). Specifically, as shown in FIG. 7, a dividing line D is drawn in a direction perpendicular to the traveling direction of the target road, and a plurality of lines sandwiched between two dividing lines D along the traveling direction of the road. Region A is created.
- a frequency distribution of a plurality of trajectory data T is obtained in a plurality of areas A of the target road (step S23).
- the frequency distribution is a total of the frequencies of the trajectory data T existing in the width direction of the road.
- FIG. 10 (A) when a plurality of trajectory data T is obtained on the roads R 1 and R 2 , the frequency of the trajectory data T existing in the width direction of the road is tabulated.
- a frequency distribution as shown in FIG. 10 (B) is obtained for each of the roads R 1 and R 2 .
- the frequency distribution is represented by a normal distribution for convenience, but the total result is not limited to the normal distribution. Further, the frequency distribution may be tabulated as represented by a histogram.
- the position information that is the basis for calculating the frequency of the frequency distribution may be the position information actually obtained by the vehicle-mounted device 3, or the trajectory data T created by smoothly connecting the position information and the traveling direction of the road Alternatively, the position information of the intersection where the straight line in the vertical direction intersects with each other may be used.
- the frequency distribution is obtained, as shown in FIG. 10 (C), extracts the position information located on the innermost side of each road R 1, a plurality of track data T of R 2 as a representative point P A (Step S24). Then, by smoothly connecting the representative point P A, as shown in FIG. 9, to create a road data L (step S13).
- FIG. 5 is a flowchart showing a billing process of the road billing system according to the present embodiment.
- the position information of the vehicle traveling on the road is acquired in real time (step S31), and the road on which the vehicle is located, that is, the road on which the vehicle is traveling is detected from the map data M based on the acquired position information (step S31).
- Step S32 Specifically, by comparing the vehicle position information acquired in real time with the road information on the map data M, it is determined that the closest road is the road on which the vehicle is actually traveling. Is done.
- step S33 it is determined whether or not the road on which the vehicle is traveling is an advantageous road that needs to be charged. If it is a toll road, a charging process is performed by the vehicle-mounted device 3 (step S34), and if it is a free road that does not require charging, the charging process is not performed (step S35).
- the road data L based on the representative point P A is located in the innermost there is a possibility that the vehicle is traveling, since you are creating a road data L, road data L is the road width Even if it does not have the information regarding, it can be estimated from the relationship between the position information of the vehicle and the position information of the road data without erroneously recognizing the road on which the vehicle is traveling.
- the positioning results cannot be separated with sufficient accuracy, such as near the branch point of the two roads R 1 and R 2 , and one is the toll road R 1 and the other is the free road R 2.
- roads are arranged as shown as “overlapping areas” in FIG. 9, and the two roads R 1 and R 2 are adjacent areas where a branch starts. .
- Towards the toll road R 1 is the probability that false recognition may occur, i.e. in response to the probability that permits billing leakage, extracts the position information serving as its probability as the representative point P A (step S24). Then, by smoothly connecting the representative point P A, to create a road data L of the toll road R 1 (step S13).
- the road billing system 2 performs processing as follows.
- the position information of the vehicle traveling on the road is acquired in real time (step S31), and the road on which the vehicle is located is detected from the map data M based on the acquired position information (step S32). Specifically, by comparing the vehicle position information acquired in real time with the road information on the map data, it is determined that the closest road is the road on which the vehicle is actually traveling.
- step S33 it is determined whether or not the road on which the vehicle is traveling is an advantageous road that requires charging. If it is a toll road, a charging process is performed by the vehicle-mounted device 3 (step S34), and if it is a free road that does not require charging, the charging process is not performed (step S35).
- the billing map creation system 1 when there are adjacent toll roads R 1 and free roads R 2 and the frequency distributions of the trajectory data overlap each other, the most toll roads are created when creating the road data L of the free roads R 2. are extracted position information located on R 1 side as a free road representative point during road data creation of R 2 P a. Therefore, vehicle traveling in one of two roads R 1, R 2, the probability is determined that the vehicle is running free road R 2 of the two roads R 1, R 2 neighboring high. As a result, it is possible to reduce erroneous charges such as charging even though the free road R 2 is traveling near the branch of the two roads R 1 and R 2 .
