JP6557392B1 - Map information processing apparatus, map information processing method, and map information processing program - Google Patents

Abstract

A map information processing apparatus capable of easily determining a change in road shape is provided. A map information processing apparatus includes: a first moving image drawing unit that generates a scalar moving trajectory image based on vector-form probe data acquired during a predetermined period of each of a plurality of moving objects; Based on the probe data in the vector format acquired in advance for a specific period of each moving object, the second moving image drawing unit for generating a past moving trajectory image in scalar format and the first moving image drawing unit described above The difference data is a road shape change by a difference extraction unit that extracts the difference data by comparing the movement locus image and the past movement locus image generated by the second movement image drawing unit, and machine learning. A road shape change determination unit for determining whether or not. [Selection] Figure 3

Description

  The present invention relates to a map information processing apparatus, a map information processing method, and a map information processing program for determining whether or not a road shape of map information has changed from trajectory information of a plurality of moving objects.

  Currently, road information is managed in units of administrative divisions such as countries, prefectures, cities, and wards, and information on road shape changes (hereinafter also referred to as “road shape changes”) is not centralized. In order to grasp the change of the road shape in order to create the road map, it is necessary to examine for each individual road where and in what shape the new road is formed.

  Therefore, for example, based on the digital map issued by the Geospatial Information Authority of Japan and probe data (probe data) acquired from the vehicle terminal, it is determined how the road shape has changed, and the road A method of updating the map can be considered.

  As a device that generates this type of map information, a configuration is known in which an updated map is generated by correctly estimating a road connection state based on position information acquired by an in-vehicle terminal (for example, Patent Document 1).

JP 2017-97088 A

  However, there are cases where it is difficult to simply generate an updated map from map information and position information because there are complex and various patterns such as when the road shape is changed from a crossroad shape to a rotary shape.

  Therefore, the configuration described in Patent Document 1 is not sufficient, and further improvements are required.

  This invention is made | formed in view of such a subject, and it aims at performing determination of a road shape change more easily.

  According to one aspect of the present invention, the map information processing apparatus of the present invention includes a first moving image drawing unit, a second moving image drawing unit, a difference extraction unit, and a road shape change determination unit. The first moving image drawing unit generates a scalar moving trajectory image based on vector-form probe data acquired during a predetermined period of each of the plurality of moving objects. The second moving image drawing unit generates a more historical moving trajectory image in a scalar format based on vector format probe data acquired in advance for a specific period of each of the plurality of moving objects. The difference extraction unit compares the movement trajectory image generated by the first moving image drawing unit with the past movement trajectory image generated by the second moving image drawing unit, and extracts difference data. The road shape change determination unit determines whether the difference data is a road shape change by machine learning.

  The present invention can more easily determine a road shape change.

FIG. 1 is a diagram illustrating an example of a map information processing system according to the present embodiment. FIG. 2 is a diagram illustrating an example of the relationship between the map information processing apparatus of this embodiment and the in-vehicle terminal. FIG. 3 is a functional block diagram showing an example of functions of the map information processing apparatus of the present embodiment. FIG. 4A is a diagram illustrating an example of a method for drawing a moving locus image of a vehicle by a moving image drawing unit. FIG. 4B is a diagram illustrating an example of a method for drawing a moving locus image of a vehicle by a moving image drawing unit. FIG. 5A is a diagram illustrating an example of a method for extracting difference data from a movement trajectory image and a past movement trajectory image by a difference extraction unit. FIG. 5B is a diagram illustrating an example of a method for extracting difference data from a movement trajectory image and a past movement trajectory image by a difference extraction unit. FIG. 5C is a diagram illustrating an example of a method for extracting difference data from a movement trajectory image and a past movement trajectory image by a difference extraction unit. FIG. 5D is a diagram illustrating an example of a method for extracting difference data from a movement trajectory image and a past movement trajectory image by a difference extraction unit. FIG. 6 is a diagram illustrating an example of a method for determining a road shape change by machine learning. FIG. 7 is a flowchart illustrating an example of a road shape change determination process by a road shape change determination process program. FIG. 8 is a diagram illustrating an example of a road shape change determination process. FIG. 9 is a flowchart showing an example of map information update processing by the road shape change determination processing program. FIG. 10A is a diagram illustrating an example of the map information update process. FIG. 10B is a diagram illustrating an example of the map information update process. FIG. 10C is a diagram illustrating an example of the map information update process. FIG. 10D is a diagram illustrating an example of the map information update process. FIG. 10E is a diagram illustrating an example of the map information update process.

