JP2004045051A - Information processing apparatus and information processing system - Google Patents

Abstract

An information processing apparatus that automatically updates map information so that the map information can always be kept up to date.
An information processing apparatus includes: a storage unit for storing map information; a landmark detection unit for detecting a landmark; an estimation unit for estimating a position of the detected landmark; Determining means 605 for determining whether or not a landmark on the map corresponding to the detected landmark exists within a predetermined range including the position; If it is determined that the landmark does not exist, landmark information generating means 605 for generating landmark information for updating the map information so that the detected landmark is added to the map, And transmission means 207 for transmitting to
[Selection] Fig. 6

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an information processing device and an information processing system including the information processing device and a center device.
[0002]
[Prior art]
When a destination is entered, a car navigation system that identifies the optimal route from the current position to the destination and uses the image or voice to navigate the driver so that the driver can easily drive the car along the optimal route The device is widespread.
[0003]
The car navigation device navigates a driver based on map information stored in a memory in the car navigation device. Therefore, in order to properly navigate the driver, it is necessary that the map information stored in the memory in the car navigation device is always the latest.
[0004]
[Problems to be solved by the invention]
However, in practice, after the car navigation device is shipped, new roads are constructed or new landmarks are installed, so that the map information stored in the memory of the car navigation device is always the latest. There was a problem that it was not necessarily.
[0005]
The present invention has been made in view of the above-described problems, and an information processing apparatus that automatically updates map information, thereby enabling map information to be constantly kept up-to-date. It is an object to provide an information processing system including a center device.
[0006]
[Means for Solving the Problems]
An information processing apparatus according to the present invention is an information processing apparatus movable with a moving body, and stores map information indicating a map including roads and landmarks, and stores landmarks around the moving body. Landmark detecting means for detecting, estimating means for estimating the position of the detected landmark, and a land on the map corresponding to the detected landmark within a predetermined range including the estimated position. Determining means for determining whether or not a mark is present; and when it is determined that a landmark on the map corresponding to the detected landmark does not exist, the detected landmark is added to the map. Landmark information generating means for generating landmark information for updating the map information so as to be added, and transmitting the landmark information to a center device. And a transmitting means for, thereby, the above-mentioned object can be achieved.
[0007]
The landmark information may include information related to a timing of updating the map information.
[0008]
The information processing apparatus may further include road information generating means for generating road information for updating the map information, and the landmark information and the road information may have different identifiers.
[0009]
The information processing device may further include a receiving unit that receives updated map information from the center device.
[0010]
Another information processing apparatus of the present invention is an information processing apparatus movable with a moving body, and a storage unit for storing map information indicating a map including roads and landmarks, and a storage unit for storing map information within a predetermined range on the map. Determining means for determining whether or not there is a landmark having date and time information indicating a date and time earlier than a predetermined date and time; and date and time information indicating a date and time earlier than a predetermined date and time within a predetermined range on the map. When it is determined that there is a landmark having, the confirmation means for confirming whether the landmark actually exists, and when it is confirmed that the landmark actually exists, the Landmark information generating means for generating landmark information indicating that the presence of the landmark has been confirmed; and transmitting means for transmitting the landmark information to the center device. Accordingly, the above-mentioned object can be achieved.
[0011]
The landmark information may include information related to a timing of updating the map information.
[0012]
The information processing apparatus may further include road information generating means for generating road information for updating the map information, and the landmark information and the road information may have different identifiers.
[0013]
The information processing device may further include a receiving unit that receives updated map information from the center device.
[0014]
An information processing system according to the present invention is an information processing system including an information processing device movable with a moving object and a center device, wherein the information processing device is a first information processing device that displays a map including roads and landmarks. First storage means for storing map information, landmark detection means for detecting landmarks present around the moving body, estimation means for estimating the position of the detected landmark, Determining means for determining whether or not a landmark on the map corresponding to the detected landmark is present within a predetermined range including a position; and determining whether or not a landmark on the map corresponding to the detected landmark is present. If it is determined that the landmark does not exist, the landmark information for updating the map information so as to add the detected landmark to the map is provided. And landmark information generating means for transmitting the landmark information to the center device, wherein the center device stores second map information, and the transmitting means Receiving means for receiving the landmark information transmitted by the above, and landmark information updating means for updating the second map information based on the landmark information, whereby the object is achieved.
[0015]
The information processing apparatus further includes a camera that outputs image data, the landmark information generating unit generates landmark information to which the image data is added, and the center device is configured to output the landmark information based on the landmark information. Before updating the second map information, the information processing apparatus may further include an update information confirmation unit that enables a person to confirm whether the update of the second map information is appropriate.
[0016]
The center device further includes user information management means for managing user information, and charging means for charging based on the user information, wherein the landmark information updating means provides a reward to the user who provided the landmark information. The user information management means may be instructed to give the information.
[0017]
Another information processing system of the present invention is an information processing system including an information processing device movable with a moving body and a center device, wherein the information processing device displays a map including roads and landmarks. First storage means for storing the first map information, and determination means for determining whether a landmark having date and time information indicating a date and time earlier than a predetermined date and time exists within a predetermined range on the map. If it is determined that a landmark having date and time information indicating a date and time before a predetermined date and time exists within a predetermined range on the map, it is determined whether or not the landmark actually exists. And a landmark information generating unit that generates landmark information indicating that the presence of the landmark has been confirmed when it is confirmed that the landmark actually exists. And a transmitting means for transmitting the landmark information to the center device, wherein the center device stores second map information, and the landmark transmitted by the transmitting device. Including the receiving means for receiving information, and the landmark information updating means for updating the second map information based on the landmark information, the above object is achieved.
[0018]
The information processing apparatus further includes a camera that outputs image data, the landmark information generating unit generates landmark information to which the image data is added, and the center device is configured to output the landmark information based on the landmark information. Before updating the second map information, the information processing apparatus may further include an update information confirmation unit that enables a person to confirm whether the update of the second map information is appropriate.
[0019]
The center device further includes user information management means for managing user information, and charging means for charging based on the user information, wherein the landmark information updating means provides a reward to the user who provided the landmark information. The user information management means may be instructed to give the information.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0021]
(Embodiment 1)
FIG. 1 shows an example of a configuration of an information processing system 100 according to Embodiment 1 of the present invention.