- the probability that the vehicle traveling in one of two roads R 1, R 2, is determined to be traveling on a toll road R 1 of the two roads R 1, R 2 adjacent ( A%) is (100 ⁇ B)%, where B% is the probability of accepting a charge omission.
- FIG. 12 (A1) defines the two roads R 1, R 2 of the representative point P A, when creating the road data L, as shown in FIG. 12 (B1), the road R 1 the probability of matching the time of traveling on the road R 1, a 75% probability that recognize erroneous will be matched to the road R 2 is 25%.
- the probability that recognize erroneous will be matched to the road R 1 when traveling the road R 2 is 25%
- the probability of matching the road R 2 is 75%. That is, the probability of road R 2 be a toll road, will be matched to the road R 1, would be erroneously billing, it will remain 25%.
- a plurality of roads branch in a substantially vertical direction instead of a case where the roads travel substantially in parallel as in the second embodiment.
- the case of going will be described.
- a case will be described where positioning results cannot be separated with sufficient accuracy, such as near an intersection, and some roads are toll roads and the rest are toll roads.
- FIG. 13 shows trajectory data T on map data M created from a plurality of current positions P.
- the free roads R 4 and R 5 among the plurality of target branch roads are divided to create a plurality of areas A (step S22). Specifically, as shown in FIG. 14, drawing a dividing line D in the direction perpendicular to the traveling direction of the free road R 4, R 5 of interest, along the traveling direction of the free road R 4, R 5 A plurality of regions A sandwiched between two dividing lines D are created.
- the frequency distribution of the plurality of trajectory data T is obtained in the plurality of areas A of the target free roads R 4 and R 5 .
- the free roads R 4 and R 5 are closest to the direction in which the toll road R 6 extends, that is, the most distant from the free roads R 4 and R 5. It extracts the position information positioned at a point that is as representative point P a (step S24).
- the positions of the free roads R 4 and R 5 are arranged at positions shifted from the initial positions.
- the road billing system 2 is processed in the same manner as in the second embodiment.
- the position information of the vehicle traveling on the road is acquired in real time (step S31), and the road on which the vehicle is located is detected from the map data M based on the acquired position information (step S32). Specifically, by comparing the vehicle position information acquired in real time with the road information on the map data, it is determined that the closest road is the road on which the vehicle is actually traveling.
- step S33 it is determined whether or not the road on which the vehicle is traveling is an advantageous road that needs to be charged. If it is a toll road, a charging process is performed by the vehicle-mounted device 3 (step S34), and if it is a free road that does not require charging, the charging process is not performed (step S35).
- mapping system 1 there is a toll road R 6 and free road R 4, R 5 crossing, if the frequency distribution of the trajectory data T are overlapped with each other, the closest in the direction of toll road R 6 is gradually extended extracting positional information located in the point as a representative point P a, it has created a road data L free road R 4, R 5. Therefore, the probability that a vehicle that is unclear whether it is traveling on either the toll road R 6 or the free roads R 4 , R 5 is determined to be traveling on the free roads R 4 , R 5 among the intersecting roads. Is expensive. As a result, it is possible to reduce an erroneous billing in which the user is charged despite traveling on the free roads R 4 and R 5 near the branch.
- road data on map data for estimating a road on which a vehicle is traveling can be accurately created. And the misrecognition judged that the vehicle which is drive
- the vehicle-mounted device 3 creates trajectory data based on the vehicle position information, and the trajectory data created by the vehicle-mounted device 3 is transmitted from the vehicle-mounted device 3 to the map creation server device 4.