  A map information processing system 1 according to an embodiment will be described with reference to FIG. The map information processing system 1 of the present embodiment is used to easily determine a road shape change when creating a map. As shown in FIG. 1, the map information processing system 1 includes a map information processing apparatus 2 and a plurality of in-vehicle terminals 3. Hereinafter, each structure in the map information processing system 1 of this embodiment is demonstrated in detail.

  The in-vehicle terminal 3 is mounted on a vehicle 4 traveling on the road. The in-vehicle terminal 3 is constituted by a car navigation device, for example. The map information processing apparatus 2 and the in-vehicle terminal 3 are configured to be connected to each other by wireless communication. In FIG. 1, wireless communication between the vehicle 4 traveling in Japan and the map information processing apparatus 2 is illustrated by a single arrow. In the map information processing system 1, probe data is transmitted from the in-vehicle terminal 3 to the map information processing apparatus 2.

  The probe data includes, for example, information on the own vehicle position (hereinafter also referred to as “trajectory information”) and time of the vehicle 4 on which the in-vehicle terminal 3 is mounted. The probe data includes information on the travel history (attribute information) of the vehicle 4 such as travel distance, travel speed, acceleration, angular velocity, host vehicle direction, and gradient angle, in addition to the information on the vehicle position and time. Yes. For example, the probe data is created using the in-vehicle terminal 3 mounted on the vehicle 4. The in-vehicle terminal 3 can obtain various sensor information from a GPS (Global Positioning System) module, a gyro sensor, and an acceleration sensor mounted on the vehicle 4. The information on the vehicle position is calculated from, for example, GPS data output from the GPS module of the car navigation device. That is, the information on the vehicle position is acquired using a function of a satellite positioning system such as GPS. The information on the own vehicle position represents the position coordinates of the vehicle 4 at a certain time.

  As shown in FIG. 2, the in-vehicle terminal 3 is configured to be able to communicate with the map information processing apparatus 2 via the communication terminal 5. The in-vehicle terminal 3 transmits probe data including the trajectory information of the vehicle 4 to the map information processing apparatus 2 via the communication terminal 5. The in-vehicle terminal 3 only needs to be connected to the communication terminal 5 by wire or wirelessly. The in-vehicle terminal 3 may be configured physically separately from the communication terminal 5 or may be configured integrally with the communication terminal 5 built therein. The communication terminal 5 is, for example, a communication unit, a mobile phone, or a smartphone. In the case of a smartphone, the communication terminal 5 is connected so as to be able to communicate with the in-vehicle terminal 3 using, for example, BLUETOOTH (registered trademark) or Wi-Fi communication standards. In the case of a smartphone, the communication terminal 5 is connected so that it can communicate with the map information processing apparatus 2 via a communication network, for example.

  The map information processing apparatus 2 receives probe data transmitted from each in-vehicle terminal 3 and acquires trajectory information included in the probe data. The map information processing device 2 determines whether or not the road shape included in the map information has changed by machine learning based on the trajectory information. Details of this determination will be described later. If the map information processing apparatus 2 determines that the road shape has changed, it can update the map information.

  In the above-described embodiment, the in-vehicle terminal 3 is configured by a car navigation device, but this is not a limitation. The in-vehicle terminal 3 is not limited to the car navigation device but may be various terminal devices. Examples of the terminal device include a mobile phone, a smartphone, a notebook computer, or a tablet computer. That is, the in-vehicle terminal 3 may be only a smartphone alone brought into the vehicle 4. Moreover, the vehicle 4 of this embodiment is illustrated with the four-wheeled vehicle by which the vehicle-mounted terminal 3 is mounted. The vehicle 4 is not limited to a four-wheeled vehicle, and may be a three-wheeled vehicle, a motorcycle, or a bicycle. In other words, the vehicle 4 is a moving body.

  Next, the map information processing apparatus 2 of this embodiment is demonstrated using FIG.

  The map information processing apparatus 2 of the present embodiment includes a map information storage unit 21, a trajectory information acquisition unit 22, two moving image drawing units 23, a difference extraction unit 25, a road shape change determination unit 26, and map information. The update unit 27, the movement data generation unit 30, the movement data storage unit 31, and the movement data extraction unit 32 are included. The map information storage unit 21 stores map information. The map information storage unit 21 preferably stores map information for each of a plurality of scales. Hereinafter, one of the two moving image drawing units 23 may be referred to as a first moving image drawing unit 231 and the other may be referred to as a second moving image drawing unit 232. The two moving image drawing units 23 have the same configuration, and input data is different. The map information processing apparatus 2 is not limited to the case where two moving image drawing units 23 are used, and can be configured by one moving image drawing unit 23 by sequentially changing input data. It is preferable that the movement data generation unit 30 includes a timer unit that measures time. It is preferable that the movement data extraction unit 32 includes a time measuring unit that measures time.