[0022]
The information processing system 100 includes an information processing device 101 that can move together with a moving object, and a center device 102. In this specification, a “moving object” refers to any object that can move by itself or another force. The moving object is typically a vehicle. In this case, the information processing device 101 can be mounted on a moving body such as a vehicle. Alternatively, the moving object may be a person. In this case, it is assumed that the information processing apparatus 101 moves with a person by being carried by the person. The information processing device 101 may be mounted on a portable device (a mobile phone, a PDA, or the like) that can be carried by a person.
[0023]
The information processing apparatus 101 detects a difference between the real world situation and the map information stored in the information processing apparatus 101 (for example, the addition of a road or the presence or absence of a landmark such as a gas station), and the detection is performed. Based on the result, update information for updating the map information stored in the center device 102 is generated, and the update information is transmitted to the center device 102.
[0024]
The center device 102 receives the update information from the information processing device 101 and updates the map information stored in the center device 102 based on the received update information.
[0025]
The center device 102 is configured to be able to receive a plurality of update information from a plurality of information processing devices 101. The center device 102 updates the map information stored in the center device 102 based on the received plurality of update information. The center device 102 preferably analyzes the plurality of pieces of received update information and updates the map information only when it is convinced that the map information stored in the center device 102 should be updated. The center device 102 transmits the updated map information to at least one information processing device 101.
[0026]
The information processing apparatus 101 receives the updated map information from the center apparatus 102, and stores the received map information in the information processing apparatus 101.
[0027]
In this way, by integrating the plurality of update information collected by the information processing device 101 into the center device 102, it is possible to uniformly update the map information in the center device 102. Further, by distributing the map information updated by the center device 102 to the information processing device 101, it is possible to always keep the map information stored in the information processing device 101 up to date. Since the maintenance of the map information can be performed automatically, it is possible to greatly reduce the labor required for the maintenance of the map information.
[0028]
The update information is preferably collected by a specialist, but may be collected by a general user. For example, in order to increase the incentive to collect update information, an area for each person may be determined, and a reward may be paid in exchange for collecting update information for the area in charge. The update information may be collected by the information processing apparatus 101 mounted on a vehicle (probe car) for update information collection prepared by a service provider, or may be mounted on a vehicle owned by a general user who receives the service. The processing may be performed by the information processing apparatus 101 described above.
[0029]
The information processing device 101 may have a function of a navigation device for navigating a user of the information processing device 101. In this case, the information processing device 101 can navigate the user based on the latest map information. As a result, the user can efficiently move to the destination using a new road without being guided along a time-consuming route. Further, since a landmark such as a gas station or a convenience store can be accurately obtained, the possibility that the user makes a mistake on the road is reduced.
[0030]
Note that an arbitrary method can be adopted as a method of communication between the information processing device 101 and the center device 102. For example, communication between the information processing apparatus 101 and the center apparatus 102 may be wireless communication such as a mobile phone and a wireless LAN.
[0031]
Further, the map information updated by the center device 102 does not need to be distributed to all of the plurality of information processing devices 101. For example, the updated map information may be distributed only to the information processing apparatus 101 that needs the map information updated by the center apparatus 102.
[0032]
Further, some of the information processing apparatuses 101 have a function of receiving the updated map information from the center apparatus 102, but do not have a function of transmitting the updated information to the center apparatus 102. An apparatus 101 may be included. Such an information processing device 101 functions as a terminal dedicated to receiving update information.
[0033]
FIG. 2A illustrates an example of a configuration of the information processing apparatus 101. In the example shown in FIG. 2A, the information processing device 101 is mounted on a vehicle.
[0034]
The information processing apparatus 101 includes a GPS (Global Positioning System) 201 that measures the position of the vehicle, a sensor 202 that detects a state of the vehicle (vehicle speed, a state of a reverse gear, a direction, and the like), and a periphery of the vehicle (for example, the vehicle A camera 203 for photographing (forward), a CPU 204 for controlling the operation of the information processing apparatus 101, and storage means (first map information) for storing map information (first map information) indicating a map including roads and landmarks and various programs. Storage means) 205, a display means 206 for displaying various information such as map information, and a communication means 207 for communicating with the center device 102.
[0035]
FIG. 2B shows an example of the configuration of the center device 102.
[0036]
The center device 102 includes a CPU 103 that controls the operation of the center device 102, a storage unit (second storage unit) 104 that stores map information (second map information) indicating a map including roads and landmarks, and various programs. And display means 105 for displaying various information such as map information, input means 106 such as a mouse and a keyboard, and communication means 107 for communicating with the information processing apparatus 101.
[0037]
FIG. 3 shows an example of the format of the map information stored in the storage means 205 (FIG. 2A) and the storage means 104 (FIG. 2B).
[0038]
The map information is an aggregate of road information 301 indicating a road, landmark information 302 indicating a landmark, and other information. The road information 301 has an identifier (in the example illustrated in FIG. 3, a value “1”) indicating that the road information is the road information. The landmark information 302 has an identifier (in the example shown in FIG. 3, a value “0”) indicating a landmark.
[0039]
In this specification, “landmark” refers to anything that can be a landmark on a map. The landmark is, for example, a signboard of a store such as a gas station or a convenience store, a road traffic sign, a direction sign, a traffic light, or the like.
[0040]
FIG. 4 shows an example of the format of the road information 301 (FIG. 3). The road information 301 includes an identifier 401, a road ID 402, a user ID 403, a date and time 404, the number of point information (N) 405, N pieces of point information 406, and image data 407. Thus, one road is represented by N pieces of point information (latitude, longitude).
[0041]
The identifier 401 has a value indicating that it is road information (for example, “1”). The road ID 402 has a value (for example, “100”) for uniquely identifying the road in the map information. The user ID has a value (for example, “54”) for uniquely identifying a user. Each of the N pieces of point information 406 includes a latitude 408, a longitude 409, and a cost 410.
[0042]
FIG. 5 shows an example of the format of the landmark information 302 (FIG. 3). The landmark information 302 includes an identifier 501, an update mode 502, a landmark ID 503, a user ID 504, information (latitude and longitude) 505 indicating the position of the landmark, date and time 506, and information indicating the type of the landmark. 507, a road ID 508 of the road on which the landmark exists, a traveling vector (dx, dy) 509 when the landmark is detected, information 510 indicating which side of the road exists on the left or right side of the road, Data 511. Thus, one landmark is represented by information related to the landmark itself and information related to the road on which the landmark exists. It is assumed that a value of “−1” is set in information that is not used among the above information.