- the vehicle-mounted device 3 may transmit vehicle position information to the map creation server device 4, and the map creation server device 4 may create trajectory data based on the received vehicle position information.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Business, Economics & Management (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
Description
ここで、軌跡データとは、車両の1又は複数の位置情報からなる。
課金用地図作成システム1は、道路課金システム2に適した地図を作成する。ここで、道路課金システム2とは、車両に搭載された車載器3を利用して、有料道路を走行している車両に対して課金するシステムである。車載器3が記憶する地図データM上の道路データLに有料道路又は無料道路の属性を持たせることによって、車載器3において推定された現在走行している道路が有料道路であれば、車両に対して課金処理を行う。
記憶媒体に記録された軌跡データTは、予め決められたタイミング、例えば一定の時間間隔又は走行条件などに応じて、地図作成サーバ装置4に送信される。また、地図作成サーバ装置4で作成された地図データMは、車両の走行条件や地図データMの更新のタイミングなどに応じて、地図作成サーバ装置4から車載器3に送信される。
領域作成部31は、例えば、対象とする道路の進行方向に対して垂直方向に分割線Dを引き、道路の進行方向に沿って2本の分割線Dで挟まれた複数の領域Aを作成する。
代表点抽出部32は、対象とする道路の複数の領域Aにおいて、複数の軌跡データTの度数分布に基づいて、代表点PA(図8参照)を抽出する。また、代表点抽出部32は、対象とする道路の複数の領域Aにおいて、対象とする道路に関する課金情報や、対象とする道路に対して平行又は交差する道路に関する課金情報に基づいて、代表点PAを抽出する。
道路課金システム2は、例えば、車両に搭載される車載器3と、車載器3とのデータの送受信が可能であり各車両に対する課金処理を行う課金サーバ装置5などを備える。
車載器3は、上述した位置情報取得部6と、取得された車両の現在位置に基づいて、走行している道路の課金の有無や課金額などを判断し、課金データを記憶する課金処理部9と、課金データについて課金サーバ装置5と送受信する送受信部8などを備える。
課金サーバ装置5は、課金データについて車載器3と送受信する送受信部21と、課金データに基づいて各車両の課金処理・管理を行う課金処理部22などを備える。
まず、車載器3を搭載した車両が道路を走行することによって、車載器3は、車両の現在位置Pに関する位置情報を取得する(ステップS1)。位置情報には、例えば緯度、経度、及び走行している道路に関するデータが含まれる。走行している道路に関するデータは、マップマッチング処理等によって、緯度及び経度に基づいて地図データMから逐次特定できる場合は、そのデータを走行している道路に関するデータとして取得する。一方、候補が複数ある場合など地図データMから逐次特定できない場合は、後処理で、前後の現在位置Pを含む軌跡データTから推定してから特定される。
まず、複数の車載器3から、複数の軌跡データTを受信すると、地図作成サーバ装置4は、道路ごとに複数の軌跡データTを関連付ける(ステップS21)。
また、対象とする道路を分割して複数の領域Aを作成する(ステップS22)。具体的には、図7に示すように、対象とする道路の進行方向に対して垂直方向に分割線Dを引き、道路の進行方向に沿って2本の分割線Dで挟まれた複数の領域Aを作成する。
例えば、図10(A)に示すように、道路R1,R2において、複数の軌跡データTが得られたとき、道路の幅方向に存在する軌跡データTの頻度を集計することによって、図10(B)に示すような度数分布が道路R1,R2ごとに得られる。図10(B)において、度数分布は便宜上正規分布で表しているが、集計結果は、正規分布に限られない。また、度数分布は、ヒストグラムで表されるように、集計されてもよい。
度数分布の頻度算出のもととなる位置情報は、車載器3で実際に得られる位置情報を用いてもよいし、位置情報を滑らかに繋いで作成された軌跡データTと、道路の進行方向に対して垂直方向の直線とが交差する交点の位置情報を用いてもよい。
まず、第1実施例として、隣り合う2本の道路R1,R2があり、互いに重なっていない場合の道路データ作成例を説明する。隣り合う2本の道路R1,R2があり、互いに重なっていない場合とは、例えば、図9の「重なっていない領域」と示されているように道路が配置されている場合である。
道路を走行する車両の位置情報がリアルタイムで取得され(ステップS31)、取得された位置情報に基づいて、車両が位置する道路、すなわち車両が走行している道路が地図データMから検出される(ステップS32)。具体的には、リアルタイムで取得された車両の位置情報と、地図データM上の道路情報とを対比して、最も近い距離にある道路が、車両が実際に走行している道路であると判断される。
道路を走行する車両の位置情報がリアルタイムで取得され(ステップS31)、取得された位置情報に基づいて、車両が位置する道路が地図データMから検出される(ステップS32)。具体的には、リアルタイムで取得された車両の位置情報と、地図データ上の道路情報とを対比して、最も近い距離にある道路が、車両が実際に走行している道路であると判断される。
その結果、2本の道路R1,R2の分岐付近において、無料道路R2を走行しているにもかかわらず、課金されてしまうという誤課金を低減できる。