  Map information is information constituting a map. The map information is composed of vector data. The map information is more preferably composed of three-dimensional vector data. The vector data includes information indicating the position of the road and the shape of the road. More specifically, the map information includes, for example, map image information indicating the shape of the road, information on nodes and links on the map image associated with the map image information, and attribute information indicating whether the road is a general road or a highway. ing. The node indicates an intersection or other nodule on the road network expression. A link indicates a road section between nodes. Further, the map information is configured in units of meshes separated into rectangles at regular latitude / longitude intervals. Further, each mesh is composed of a plurality of layers having different scales separated by a predetermined unit. In the case of Japan, for example, a standard regional mesh standard defined by the Ministry of Internal Affairs and Communications can be adopted. The standard area mesh is configured with an area ratio of about 1/10 in the order of primary mesh, secondary mesh, and tertiary mesh. Furthermore, the divided area mesh subdivided from the primary to tertiary mesh can be adopted as the mesh unit. When map information is divided | segmented for every mesh unit, it has a mesh number and the corresponding latitude and longitude information, respectively.

  The trajectory information acquisition unit 22 includes a vehicle data reception unit 28 and a data storage unit 29. The vehicle data receiving unit 28 receives probe data transmitted from the in-vehicle terminals 3 of the plurality of vehicles 4. The data storage unit 29 stores the probe data received by the vehicle data receiving unit 28. The trajectory information acquisition unit 22 can acquire trajectory information of each vehicle 4 included in the probe data by receiving probe data from each in-vehicle terminal 3. The trajectory information is a set of coordinates represented by latitude and longitude for each time.

  The moving image drawing unit 23 draws the moving track images collectively based on the track information of the plurality of vehicles 4 in the predetermined range acquired by the track information acquiring unit 22. For the predetermined range, for example, a mesh of any scale constituting the road information is adopted.

  Hereinafter, an example in which the moving image drawing unit 23 draws a moving locus image of the vehicle 4 will be described. Of the moving image drawing unit 23, the first moving image drawing unit 231 acquires trajectory information included in the plurality of probe data from the data storage unit 29 of the trajectory information acquisition unit 22 via the movement data generation unit 30. The movement data generation unit 30 removes information not necessary for drawing the movement trajectory image from the plurality of acquired probe data. For example, the movement data generation unit 30 may generate only data of a set of coordinates represented by latitude and longitude for each time from a plurality of probe data. For example, the movement data generation unit 30 may generate data of only a set of normalized coordinates obtained by normalizing variation in coordinates from a plurality of probe data. Note that the movement data generation unit 30 is not limited to being configured separately from the movement image drawing unit 23, and may be configured to be included in the movement image drawing unit 23. Further, the movement data generation unit 30 may be configured to be included in the trajectory information acquisition unit 22. Similarly, the moving image drawing unit 23 may be configured to be included in the trajectory information acquisition unit 22. Specifically, the moving image drawing unit 23 acquires a group of m consecutive probe data, as shown in FIG. 4A, based on information on a set of coordinates of the trajectory information. The moving image drawing unit 23 plots the acquired coordinates as points P1, P2, P3 to Pm. As shown in FIG. 4B, the moving image drawing unit 23 draws the plotted points P1, P2, P3 to Pm as a single moving locus image L by connecting the lines with lines. As a result, the moving image drawing unit 23 uses the scalar type moving trajectory from the vector type probe data including the time information, the traveling distance, the traveling speed, the acceleration, the angular velocity, the vehicle direction, and the gradient angle in addition to the trajectory information. An image can be generated. Note that data of only a set of coordinates represented by latitude / longitude generated by the movement data generation unit 30 is configured to be accumulated in the movement data storage unit 31 together with time information.

  Further, the moving image drawing unit 23 may repeatedly draw the moving locus image when the vehicle data receiving unit 28 receives the probe data. The moving image drawing unit 23 calculates a median value or a root mean square value of each moving track image when drawing a plurality of moving track images in a superimposed manner, and calculates the moving direction image of each moving track image drawn in the width direction. A line connecting the center values (center coordinates) may be drawn as an averaged movement trajectory image. Thereby, the moving image drawing unit 23 suppresses the fluctuation of the coordinates of the trajectory information caused by the error of the GPS data due to the multipath and the communication failure. The moving image drawing unit 23 can improve drawing accuracy by suppressing the fluctuation of coordinates.