[0043]
The identifier 501 has a value indicating that it is landmark information (for example, “0”). The update mode 502 has a value indicating the mode of update (for example, “0”: added, “1”: confirmed, “2”: deleted). The landmark ID 503 has a value (for example, “210”) for uniquely identifying the landmark in the map information. The user ID has a value (for example, “32”) for uniquely identifying a user. The road ID 508 has a value (for example, “103”) for uniquely identifying the road in the map information. The information 510 has a value indicating the left and right of the road (for example, “0”: left, “1”: right).
[0044]
In the following description, the map information including the road information 301 and the landmark information 302 has the format shown in FIGS. 3 to 5, but is not limited to this. If necessary, items can be added to the formats shown in FIGS. 3 to 5, items of the format can be changed, and items can be deleted from the format.
[0045]
FIG. 6 illustrates an example of a detailed configuration of the information processing apparatus 101. The storage unit 205 stores map information 601. The map information 601 indicates a map including roads and landmarks.
[0046]
The information processing apparatus 101 compares the outputs of the GPS 201 and the sensor 202 with the map information 601 stored in the storage unit 205, and generates road information for updating the map information 601 according to the comparison result. Generating means 602, a landmark detecting means 603 for detecting a landmark from an image taken by the camera 203, and a landmark detected by the landmark detecting means 603 and a storing means 205 based on the outputs of the GPS 201 and the sensor 202. And landmark information generating means 605 for generating landmark information for updating the map information 601 according to the comparison result.
[0047]
The method by which the landmark detection unit 603 detects a landmark from an image captured by the camera 203 does not matter. The landmark detecting unit 603 may employ any method for detecting a landmark from an image captured by the camera 203. For example, as one of such techniques, it is possible to use “a high-speed object search using local color information—active search method” (IEEE VOL. J81-DII, No. 9, pp. 2035-2042). it can. The landmark detection unit 603 outputs information for specifying the detected landmark (for example, the type of the landmark, the position of the landmark in the image (for example, the upper left and lower right coordinates of a rectangle surrounding the landmark)). I do.
[0048]
Note that the landmark detecting unit 603 is not limited to the one that detects a landmark based on the output of the camera 203. The landmark detecting unit 603 may detect a landmark existing around the moving body (for example, in front of the moving body) by detecting radio waves or light emitted from the landmark.
[0049]
The road information generated by the road information generation unit 602 is stored in a road information file 609 in the storage unit 205. The landmark information generated by the landmark information generation unit 605 is stored in a landmark information file 608 in the storage unit 205. The road information file 609 and the landmark information file 608 may be realized as separate files as shown in FIG. 6, or may be realized in a form integrated into one file called a map information file. .
[0050]
The information processing apparatus 101 further includes a communication control unit 607 having an interface with the communication unit 207. The communication control unit 607 converts the form of the road information file 609 and the landmark information file 608 into a form that can be transmitted to the center device 102, and converts the form of the information received from the center device 102 to each unit of the information processing device 101. Operate to convert to a suitable form.
[0051]
Note that the function of the road information generation unit 602 is achieved, for example, by the CPU 204 (FIG. 2A) executing a program (hereinafter, referred to as a “road information generation program”) that implements a process of generating road information. The function of the landmark information generation unit 605 is achieved, for example, by the CPU 204 (FIG. 2A) executing a program (hereinafter, referred to as a “landmark information generation program”) that implements processing for generating landmark information. The function of the communication control unit 607 is achieved, for example, by the CPU 204 (FIG. 2A) executing a program for realizing communication control. These programs are stored in the storage unit 205 (FIG. 2A).
[0052]
FIG. 7 shows an example of the procedure of the road information generation program. This program is executed by the CPU 204.
[0053]
STEP 701: The CPU 204 performs map matching. Map matching refers to determining whether or not the travel history of the moving object matches the shape of the road on the map. The traveling history of the moving object is obtained based on the output of the GPS 201 (indicating the current position of the moving object) and the output of the sensor 202 (indicating the speed of the moving object, the state of the reverse gear, the direction, etc.). The shape of the road on the map is obtained based on the map information 601. Such a map matching function is the same as that provided in a normal car navigation device.
[0054]
STEP 702: The CPU 204 determines the result of the map matching. If the traveling history of the moving object does not match the shape of the road on the map, it is determined that a new road has been found. In this case, the process proceeds to STEP 703. If the traveling history of the moving object matches the shape of the road on the map, the process proceeds to STEP 704.
[0055]
STEP 703: The CPU 204 generates road information corresponding to the newly discovered road based on the traveling history of the moving body from when the traveling history of the moving body does not match the shape of the road on the map until it coincides again. Then, the road information is stored in the road information file 609. In this step, the CPU 204 does not correct the current position of the moving object.
[0056]
Here, the format of the road information generated in STEP 703 is the same as the format of the road information 301 shown in FIG. However, since the road ID 402 and the image data 407 are not used here, -1 is substituted for their values. The user ID 403 is the user ID of the user who owns the information processing apparatus 101, the date and time 404 is the date and time when a new road is detected, the number of point information (N) 405 and the N pieces of point information (latitude, longitude, The detected value is substituted for each of the (costs) 406. For the cost 410 included in each of the N pieces of point information 406, a value (for example, a reciprocal) calculated from the speed at that point is substituted. The value of the cost 410 indicates the ease of passage at that point. The smaller the value of the cost 410 is, the easier it is to pass (for example, no traffic jam). The cost 410 can be used for a route search that is a basic function of navigation.
[0057]
STEP 704: The CPU 204 corrects the current position of the moving object. This is because the influence of an error that may occur in the measurement by the GPS 201 and the sensor 202 is considered.
[0058]
Next, a landmark information generation program will be described with reference to FIGS. 8A and 8B. The landmark information generation program operates in two modes (ie, “additional mode” or “confirmation mode”). In this way, the reason for operating the landmark information generation program in two modes is that landmarks such as gas stations and convenience stores change so rapidly that they can or cannot be lost, so simply add new landmarks to the map. This is because it is preferable to confirm whether landmarks actually exist on the map at regular intervals. However, it is within the scope of the present invention to operate the landmark information generation program in only one of the two modes.