例えば、図12(A1)に示すように、2本の道路R1,R2の代表点PAを定めて、道路データLを作成すると、図12(B1)に示すように、道路R1の走行時に道路R1にマッチングする確率は、75%であり、道路R2にマッチングしてしまい誤認識する確率は、25%である。一方、道路R2の走行時に道路R1にマッチングしてしまい誤認識する確率は、25%であり、道路R2にマッチングする確率は、75%である。すなわち、道路R2が有料道路である場合、道路R1にマッチングしてしまい、誤課金されてしまう確率は、25%残ることになる。
このように、道路データLを作成する基準となる代表点PAの位置を調整することによって、誤課金を低減できる。
交差点近くなど、測位結果を十分な精度で分離できず、かつ、一部の道路が有料道路で残りが無料道路である場合について説明する。従来、マップマッチング処理にて誤認識が生じた場合、図17に示すように、無料道路R3から無料道路R4へ左折したにもかかわらず、有料道路R6を走行していると認識されてしまうことがあった。この場合、その後の処理で無料道路R4を走行していると変更できた場合でも、一部有料道路R6を走行していると認識された期間では、課金が生じてしまっている。
まず、複数の車載器3から、複数の軌跡データTを受信すると、地図作成サーバ装置4は、道路ごとに複数の軌跡データTを関連付ける(ステップS21)。図13は、複数の現在位置Pから作成された地図データM上の軌跡データTを示している。
そして、対象とする複数の分岐道路のうち無料道路R4,R5を分割して複数の領域Aを作成する(ステップS22)。具体的には、図14に示すように、対象とする無料道路R4,R5の進行方向に対して垂直方向に分割線Dを引き、無料道路R4,R5の進行方向に沿って2本の分割線Dで挟まれた複数の領域Aを作成する。
道路を走行する車両の位置情報がリアルタイムで取得され(ステップS31)、取得された位置情報に基づいて、車両が位置する道路が地図データMから検出される(ステップS32)。具体的には、リアルタイムで取得された車両の位置情報と、地図データ上の道路情報とを対比して、最も近い距離にある道路が、車両が実際に走行している道路であると判断される。
その結果、分岐付近において、無料道路R4,R5を走行しているにもかかわらず、課金されてしまうという誤課金を低減できる。
2 道路課金システム
3 車載器
4 地図作成サーバ装置
5 課金サーバ装置
6 位置情報取得部
7 軌跡データ作成部
8 送受信部
9 課金処理部
11 送受信部
12 解析部
13 道路データ作成部
14 地図更新部
21 送受信部
22 課金処理部
31 領域作成部
32 代表点抽出部
Claims (5)
- 車両の位置情報に基づいて、第1の道路の所定領域を走行する前記車両の軌跡データを作成する軌跡データ作成部と、
作成された複数の前記軌跡データのうち前記第1の道路と異なる第2の道路側に位置する代表点を抽出する代表点抽出部と、
複数の前記所定領域についてそれぞれ抽出された複数の前記代表点に基づいて、地図データ上に前記第1の道路のデータを作成する道路データ作成部と、
を備える地図作成システム。 - 前記所定領域における複数の前記軌跡データの度数分布に基づいて、前記代表点を抽出する請求項1に記載の地図作成システム。
- 前記第1の道路を走行する前記車両が課金されるか否か、及び前記第2の道路を走行する前記車両が課金されるか否かに基づいて、前記代表点を抽出する請求項2に記載の地図作成システム。
- 前記第2の道路は、前記第1の道路に対して平行である、又は前記第1の道路に対して交差している請求項1から3のいずれか1項に記載の地図作成システム。
- 車両の位置情報に基づいて、第1の道路の所定領域を走行する前記車両の軌跡データを作成するステップと、
作成された複数の前記軌跡データのうち前記第1の道路と異なる第2の道路側に位置する代表点を抽出するステップと、
複数の前記所定領域についてそれぞれ抽出された複数の前記代表点に基づいて、地図データ上に前記第1の道路のデータを作成するステップと、
を備える地図作成方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1614081.6A GB2537329B (en) | 2014-02-27 | 2014-02-27 | Map creation system and map creating method |
PCT/JP2014/054954 WO2015129002A1 (ja) | 2014-02-27 | 2014-02-27 | 地図作成システム及び地図作成方法 |
KR1020167021685A KR101843672B1 (ko) | 2014-02-27 | 2014-02-27 | 지도 작성 시스템 및 지도 작성 방법 |
SG11201606823XA SG11201606823XA (en) | 2014-02-27 | 2014-02-27 | Map creation system and map creating method |
US15/119,510 US10670410B2 (en) | 2014-02-27 | 2014-02-27 | Map creation system and map creating method |
HK16112398.5A HK1224367A1 (zh) | 2014-02-27 | 2016-10-27 | 映射系統和映射方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/054954 WO2015129002A1 (ja) | 2014-02-27 | 2014-02-27 | 地図作成システム及び地図作成方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015129002A1 true WO2015129002A1 (ja) | 2015-09-03 |
Family
ID=54008369