  The moving image drawing unit 23 may draw the moving trajectory image by referring to the information on the traveling speed included in the probe data and omitting probe data whose traveling speed is equal to or higher than a predetermined speed. When the in-vehicle terminal 3 calculates the travel speed from the GPS data, for example, the vehicle speed may be calculated to be 300 km or more, which is not normally possible, due to an error in GPS data due to multipath or a communication failure. The moving image drawing unit 23 can suppress erroneous detection of traveling information caused by GPS data errors due to multipath or communication failures. The moving image drawing unit 23 improves drawing accuracy by suppressing erroneous detection of travel information.

  The movement image drawing unit 23 may draw the movement locus image by referring to the information on the traveling speed included in the probe data and omitting the probe data whose traveling speed is not continuous. Thereby, the moving image drawing part 23 can omit the probe data obtained from the in-vehicle terminal 3 of the vehicle 4 parked in the middle of the parking lot, for example. The moving image drawing unit 23 can improve the drawing accuracy of the moving trajectory image by omitting unnecessary probe data.

  The moving image drawing unit 23 can estimate that it is moving on a general road and probe data that can be estimated to be moving on a highway with reference to trajectory information and travel speed information included in the probe data. It is also possible to draw a movement trajectory image by discriminating probe data from each other. Thereby, the map information processing apparatus 2 can make only a road type arbitrarily selected as a road shape change determination processing target. The map information processing apparatus 2 can improve the processing speed.

  Further, the moving image drawing unit 23 may draw a moving locus image based on the locus information of the vehicle 4 acquired during a predetermined unit period. The moving image drawing unit 23 normalizes the data based on the trajectory information accumulated during a predetermined unit period, for example. The moving image drawing unit 23 can create probe data for each unit period from the normalized data for each mesh unit. The predetermined unit period can be set, for example, for the past 30 days based on the current time point. In the present embodiment, the moving image drawing unit 23 creates secondary mesh probe data as probe data for each unit period. As described above, the map information processing apparatus 2 creates the probe data based on the trajectory information accumulated over a predetermined period, thereby improving the drawing accuracy of the moving trajectory image.

  The moving image drawing unit 23 uses past probe data for reference. Trajectory information based on past probe data is stored in the movement data storage unit 31. First, the movement data extraction unit 32 extracts past trajectory information serving as a reference from the movement data storage unit 31. The movement data extraction unit 32 may extract past predetermined trajectory information from a specific period set in advance. Of the moving image drawing unit 23, the past moving locus information serving as a reference is input from the movement data storage unit 31 to the second moving image drawing unit 232. The moving image drawing unit 23 draws a moving trajectory image from the trajectory information created from the secondary mesh probe data created based on the trajectory information acquired by the first moving image drawing unit 231 in a predetermined unit period, The second moving image drawing unit 232 draws a past moving trajectory image serving as a reference based on the past trajectory information accumulated in advance for a specific period. The past trajectory information is preferably created for each mesh unit. The moving image drawing unit 23 can use the past probe data for 30 days as a specific period in advance. The moving image drawing unit 23 may use all probe data as a specific period so that all past probe data is targeted. In the present embodiment, the moving image drawing unit 23 creates secondary mesh trajectory information accumulated for 30 days as past probe data.

  Next, the difference extraction unit 25 uses the secondary mesh probe data newly created by the first moving image drawing unit 231 and the secondary mesh probe data created by the second moving image drawing unit 232 in the past. Difference data can be extracted by comparison. The difference extraction unit 25 is configured separately from the first moving image drawing unit 231 and the second moving image drawing unit 232, but may be configured to be included in the moving image drawing unit 23.

  In the above-described embodiment, the predetermined unit period is set to 1 day, 3 days, 7 days, and 30 days. However, the present invention is not limited to this. The predetermined unit period may be not only a day unit but also an hour unit, a month unit, or a year unit, and can be set to an arbitrary period. In the above-described embodiment, the specific period is set to 30 days, but is not limited thereto. The specific period can be set to an arbitrary period. Furthermore, in the above-described embodiment, the moving image drawing unit 23 is not limited to a configuration that creates secondary mesh probe data. The moving image drawing unit 23 may create probe data according to the primary mesh, the tertiary mesh, or other unit mesh.

  In other words, the difference extraction unit 25 uses the scalar-type movement trajectory image drawn by the first moving image drawing unit 231 based on the vector-type probe data acquired during a predetermined period, and the vector acquired in advance for a specific period. Based on the probe data in the format, the first moving image drawing unit 231 drawn by the second moving image drawing unit 232 can extract difference data from the previous scalar moving track image. ing. The predetermined period and the specific period may be set as appropriate.