[0059]
When the operation mode of the landmark information generation program is set to the “additional mode”, whether a landmark on the map corresponding to the landmark detected by the landmark detection unit 603 exists within a predetermined range. It is determined whether or not.
When it is determined that the landmark does not exist, it is determined that a new landmark that does not exist on the map is set. In this case, landmark information whose update mode is “add” is generated.
[0060]
If the operation mode of the landmark information generation program is set to “confirmation mode”, it is determined whether or not “old” landmarks actually exist among the landmarks on the map. When it is determined that “exists”, it is confirmed that the landmark on the map actually exists. In this case, landmark information whose update mode is “confirmation” is generated. On the other hand, when it is determined that the landmark does not exist, it is confirmed that the landmark on the map does not actually exist. In this case, landmark information whose update mode is “delete” is generated.
[0061]
Switching between the “additional mode” and the “confirmation mode” can be performed at an arbitrary timing according to an arbitrary method. For example, both the execution in the “additional mode” and the execution in the “confirmation mode” may be performed for one image input from the camera 203, or for each image input from the camera 203 (for example, (Every 1/30 second) may be switched between the execution in the “additional mode” and the execution in the “confirmation mode”. These are examples in which execution in the “additional mode” and execution in the “confirmation mode” are automatically switched. Alternatively, execution in the “additional mode” and execution in the “confirmation mode” may be switched according to an input from a user.
[0062]
Note that the type of landmark to be detected in the “additional mode” may be different from the type of landmark to be detected in the “confirmation mode”. For example, the types of landmarks to be detected in the “additional mode” are all types, and the types of landmarks to be detected in the “confirmation mode” are lands on the map information 601 near the current position of the moving object. The type of mark may be limited. As described above, by changing the type of the landmark to be detected according to the operation mode of the landmark information generation program, the landmark information generation program can be efficiently executed. In order to change the type of the landmark to be detected according to the operation mode of the landmark information generation program, for example, the landmark information generation unit 605 may change the type of the landmark to be detected according to the operation mode. The landmark detection unit 603 may be notified so that the landmark detection unit 603 detects only the type of the landmark notified from the landmark information generation unit 605.
[0063]
FIG. 8A shows an example of the procedure of the landmark information generation program when the operation mode is set to “additional mode”. This program is executed by the CPU 204.
[0064]
STEP 801: The CPU 204 estimates the position of the landmark detected by the landmark detecting means 603. The position of the landmark is represented by, for example, (latitude, longitude). The output of the GPS 201 at the time when the landmark is detected indicates the current position of the moving object. In order to estimate the position of a landmark existing ahead of the current position of the moving object, in addition to the output of the GPS 201 (indicating the current position of the moving object), the output of the sensor 202 (speed of the moving object, It is necessary to take into account the state, orientation, etc.) and the output of the landmark detection means 603 (indicating the coordinates of the landmark in one image).
[0065]
As described above, the position of the landmark detected by the landmark detecting unit 603 can be estimated based on the output of the GPS 201, the output of the sensor 202, and the output of the landmark detecting unit 603.
[0066]
For example, when the landmark detecting unit 603 detects landmarks at regular time intervals, the CPU 204 determines the current position of the moving object, the coordinates of the center of gravity of the area where the landmark is detected in the image, and the camera position. The parameter (focal length) may be measured at two points, and the relative position from the current position of the moving object to the landmark may be calculated based on the measured values at the two points. Further, since the current position of the moving object and its direction are known, the CPU 204 can calculate the absolute position (for example, latitude and longitude) of the landmark. The details of such a position estimation method are described in, for example, "Automatic Position Estimation of Road Guide Sign by Moving Image Analysis" (Information Processing Bulletin, VOL. 2001, No. 83, pp. 129 to p134).
[0067]
If the angle of view of the camera 203 is sufficiently wide, the output of the GPS 201 at the time when the detection target landmark cannot be detected from the image may be used as the estimated position of the landmark.
[0068]
STEP 802: The CPU 204 determines a predetermined range including the estimated position as a landmark possible range. For example, the predetermined range is an area inside a circle having a radius r centered on the estimated position. Here, r is a constant value. The reason why the landmark possible range is obtained is that the influence of an error that may occur in the measurement by the GPS 201 is considered.
[0069]
STEP 803: The CPU 204 determines whether or not a landmark on the map corresponding to the landmark detected by the landmark detecting means 603 exists within the possible range of the landmark.
[0070]
Here, whether or not the landmark detected by the landmark detecting means 603 and the landmark on the map correspond to each other is determined by determining between the landmark detected by the landmark detecting means 603 and the landmark on the map. , (1) the attribute indicating the type of landmark, (2) the attribute indicating the road ID, and (3) the attribute indicating whether the landmark is on the left side or on the right side of the road. You. Alternatively, by determining whether at least one of the above attributes (1) to (3) matches, it is determined whether the landmark detected by the landmark detecting unit 603 corresponds to the landmark on the map. May be determined.
[0071]
Information indicating whether the landmark is on the left or right side of the road is important for properly navigating the driver. For example, assume that a vehicle is traveling on a road with a median strip. In this case, if the gas station is displayed on the driving lane side on the map, but the gas station is actually on the opposite lane side, the driver will be confused. Become.
[0072]
In order to indicate whether the landmark is on the left or right side of the road, the direction in which the vehicle is traveling (traveling vector) and the left and right of the traveling road may be known. The travel vector is obtained by the difference (ex-sx, eye-sy) = (dx, dy) between the position of the point (sx, sy) at which the landmark is detected and the position (ex, ey) immediately after the landmark. Can be. If the assumption is made that the camera 203 is shooting approximately in front of the vehicle on the left and right sides of the road on which the vehicle is traveling, it is determined whether the coordinates of the landmarks in the image are shifted to the left or right from the center of the image. Can be determined.
[0073]
If it is determined in STEP 803 that the landmark does not exist, it is determined that a new landmark has been found. In this case, the process proceeds to STEP 804. If it is determined in STEP 803 that “exists”, the process ends.
[0074]
STEP 804: The CPU 204 generates landmark information (update mode = “addition”) corresponding to the newly discovered landmark, and stores the landmark information in the landmark information file 608.