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/054954 WO2015129002A1 (ja) | 2014-02-27 | 2014-02-27 | 地図作成システム及び地図作成方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10670410B2 (ja) |
KR (1) | KR101843672B1 (ja) |
GB (1) | GB2537329B (ja) |
HK (1) | HK1224367A1 (ja) |
SG (1) | SG11201606823XA (ja) |
WO (1) | WO2015129002A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10247559B2 (en) * | 2016-05-02 | 2019-04-02 | Here Global B.V. | Method and apparatus for disambiguating probe points within an ambiguous probe region |
KR102496824B1 (ko) * | 2018-04-27 | 2023-02-06 | 현대오토에버 주식회사 | 항공 촬영 영상을 이용한 지도 정보 구축 방법 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011075474A (ja) * | 2009-10-01 | 2011-04-14 | Yupiteru Corp | 位置軌跡データ処理装置、及び、そのプログラム |
JP2013238544A (ja) * | 2012-05-17 | 2013-11-28 | Clarion Co Ltd | ナビゲーション装置 |
JP2014052341A (ja) * | 2012-09-10 | 2014-03-20 | Hitachi Automotive Systems Ltd | 地図生成サーバ、地図生成方法及び地図生成システム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10289396A (ja) | 1997-04-11 | 1998-10-27 | Aqueous Res:Kk | ナビゲーションシステム |
JPH11167343A (ja) | 1997-12-01 | 1999-06-22 | Honda Motor Co Ltd | 道路地図作成装置 |
JPH11271075A (ja) * | 1998-03-23 | 1999-10-05 | Nissan Motor Co Ltd | ナビゲーション装置 |
JP2001289653A (ja) | 2000-04-03 | 2001-10-19 | Matsushita Electric Ind Co Ltd | 現在位置算出装置 |
JP2004226341A (ja) | 2003-01-27 | 2004-08-12 | Alpine Electronics Inc | マップマッチング方法 |
JP4095456B2 (ja) | 2003-01-30 | 2008-06-04 | アルパイン株式会社 | ナビゲーション装置 |
JP4661439B2 (ja) | 2004-11-22 | 2011-03-30 | 株式会社デンソー | 車両用ナビゲーション装置及び道路地図配信システム |
EP1901260A1 (en) | 2005-07-07 | 2008-03-19 | Matsushita Electric Industrial Co., Ltd. | Map information correction device, map information correction method, program, information providing device using the program, and information acquisition device |
JP2007309843A (ja) | 2006-05-19 | 2007-11-29 | Toyota Motor Corp | 車載地図データ生成装置 |
JP2008014666A (ja) | 2006-07-03 | 2008-01-24 | Nec Corp | マップマッチングに適するリンク設定システム、その方法およびプログラム |
DE112007002119B4 (de) | 2006-09-21 | 2014-04-30 | Mitsubishi Electric Corp. | Karteninformations-Verarbeitungsvorrichtung |
US8046169B2 (en) * | 2008-01-03 | 2011-10-25 | Andrew, Llc | System and method for determining the geographic location of a device |
-
2014
- 2014-02-27 GB GB1614081.6A patent/GB2537329B/en active Active
- 2014-02-27 WO PCT/JP2014/054954 patent/WO2015129002A1/ja active Application Filing
- 2014-02-27 KR KR1020167021685A patent/KR101843672B1/ko active IP Right Grant
- 2014-02-27 SG SG11201606823XA patent/SG11201606823XA/en unknown
- 2014-02-27 US US15/119,510 patent/US10670410B2/en active Active
-
2016