  In the map information processing apparatus 2 of the present embodiment, the map information storage unit 21, the data storage unit 29, and the movement data storage unit 31 can be configured by, for example, a hard disk drive or a semiconductor memory. The memory may store a program for driving a CPU (Central Processing Unit). The CPU executes the program stored in the memory, so that the first moving image drawing unit 231, the second moving image drawing unit 232, the difference extraction unit 25, the road shape change determination unit 26, the map information update unit 27, The movement data generation unit 30 and the movement data extraction unit 32 are configured to function. The vehicle data receiving unit 28 can be configured with an appropriate communication module.

  Hereinafter, an example in which difference data is extracted by the difference extraction unit 25 will be described with reference to FIGS. 5A to 5D.

  The difference extraction unit 25 acquires the movement trajectory image drawn by the first moving image drawing unit 231 and the past movement trajectory image drawn by the second moving image drawing unit 232. FIG. 5A illustrates the movement trajectory image drawn by the first moving image drawing unit 231. FIG. 5B illustrates a past movement trajectory image drawn by the second moving image drawing unit 232. Next, as illustrated in FIG. 5C, the difference extraction unit 25 creates an image of combined data obtained by combining the acquired movement trajectory image and the acquired past movement trajectory image. As a result of creating the composite data image, the difference extraction unit 25 creates an image that does not overlap between the movement locus image shown in FIG. 5A and the past movement locus image shown in FIG. Extracted as an image. FIG. 5D illustrates an image of difference data extracted by the difference extraction unit 25. The image of the difference data is considered to represent the difference between the road at the time when the map information is generated and the current road. That is, the image of the difference data is considered to represent the road shape change. In the example shown in FIGS. 5A to 5D, there is a possibility that a new road has been formed in the circled area in FIG. 5. Next, the map information processing apparatus 2 determines whether or not the extracted difference data is a road shape change including the circled portion in FIG.

  The road shape change determination unit 26 determines whether or not the difference data extracted by the difference extraction unit 25 is a road shape change by machine learning. Deep learning is used as machine learning. Specifically, the road shape change determination unit 26 performs machine learning using difference data extracted in the past as teacher data. The road shape change determination unit 26 determines whether or not the newly extracted difference data is a road shape change based on the result of machine learning.

  Next, an example of a method by which the road shape change determination unit 26 determines a road shape change by deep learning will be described with reference to FIG. Deep learning is a kind of machine learning technique using a multilayer neural network 60. The neural network 60 has input data and output data, and internal arithmetic processing is performed based on a plurality of artificial neurons. The neural network 60 used in machine learning includes three layers. The three layers are illustrated as an input layer 61, an intermediate layer 62, and an output layer 63. The intermediate layer 62 is also called a hidden layer, and may include two or more layers. The intermediate layer 62 becomes unlearned if the number of layers is too small. The intermediate layer 62 is overfitted if there are too many layers. The road shape change determination unit 26 may set the number of layers appropriately in order to determine whether the difference data is a road shape change. The artificial neuron outputs the sum of the previous layer output multiplied by the parameter. The output data of the artificial neuron is controlled by an activation function, and nonlinearity is added. As the activation function for machine learning used in the present embodiment, for example, a softmax function, a sigmoid function, or a Gaussian function can be adopted.

  Since the neural network 60 performs machine learning, teacher data is first given to the input layer 61 as input data. The teacher data is, for example, difference data extracted in the past by the difference extraction unit 25. The road shape change determination unit 26 processes the teacher data by the input layer 61, the intermediate layer 62, and the output layer 63. That is, the road shape change determination unit 26 dynamically generates and learns an optimum feature amount for the input difference data, and performs forward propagation that performs arithmetic processing by forward information propagation. In FIG. 6, the direction of forward propagation is indicated by a thick single arrow. The output result represents a prediction result of whether the input difference data is an image of a road shape change or noise.

  In addition, when learning is performed, the road shape change determination unit 26 gives information on whether the output result is an image of a road shape change or noise, so that the reverse is performed by information propagation in the reverse direction. Propagate. In FIG. 6, the direction of back propagation is indicated by a thick single arrow. The road shape change determination unit 26 evaluates an output error between input data used for learning as teacher data and output data in machine learning. The road shape change determination unit 26 preferably optimizes parameters of each layer and each node in machine learning sequentially from the output error by back propagation.

  By this learning, the road shape change determination unit 26 can gradually bring the parameters of each layer closer to the optimum values. Then, when the difference data extracted by the difference extraction unit 25 is input to the input layer 61, the road shape change determination unit 26 uses the parameter adjusted based on the result of the machine learning, and the difference data is converted into the road shape change. It is possible to determine whether or not it is an image.

  For example, as illustrated in FIG. 6, when the road shape change determination unit 26 sequentially propagates n pieces of difference data d1 and d2 to dn as teacher data, information of M pieces of output data y1 to yM is output to the output layer 63. Is obtained. In the present embodiment, the output data represents a predicted value for predicting whether the input difference data is an image of a road shape change or other image.