[0075]
Here, the format of the landmark information generated in STEP 804 is the same as the format of the landmark information 302 shown in FIG. However, since the landmark ID 503 and the image data 511 are not used here, -1 is substituted for their values. Also, a value “0” indicating “add” is substituted for the update mode 502, a user ID of the user who owns the information processing apparatus 101 is substituted for the user ID 504, and a date and time when a new landmark is detected is substituted for the date and time 506. Keep it. Further, information 505 indicating the position (latitude and longitude) of the landmark, information 507 indicating the type of the landmark, the road ID 508 during traveling, the traveling vector 509 when detecting the landmark, and whether the landmark is on the left or right side of the road The detected value is substituted for the information 510 indicating whether or not there is any.
[0076]
Note that the “date and time” is represented in, for example, a year, month, day, hour, minute, and second format, but is not limited thereto. In this specification, the term “date and time” is defined as representing at least one of “year”, “month”, “day”, “hour”, “minute”, and “second”.
[0077]
As described above, when the operation mode of the landmark information generation program is set to the “additional mode”, the landmark information generation unit 605 estimates the position of the landmark detected by the landmark detection unit 603. Means, means for determining whether a landmark on the map corresponding to the detected landmark exists within a predetermined range including the estimated position, and means on the map corresponding to the detected landmark. If it is determined that the landmark does not exist, it functions as a means for generating update information (landmark information) for updating the map information so that the detected landmark is added to the map.
[0078]
FIG. 9 shows an example of the position of the landmark estimated in STEP 801 and the possible range of the landmark determined in STEP 802.
[0079]
9, reference numeral 903 indicates a landmark (for example, a signboard of a convenience store) detected by the landmark detecting unit 603, and reference numeral 901 indicates a position of the landmark 903 estimated in STEP801. A number 902 indicates a possible range of the landmark 903 obtained in STEP 802. In the example illustrated in FIG. 9, the possible range 902 of the landmark 903 is an area inside a circle having a radius r and centered on the estimated landmark position 901. Here, r is a constant value.
[0080]
Note that the possible range of the landmark is not limited to the area inside the circle described above. The possible range of the landmark may be any area including the position of the landmark estimated in STEP801.
[0081]
FIG. 8B shows an example of the procedure of the landmark information generation program when the operation mode is set to the “confirmation mode”. This program is executed by the CPU 204.
[0082]
STEP811: The CPU 204 obtains a predetermined range on the map. For example, the vicinity of the current position of the moving object (preferably, in front of the moving object to which the camera 203 is facing) is determined as a predetermined range on the map. The predetermined range is not limited to the area inside the circle, but may be any area.
[0083]
STEP 812: The CPU 204 determines whether or not an “old” landmark exists within a predetermined range on the map. Whether or not the landmark on the map is “old” is determined by, for example, whether or not the date and time information 506 (FIG. 5) of the landmark information 302 in the map information 601 indicates a date and time earlier than a predetermined date and time. You. For example, if the date and time information 506 (indicating the latest update date and time) of the landmark information 302 indicates a date and time one year or more ago, the landmark is determined to be “old”.
[0084]
When it is determined that an “old” landmark exists within a predetermined range on the map, it is determined that it is necessary to confirm whether the landmark actually exists. In this case, the process proceeds to STEP 813. Otherwise, the process ends.
[0085]
STEP 813: The CPU 204 checks whether or not an “old” landmark on the map actually exists. Such confirmation is performed by, for example, determining whether or not at least one landmark detected by the landmark detection unit 603 includes a landmark corresponding to an “old” landmark on the map. You.
[0086]
If it is confirmed in STEP 813 that an “old” landmark on the map actually exists, the process proceeds to STEP 814; otherwise, the process proceeds to STEP 815.
[0087]
STEP 814: The CPU 204 generates landmark information (update mode = “confirmation”) indicating that the existence of the “old” landmark on the map has been confirmed, and stores the landmark information in the landmark information file 608. .
[0088]
Here, the format of the landmark information generated in STEP 814 is the same as the format of the landmark information 302 shown in FIG. The value “1” indicating “confirmation” is substituted for the update mode 502, the user ID of the user who owns the information processing apparatus 101 is substituted for the user ID 504, and the confirmed date and time are substituted for the date and time 506. For other values, the value of the landmark information 302 in the map information 601 to be checked is substituted.
[0089]
STEP815: The CPU 204 generates landmark information (update mode = “delete”) indicating that the existence of the “old” landmark on the map has not been confirmed, and stores the landmark information in the landmark information file 608. Store.
[0090]
Here, the format of the landmark information generated in STEP 815 is the same as the format of the landmark information 302 shown in FIG. The value “2” indicating “delete” is substituted for the update mode 502, the user ID of the user who owns the information processing apparatus 101 is substituted for the user ID 504, and the confirmed date and time are substituted for the date and time 506. For other values, the value of the landmark information 302 in the map information 601 to be checked is substituted.
[0091]
If there are a plurality of “old” landmarks within a predetermined range on the map obtained in STEP 811, the determination in STEP 812 may be performed for each of the plurality of landmarks.
[0092]
As described above, when the operation mode of the landmark information generation program is set to the “confirmation mode”, the landmark information generation unit 605 sets the date and time before the predetermined date and time within a predetermined range on the map. Means for determining whether or not there is a landmark having date and time information indicating the presence or absence of a landmark having date and time information indicating a date and time earlier than a predetermined date and time within a predetermined range on the map. Means for confirming whether or not the landmark actually exists, and, if it is confirmed that the landmark actually exists, update information (land) indicating that the presence of the landmark has been confirmed (Mark information).
[0093]
Referring to FIG. 6 again, communication control means 607 transmits data (road information) stored in road information file 609 and data (landmark information) stored in landmark information file 608 to center device 102. Previously, the number of data (road information) stored in the road information file 609 is equal to or greater than a predetermined number, or the number of data (landmark information) stored in the landmark information file 608 is a predetermined number. Check if it exists. These predetermined numbers can be set in advance by the user for each of the road information file 609 and the landmark information file 608.
[0094]
The communication control unit 607 transmits the road information to the center device 102 when the number of data (road information) stored in the road information file 609 is equal to or more than a predetermined number, and otherwise transmits the data. do not do. When the number of data (landmark information) stored in the landmark information file 608 is equal to or greater than a predetermined number, the communication control unit 607 transmits the landmark information to the center device 102. Do not send in case of. As described above, by controlling the transmission by the communication control unit 607, it becomes possible to collect the road information and the landmark information in the form of an updater and transmit the update information to the center apparatus 102.