- 2016-10-27 HK HK16112398.5A patent/HK1224367A1/zh unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011075474A (ja) * | 2009-10-01 | 2011-04-14 | Yupiteru Corp | 位置軌跡データ処理装置、及び、そのプログラム |
JP2013238544A (ja) * | 2012-05-17 | 2013-11-28 | Clarion Co Ltd | ナビゲーション装置 |
JP2014052341A (ja) * | 2012-09-10 | 2014-03-20 | Hitachi Automotive Systems Ltd | 地図生成サーバ、地図生成方法及び地図生成システム |
Also Published As
Publication number | Publication date |
---|---|
SG11201606823XA (en) | 2016-09-29 |
KR20160106709A (ko) | 2016-09-12 |
GB2537329A (en) | 2016-10-12 |
HK1224367A1 (zh) | 2017-08-18 |
US10670410B2 (en) | 2020-06-02 |
KR101843672B1 (ko) | 2018-03-29 |
US20170010103A1 (en) | 2017-01-12 |
GB201614081D0 (en) | 2016-09-28 |
GB2537329B (en) | 2021-04-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106352867B (zh) | 用于确定车辆自身位置的方法和设备 | |
KR101919366B1 (ko) | 차량 내부 네트워크 및 영상 센서를 이용한 차량 위치 인식 장치 및 그 방법 | |
JP6658088B2 (ja) | 情報処理装置、プログラム、及び地図データ更新システム | |
KR101209062B1 (ko) | 영상인식 정보를 이용한 gps 보정 시스템 및 방법 | |
JP4506790B2 (ja) | 道路情報生成装置、道路情報生成方法および道路情報生成プログラム | |
CN101221049B (zh) | 车辆位置估计装置及其方法 | |
US20180365996A1 (en) | Method for assisting a driver of a motor vehicle with respect to an imminent overtaking maneuver, and motor vehicle (as amended) | |
CN105318884A (zh) | 生成用于自动车辆的全局路径的装置和方法 | |
JP4591777B2 (ja) | 自位置認識システム | |
JP4902575B2 (ja) | 道路標示認識装置、および道路標示認識方法 | |
WO2019030916A1 (ja) | 車線情報管理方法、走行制御方法及び車線情報管理装置 | |
CN111051817B (zh) | 用于求取机动车的位置的方法、控制设备和计算装置 | |
US11168991B2 (en) | Road identifying device, and vehicle control system | |
CN105197014A (zh) | 用于识别车辆的行驶车道的装置和方法 | |
WO2016093028A1 (ja) | 自車位置推定装置 | |
CN103577682A (zh) | 在道路改变情境中使用导航输入的锚车道选择方法 | |
JP2014130529A (ja) | 新規道路判定方法、新規道路判定装置、表示装置、コンピュータプログラム及び記録媒体 | |
JP2007178271A (ja) | 自位置認識システム | |
CN112884892B (zh) | 基于路侧装置的无人矿车位置信息处理系统和方法 | |
CN112797998A (zh) | 车辆车道级定位方法及相应程序载体、产品、装置和车辆 | |
CN106802151B (zh) | 基于沿途参照物匹配的导航方法 | |
CN104990558A (zh) | 车辆导航方法及系统 | |
WO2015129002A1 (ja) | 地図作成システム及び地図作成方法 | |
CN104964694A (zh) | 车辆导航方法及系统 | |
JP2012202961A (ja) | 車線案内制御装置、方法およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14884170 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 20167021685 Country of ref document: KR Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 201614081 Country of ref document: GB Kind code of ref document: A Free format text: PCT FILING DATE = 20140227 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1614081.6 Country of ref document: GB Ref document number: 15119510 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14884170 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: JP |