  The road shape change determination unit 26 is provided with information on M pieces of correct answer data t1 to tM indicating whether the obtained output data y1 to yM is an image of road shape change or noise. The road shape change determination unit 26 performs machine learning to sequentially adjust the parameters to optimum values when back propagation is performed with the information of the correct answer data t1 to tM. In other words, the road shape change determination unit 26 evaluates the difference between the output data and the correct data by back propagation and optimizes the parameters. As software used for machine learning, for example, OpenCV, Numpy, Matplotlib, or Chainer can be adopted.

  The map information update unit 27 updates the map information stored in the map information storage unit 21. Specifically, the map information update unit 27 generates map information of vector data from the movement trajectory information corresponding to the difference data determined to be a road shape change by the road shape change determination unit 26. Then, the map information update unit 27 updates the map information stored in the map information storage unit 21 with the generated map information. The process of updating the map information will be described in the map information update process described later.

  Since the map information processing apparatus 2 according to the present embodiment creates a road map by machine learning, it is easy to determine a road shape change by making the processing target as simple as possible. In addition, since the shape of the earth is not a true sphere but an oblate sphere, the vertical and horizontal lengths of the mesh may vary depending on the location. When performing the machine learning, the map information processing apparatus 2 of the present embodiment preferably performs normalization that unifies the vertical and horizontal lengths of each mesh in advance. The map information processing apparatus 2 can more accurately determine the road shape change by performing machine learning and then using the normalized mesh after returning to the original state. Note that the map information processing apparatus 2 of the present embodiment may discriminate trajectory information by machine learning after deleting data unnecessary for generating a movement trajectory image from the probe data.

  Next, road shape change determination processing by the map information processing apparatus 2 according to the present embodiment will be described with reference to FIGS. 7 and 8. When the map information processing apparatus 2 receives an instruction to start the road shape change process, the map information processing apparatus 2 starts the determination process from step 71 to step 77 in FIG. 7. In the following, the step is denoted by S.

  The map information processing apparatus 2 performs parameter optimization based on teacher data in advance before determining whether or not the road shape change. The road shape change determination unit 26 performs machine learning based on the teacher data (S71).

  The road shape change determination unit 26 receives information prepared in advance as teacher data. The information prepared in advance is used for setting parameters for mutually identifying whether the extracted difference data is an image indicating a change in road shape or an image such as other noise. The set parameters are held in the road shape change determination unit 26 or stored in a memory accessible by the road shape change determination unit 26, for example.

  Next, in the trajectory information acquisition unit 22, the vehicle data reception unit 28 receives the probe data transmitted from each in-vehicle terminal 3. In the trajectory information acquisition unit 22, the data storage unit 29 stores the received probe data. Thereby, the locus information acquisition unit 22 acquires the locus information of each vehicle 4 included in the received probe data (S72).

  The movement data generation unit 30 creates secondary mesh probe data by normalizing the accumulated data of the probe data acquired by the trajectory information acquisition unit 22 for a predetermined unit period. The movement data generation unit 30 deletes data unnecessary for drawing the movement image from the probe data in the vector format. Examples of unnecessary data include travel distance, travel speed, acceleration, angular velocity, own vehicle direction, and gradient angle.

  The first moving image drawing unit 231 draws the moving trajectory image of the secondary mesh using the normalized secondary mesh trajectory information (S73). In other words, the first moving image drawing unit 231 creates a moving trajectory image using probe data acquired during a predetermined unit period. Then, the second moving image drawing unit 232 draws the past secondary mesh movement trajectory image using the past secondary mesh trajectory information extracted from the movement data storage unit 31 by the movement data extraction unit 32. To do. The movement image of the past secondary mesh is referred to for reference.

  The moving image drawing unit 23 performs the second movement based on the movement trajectory image of the secondary mesh drawn by the first moving image drawing unit 231 based on the probe data of the secondary mesh and the probe data of the past secondary mesh. Difference data is extracted by comparing with the movement trajectory image of the past secondary mesh drawn by the image drawing unit 232 (S74).

  In the above-described embodiment, the moving image drawing unit 23 draws the moving trajectory image of the secondary mesh, but is not limited thereto. The moving image drawing unit 23 can draw a moving trajectory image of an arbitrary scale mesh such as a primary mesh or a tertiary mesh. Further, the moving image drawing unit 23 is not limited to the case of comparing the moving trajectory image of the secondary mesh with the moving trajectory image of the past secondary mesh and determining whether or not there is a difference. For example, the moving image drawing unit 23 directly compares the latitude / longitude information included in the secondary mesh probe data with the latitude / longitude information included in the past secondary mesh probe data, and the difference is obtained. It can also be determined whether or not there is.