[0095]
FIG. 10 shows an example of the configuration of the updater. The updater includes the number (M) of update information and M pieces of update information. Each of the M pieces of update information is either road information or landmark information. The road information includes an identifier having a value (for example, “1”) indicating the road information. The landmark information includes an identifier having a value (for example, “0”) indicating the landmark information.
[0096]
Here, by setting each of the above-mentioned predetermined numbers to 1, the road information or the landmark information may be transmitted to the center device 102 every time the road information or the landmark information is collected.
[0097]
As described above, according to the information processing apparatus 101, the landmark information for updating the map information so as to add the landmark detected by the landmark detecting unit 603 to the map is generated and transmitted to the center apparatus 102. You. Thus, the landmark information can be collected in the center device 102, and the center device 102 can uniformly update the map information based on the landmark information.
[0098]
Further, according to the information processing apparatus 101, it is determined whether or not an “old” landmark existing on the map actually exists, and when it is confirmed that the landmark actually exists, the landmark is determined. Is generated and transmitted to the center device 102. Thus, the landmark information can be collected in the center device 102, and the center device 102 can uniformly update the map information based on the landmark information.
[0099]
FIG. 11 shows an example of a detailed configuration of the center device 102.
[0100]
The center device 102 includes a communication control unit 1102 having an interface with the communication unit 107. The communication control unit 1102 converts the form of the updated map information into a form that can be transmitted to the information processing apparatus 101, and converts the form of the information received from the information processing apparatus 101 into a form suitable for each unit of the center unit 102. Works to convert.
[0101]
The road information transmitted from the information processing device 101 is stored in the road information file 1108 via the communication unit 107 and the communication control unit 1102. The landmark information transmitted from the information processing apparatus 101 is stored in the landmark information file 1109 via the communication unit 107 and the communication control unit 1102. The road information file 1108 and the landmark information file 1109 are stored in the storage unit 104 (FIG. 2B).
[0102]
The center device 102 updates the road information included in the map information 1101 based on the road information stored in the road information file 1108, and updates the road information based on the landmark information stored in the landmark information file 1109. Further, a landmark information updating unit 1105 for updating landmark information included in the map information 1101 and a user information managing unit 1106 for managing information of a user who owns the information processing apparatus 101 are further provided. User information is stored in the user information file 1107. The map information 1101 and the user information file 1107 are stored in the storage unit 104 (FIG. 2B).
[0103]
Next, the operation of the landmark information updating means 1105 will be described.
[0104]
The information (latitude, longitude) indicating the position of the landmark included in the landmark information obtained from the communication control unit 1102 includes an error of measurement by the GPS 201 of the information processing apparatus 101. In order to reduce the influence of the error, the landmark information updating unit 1105 determines the position of the landmark indicated by the landmark information having the same attribute received from the plurality of information processing apparatuses 101 mounted on the plurality of moving objects. Are updated, and the map information 1101 is updated so that the landmark is registered at the averaged position. Which of the landmark information stored in the landmark information file 1109 is used to average the position of the landmark can be obtained by clustering the landmark information stored in the landmark information file 1109.
[0105]
The operation of the landmark information updating unit 1105 differs depending on the value of the update mode included in the landmark information obtained from the communication control unit 1102.
[0106]
As a function of the landmark information updating unit 1105, for example, the CPU 103 (FIG. 2B) executes a program (hereinafter, referred to as a “landmark information updating program”) that implements a process of updating the landmark information included in the map information 1101. Is achieved by: This program is stored in the storage unit 104 (FIG. 2B).
[0107]
FIG. 12 shows an example of the procedure of the landmark information update program when the value of the landmark information update mode is 0 (= addition) or 2 (= deletion). This program is executed by the CPU 103.
[0108]
STEP1201: The CPU 103 adds new landmark information obtained from the communication control unit 1102 to the landmark information file 1109.
[0109]
STEP1202: The CPU 103 selects landmark information to be used for clustering from the landmark information file 1109. The landmark information file 1109 stores landmark information collected from all over the country. Clustering all landmark information stored in the landmark information file 1109 is inefficient in processing. By selecting landmark information that exists locally and have the same attribute and clustering the selected landmark information, it is possible to increase the processing efficiency.
[0110]
FIG. 13 shows the distribution of the positions of the landmarks indicated by the landmark information stored in the landmark information file 1109. In FIG. 13, each ellipse indicates a result of clustering (called a cluster) before adding new landmark information 1304. The “x” mark on each ellipse indicates the center point of the cluster. Here, it is assumed that landmark information belonging to the same cluster has the same attribute as each other. The attribute here is information indicating the update mode, the type of landmark, which road is facing, and which side of the road. These pieces of information are embedded in the landmark information by the information processing device 101.
[0111]
The CPU 103 calculates the distance between the position of the landmark indicated by the new landmark information 1304 and the center point of each cluster, and selects a cluster whose distance is smaller than a predetermined threshold 1305. In the example shown in FIG. 13, two clusters 1301 and 1302 are selected.
[0112]
Next, the CPU 103 selects a cluster having the same attribute as the new landmark information 1304 from the two clusters 1301 and 1302. Since the two clusters 1301 and 1302 are on both sides of the road 1303, their attributes are different. Therefore, only one of the two clusters 1301 and 1302 is selected as a cluster having the same attribute as the new landmark information 1304. In the example shown in FIG. 13, it is assumed that only cluster 1301 has been selected. In this case, only the landmark information belonging to the cluster 1301 is used for clustering.
[0113]
Referring to FIG. 12 again, the procedure of the landmark information update program will be described.
[0114]
STEP1203: The CPU 103 clusters the selected landmark information. The clustering method does not matter. The CPU 103 can employ any clustering method. For example, as one of such techniques, the ISODATA method (“Image Analysis Handbook”, University of Tokyo Press, p. 242) can be used. Further, the CPU 103 obtains statistics for each new cluster.
[0115]
STEP 1204: For each cluster, the CPU 103 determines whether or not the statistic satisfies a predetermined condition. Here, the statistic is, for example, the number or variance of data belonging to the cluster. The predetermined condition is, for example, a condition that the number of data is equal to or more than a predetermined number and the variance is smaller than a predetermined threshold.
[0116]
STEP 1205: If it is determined that the statistic of a certain cluster satisfies a predetermined condition, the CPU 103 determines that the landmark exists (or has been deleted) at the center of the cluster, and outputs the map information 1101. To update.