  The road shape change determination unit 26 determines whether or not the difference data newly extracted in S74 is a road shape change based on the result of the machine learning learned in S71 (S75).

  In the case of YES in S76 where the extracted difference data is a road shape change, the road shape change determination unit 26 outputs the extracted difference data as a road shape change (S77).

  In this case, since the difference data indicates a change in the road shape, it is saved for use in later map information creation processing.

  On the other hand, if the extracted difference data is NO in S76 that is not a road shape change, S77 is skipped, and the road shape change determination process ends. In this case, the difference data is not information indicating a change in the road shape but is likely to be simple noise. Therefore, the extracted difference data may be discarded.

  Thus, the map information processing apparatus 2 can detect a road shape change without using map information.

  As a result, the map information processing apparatus 2 can easily determine the road shape change by improving the processing speed and further improving the determination accuracy.

  Next, map information update processing by the map information processing apparatus 2 according to the present embodiment will be described with reference to FIGS. 9, 10A, and 10B.

  When the map information processing apparatus 2 receives an instruction to start the map information update process, the following map information update process is started. In the above-described embodiment, when an instruction to start the map information update process is received, the map information update process is started, but the present invention is not limited to this. For example, the map information update process may be automatically started when a predetermined number of road shape changes are output in S77 of the road shape change determination process described above.

  First, the map information update unit 27 accumulates N difference data output in S77 of the road shape change determination process, and averages the probe data errors (S31). Here, N is an arbitrary natural number. The probe data obtained by averaging the errors are illustrated in FIGS. 10A and 10B. FIG. 10B is an enlarged view of an area F1 in FIG. 10A. The map information update unit 27 performs a smooth process on the difference data obtained by averaging the errors, that is, the data representing the road shape determined to be a road shape change (S32). The road shape on which the smooth process has been performed corresponds to the shape of a newly created road.

  The map information update unit 27 obtains mesh map information including the latitude / longitude of the road shape subjected to the smooth processing in S32 among the map information of the vector data stored in the map information storage unit 21. Since the road shape determined based on the difference data is created based on the probe data, it has latitude / longitude information. Therefore, the map information update unit 27 can acquire the map information of the corresponding mesh from the map information storage unit 21 by referring to the latitude and longitude of the road shape probe data.

  As shown in FIGS. 10C and 10D, the map information update unit 27 superimposes the two-dimensional road shape D2 that has been subjected to the smooth process in S32 on the road shape D3 included in the map information of the acquired vector data mesh ( S33). FIG. 10D is an enlarged view of an area F2 in FIG. 10C.

  As illustrated in FIG. 10D, the map information update unit 27 specifies a contact point between the two-dimensional road shape D2 that has been subjected to the smooth process in S32 and the road shape D3 included in the map information of the mesh of the vector data. Here, since the map information is represented by vector data, it includes information in the Z-axis direction. The Z-axis direction indicates a direction perpendicular to the ground. That is, the map information includes information representing the Z-axis coordinates of each road. The Z-axis coordinate is, for example, an altitude. Therefore, the contact point between the road shape D2 generated from the difference data and the road in the map information is represented by latitude, longitude, and altitude. Then, the map information update unit 27 adds a node to each identified contact (S34). In FIG. 10D and FIG. 10E, it illustrates as the node N1 and the node N2. Note that since the node added to the road shape D2 generated from the difference data includes contact point information indicating the Z-axis direction of each road, the road shape D2 is converted into vector data.

  The map information update unit 27 generates the axis of the road shape D2 of the vector data using the identified node (S35). The map information update unit 27 corrects the road width of the road shape D2 obtained from the difference data so as to match the road width of the road shape D3 included in the map information. Then, the road shape D2 of the vector data whose road width is corrected is connected to the road shape D3 included in the map information by a node (S36).

  The map information update unit 27 deletes the unnecessary road location D4 and the added node from the road shape D3 included in the map information (S37). For example, the map information update unit 27 deletes a part where probe data does not exist as a road part D4 that is no longer necessary between nodes added to the original two-dimensional road shape D2 before conversion.

  The map information update unit 27 deletes the road part D4 that is no longer needed. The map information update unit 27 updates the map information in the map information storage unit 21 based on the road shape D3 to which the road shape D2 of the vector data is connected (S38). When this process ends, the map information update process ends.

  Thereby, the map information can be updated by returning the two-dimensional difference data extracted as the road shape change back to the three-dimensional vector data. As a result, the map information can be automatically formatted regularly, and the effort required for updating the map information can be reduced.