[0117]
When the value of the landmark information update mode is 0 (= addition), the CPU 103 updates the map information 1101 so as to add the landmark information to the map information 1101. The format of the landmark information added to the map information 1101 is the same as the format of the landmark information shown in FIG. However, since the user ID 504 and the image data 511 are not used here, -1 is substituted for those values. The landmark ID 503 indicates a value that can uniquely identify a landmark in the map information 1101, the date and time 506 indicates the date and time when the map information 1101 was updated, the latitude and longitude 505 indicate the position of the center of the cluster, The attribute of the cluster is substituted for other information. Note that, instead of the date and time when the map information 1101 is updated, the date and time when a new landmark is detected in the information processing apparatus 101 may be substituted for the date and time 506 of the landmark information added to the map information 1101. In this way, by recording the date and time related to the timing at which the map information 1101 is updated, it is possible to determine whether or not the landmark still exists when a certain time has passed since a new landmark was added to the map. It can be a trigger to confirm.
[0118]
When the update mode value of the landmark information is 2 (= delete), the CPU 103 deletes the landmark information in the map information 1101 having the same landmark ID as the landmark information.
[0119]
Finally, the landmark information belonging to the cluster used for updating the map information 1101 is deleted from the landmark information file 1109.
[0120]
When the update mode value of the landmark information is 1 (= confirmation), the CPU 103 sets the date and time 506 of the landmark information in the map information 1101 having the same landmark ID as the landmark information to the current date and time (for example, , The date and time when the map information 1101 was updated). Note that the date and time 506 of the landmark information in the map information 1101 may be reset to the date and time 506 of the landmark information (that is, the date and time when a new landmark is detected). In this manner, by resetting the date and time related to the timing of updating the map information 1101, it is possible to check whether the landmark still exists when a certain time has passed since it was confirmed that the landmark exists. It can be a trigger to confirm whether or not.
[0121]
Next, the operation of the road information updating unit 1104 will be described.
[0122]
The information (a set of (latitude, longitude)) indicating the position of the road included in the road information obtained from the communication control unit 1102 includes an error of measurement by the GPS 201 of the information processing apparatus 101. In order to reduce the influence of this error, the road information update unit 1104 averages the positions of the roads indicated by the road information having the same attribute received from the plurality of information processing apparatuses 101 mounted on the plurality of moving objects, respectively. , The map information 1101 is updated so that the road is registered at the averaged position. Which of the road information stored in the road information file 1108 is used to average the position of the road can be obtained by clustering the road information stored in the road information file 1108.
[0123]
The numerical values used for the clustering may be the coordinates (latitude, longitude) of the starting point of the road and the coordinates (latitude, longitude) of the ending point of the road. The starting point of the road refers to one of the two end points of the road, and the ending point of the road refers to the other of the two end points of the road. Which of the two end points is the starting point may be determined by an arbitrary method. For example, the start point may be the one with the smaller latitude (the longitude is smaller if the latitude is the same) between the two end points. As described above, one of the two end points is selected as the reference point because the road is normally traversable from two directions, and the same road is collected even if the vehicle travels in any of the two directions and the road information is collected. This is because it is handled as information.
[0124]
FIG. 14 shows an example of the road information. In this example, when y1 <y2, the numerical value used for clustering is (x1, y1, x2, y2), and when y1> y2, the numerical value used for clustering is (x2, y2, x1, y1). Here, (x1, y1) indicates the coordinates of the end point 1 of the road information, and (x2, y2) indicates the coordinates of the end point 2 of the road information.
[0125]
Note that the numerical values used for clustering are not limited to the coordinates of two points on the road. The coordinates of three or more points on the road may be used as numerical values used for clustering. For example, in addition to the coordinates of the two end points of the road, the coordinates of the intermediate point of the road may be used as numerical values used for clustering. In this way, it is possible to cope with the case where the coordinates of the two end points of the road are the same but the coordinates of the waypoint are different.
[0126]
The function of the road information update unit 1104 is achieved, for example, by the CPU 103 (FIG. 2B) executing a program (hereinafter, referred to as a “road information update program”) that implements a process of updating the road information included in the map information 1101. Is done. This program is stored in the storage unit 104 (FIG. 2B).
[0127]
FIG. 15 shows an example of the procedure of the road information update program. This program is executed by the CPU 103.
[0128]
STEP 1501: The CPU 103 adds new road information obtained from the communication control unit 1102 to the road information file 1108.
[0129]
STEP1502: The CPU 103 selects road information to be used for clustering from the road information file 1108. For example, the CPU 103 may select a cluster having a center point within a certain range from the newly added road information, and select road information belonging to the cluster as road information used for clustering.
[0130]
STEP1503: The CPU 103 clusters the selected road information. The clustering method does not matter. The CPU 103 can employ any clustering method. For example, the ISODATA method described above can be used as one of such techniques. Further, the CPU 103 obtains statistics for each new cluster.
[0131]
STEP 1504: The CPU 103 determines whether or not the statistic of each cluster satisfies a predetermined condition. Here, the statistic is, for example, the number or variance of data belonging to the cluster. The predetermined condition is, for example, a condition that the number of data is equal to or larger than a predetermined number and the variance is smaller than a predetermined threshold.
[0132]
STEP 1505: If it is determined that the statistic of a certain cluster satisfies a predetermined condition, the CPU 103 uses the road information closest to (the two coordinates of) the center point of the cluster to generate the map information 1101. To update. The format of the road information is the same as the format of the road information shown in FIG. However, a value that can uniquely identify a road in the map information 1101 is set in the road ID 402, −1 is set in the user ID 403, a date and time when the map information 1101 is updated is set as the date and time 404, and other information is set as the other information. Substitute the value of the road information closest to the center point of the cluster. The road information belonging to the cluster used for updating the map information 1101 is deleted from the road information file 1108.
[0133]
The user information management unit 1106 obtains road information or landmark information used by the road information update unit 1104 and the landmark information update unit 1105 to update the map information 1101, and stores them in each user in the user information file 1107. Add to information. In the update mode of road information and landmark information, values corresponding to addition, confirmation, and deletion are recorded.