  Note that the map information processing apparatus 2 of the present embodiment includes a control unit, a temporary storage unit, a storage unit, and a wireless communication unit. The control unit executes the program read into the storage unit. The vehicle data receiving unit 28, the moving image drawing unit 23, the difference extracting unit 25, the road shape change determining unit 26, the map information updating unit 27, the moving data generating unit 30, and the moving data extracting unit 32 of the present embodiment It is included in the control unit of the device 2. The map information storage unit 21, the data storage unit 29, and the movement data storage unit 31 of the present embodiment are included in the storage unit of the map information processing apparatus 2. The temporary storage unit is a working area for developing programs and various data read from the storage unit. Each part such as the control unit, temporary storage unit, storage unit, and wireless communication unit is connected to each other.

  The map information processing apparatus 2 of the present embodiment can be used as a technology for automatically formatting map data used in, for example, a car navigation system or an automatic driving support system.

  Further, the map information processing method according to the present embodiment acquires probe data of each of a plurality of moving objects, and moves a scalar moving trajectory image based on vector-form probe data acquired during a predetermined period of each of the plurality of moving objects. And a moving history image in the past in the scalar format is generated based on the probe data in the vector format acquired in advance for a specific period of each of the plurality of moving objects. Further, the map information processing method extracts difference data representing a difference between the movement trajectory image and the past movement trajectory image, and determines whether or not the difference data is a road shape change by machine learning. Is executed by the computer.

  Furthermore, the map information processing program in the present embodiment acquires probe data for each of a plurality of moving objects. The map information processing program generates a scalar movement trajectory image based on probe data in a vector format acquired during a predetermined period of each of a plurality of moving objects, and a vector acquired in advance for a specific period of each of the plurality of moving objects. Based on the probe data in the format, a moving history image in the past in the scalar format is generated. The map information processing program extracts a difference data representing a difference between the movement trajectory image and the past movement trajectory image, and performs a process of determining whether the difference data is a road shape change by machine learning. To run.

  The present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, all the constituent elements shown in the embodiments may be appropriately combined. Furthermore, constituent elements over different embodiments may be appropriately combined. It goes without saying that various modifications and applications are possible without departing from the spirit of the invention.

DESCRIPTION OF SYMBOLS 1 Map information processing system 2 Map information processing apparatus 3 Car-mounted terminal 4 Vehicle 5 Communication terminal 21 Map information storage part 22 Trajectory information acquisition part 23 Moving image drawing part 231 1st moving image drawing part 232 2nd moving image drawing part 25 Difference extraction Unit 26 road shape change determination unit 27 map information update unit 28 vehicle data reception unit 29 data storage unit 30 movement data generation unit 31 movement data storage unit 32 movement data extraction unit

Claims (3)

A first moving image drawing unit that generates a scalar moving trajectory image based on vector-form probe data acquired during a predetermined period of each of the plurality of moving bodies;
A second moving image drawing unit that generates a more historical movement trajectory image in scalar format based on probe data in vector format acquired in advance for a specific period of each of the plurality of moving objects;
A difference extraction unit that compares the movement trajectory image generated by the first moving image drawing unit with the past movement trajectory image generated by the second moving image drawing unit and extracts difference data;
A road shape change determination unit for determining whether the difference data is a road shape change by machine learning ,
The road shape change determination unit performs machine learning by the differential data extracted in the past, based on the result of the machine learning, Rukoto to determine the difference data newly extracted whether the road shape change A map information processing apparatus characterized by the above. Obtain probe data for each of multiple mobile units,
Generate a scalar movement trajectory image based on vector-form probe data acquired during a predetermined period of each of a plurality of moving objects,
Based on the probe data in the vector format acquired in advance for a specific period of each of the plurality of moving objects, generate a more historical movement trajectory image in the scalar format,
Extracting difference data representing a difference between the movement trajectory image and the past movement trajectory image;
The machine performs a machine learning with the difference data extracted in the past, and the computer executes a process of determining whether the newly extracted difference data is a road shape change based on the result of the machine learning. MAP information processing how to. Obtain probe data for each of multiple mobile units,
Generate a scalar movement trajectory image based on vector-form probe data acquired during a predetermined period of each of a plurality of moving objects,
Based on the probe data in the vector format acquired in advance for a specific period of each of the plurality of moving objects, generate a more historical movement trajectory image in the scalar format,
Extracting difference data representing a difference between the movement trajectory image and the past movement trajectory image;
Machine learning is performed on the difference data extracted in the past, and the computer is caused to execute a process of determining whether or not the newly extracted difference data is a road shape change based on the result of the machine learning. Map information processing program.