[0134]
FIG. 16 shows an example of the user information in the user information file 1107. In this example, one added landmark information, one deleted landmark information, and one added road information are associated with the user ID (No. 200). The user information can be regarded as a difference between the map information 601 stored in the storage unit 205 of the information processing device 101 and the map information 1101 stored in the storage unit 104 of the center device 102. When the number of road information and landmark information stored in the user information file 1107 for each user reaches a certain number, the user information management unit 1106 transmits the user information to the information processing apparatus 101 owned by the user. Request to the communication control means 1102.
[0135]
When receiving a request for transmission of road information or landmark information from the user information management unit 1106, the communication control unit 1102 transmits the road information or landmark information to the information processing apparatus 101. For a user who has completed transmitting the update information to the information processing apparatus 101, the update information associated with the user in the user information file 1107 is deleted.
[0136]
The road information and the landmark information can be combined into a down data format and transmitted to the information processing apparatus 101.
[0137]
FIG. 17 shows an example of the configuration of the down data. The down data includes the number (M) of update information and M pieces of update information. Each of the M pieces of update information is either road information or landmark information. The road information includes an identifier having a value (for example, “1”) indicating the road information. The landmark information includes an identifier having a value (for example, “0”) indicating the landmark information.
[0138]
Referring again to FIG. 6, when receiving the down data from center device 102, communication control means 607 extracts the road information and the landmark information from the down data, and extracts the extracted road information and landmark information. The map information 601 is updated using the information.
[0139]
When the update mode value of the landmark information is 0 (= addition), a landmark corresponding to the landmark information is added to the map information 601. When the value of the update mode of the landmark information is 1 (= confirmation), landmark information having the same landmark ID is found from the map information 601, and only the date and time are updated. When the value of the update mode of the landmark information is 2 (= deletion), landmark information having the same landmark ID is found from the map information 601 and deleted. Further, a road corresponding to the road information is added to the map information 601.
[0140]
Note that uploading and downloading for the same user may be performed simultaneously. At this time, the map information to be downloaded may refer to the position of the user from the uploaded data, and may preferentially download the map information closer to the position of the user.
[0141]
(Embodiment 2)
The second embodiment of the present invention allows a center device to allow a person (operator) to confirm whether or not the update is appropriate before updating map information based on road information or landmark information. is there.
[0142]
The configuration of the information processing system according to the second embodiment of the present invention is the same as the configuration of information processing system 100 shown in FIG. Therefore, the description is omitted here.
[0143]
FIG. 18 illustrates an example of a detailed configuration of the information processing apparatus 101. 18, the same components as those of the information processing apparatus 101 shown in FIG. 6 are denoted by the same reference numerals, and description thereof will be omitted.
[0144]
The information processing apparatus 101 shown in FIG. 18 differs from the information processing apparatus 101 shown in FIG. 6 in that not only the landmark detection unit 603 but also the road information generation unit 1801 and the landmark information generation unit 1801 Also input to means 1802.
[0145]
The road information generating unit 1801 has a function of adding a video (image data) captured by the camera 203 to newly discovered road information in addition to the function of the road information generating unit 602 shown in FIG. I have. It does not matter whether the added image data represents a still image or a moving image. For example, the road information generating unit 1801 adds image data corresponding to the starting point of the road and image data corresponding to the ending point of the road to the road information. The addition of the image data to the road information as described above can be realized, for example, by substituting the video taken by the camera 203 into the image data 407 in the format of the road information 301 shown in FIG.
[0146]
The landmark information generating unit 1802 has a function of adding a video (image data) captured by the camera 203 to newly discovered landmark information in addition to the function of the landmark information generating unit 605 shown in FIG. Have. It does not matter whether the added image data represents a still image or a moving image. The addition of the image data to the landmark information as described above can be realized, for example, by substituting the video taken by the camera 203 into the image data 511 in the format of the landmark information 302 shown in FIG.
[0147]
The image data added to the road information or the landmark information is used by the center device 102 to determine whether or not the update is appropriate before updating the map information based on the road information or the landmark information, as described later. Is used to make sure that
[0148]
FIG. 19 shows an example of a detailed configuration of the center device 102. 19, the same components as those of center device 102 shown in FIG. 11 are denoted by the same reference numerals, and description thereof will be omitted.
[0149]
The function of the road information update unit 1901 is the same as the function of the road information update unit 1104 shown in FIG. 11 except that the road information is output to the update information confirmation unit 1903.
[0150]
The function of the landmark information updating means 1902 is the same as the function of the landmark information updating means 1105 shown in FIG. 11 except that the landmark information is output to the update information confirming means 1903.
[0151]
The update information confirmation unit 1903 displays on the display unit 105 the image data added to the road information output from the road information update unit 1901. The operator visually checks the image data displayed on the display unit 105 and determines whether it is appropriate to update the map information 1101 based on the road information. The judgment of the operator is transmitted to the update information confirmation means 1903 via the input means 106. If the operator determines that it is appropriate to update the map information 1101 based on the road information, the update information confirmation unit 1903 updates the map information 1101. How to update the map information 1101 is the same as in the first embodiment.
[0152]
The update information confirmation unit 1903 displays on the display unit 105 the image data added to the landmark information output from the landmark information update unit 1902. The operator visually checks the image data displayed on the display unit 105 and determines whether it is appropriate to update the map information 1101 based on the landmark information. The judgment of the operator is transmitted to the update information confirmation means 1903 via the input means 106. If the operator determines that it is appropriate to update the map information 1101 based on the landmark information, the update information confirmation unit 1903 updates the map information 1101. How to update the map information 1101 is the same as in the first embodiment (the map information 1101 is updated according to the landmark information update mode).
[0153]
FIG. 20 shows an example of the procedure of the landmark information update program. This program is executed by the CPU 103.
[0154]
20, the processing in STEP 2001 to STEP 2004 is the same as the processing in STEP 1201 to STEP 1204 shown in FIG. 12, respectively. Therefore, the description of these processes is omitted here.
[0155]
STEP 2005: The CPU 103 outputs at least one piece of landmark information near the center of the cluster to the update information confirming unit 1903.
[0156]
Similarly, the CPU 103 outputs at least one piece of road information near the center of the cluster to the update information confirmation unit 1903.
[0157]
The update information confirmation unit 1903 receives the road information or the landmark information and operates as described above. Such an operation is achieved, for example, by the CPU 103 executing the update information confirmation program.
[0158]
According to the second embodiment, before updating the map information 1101 based on the road information or the landmark information, referring to the image data added to the road information or the landmark information, it is determined whether the update is appropriate. Can be confirmed by a person (operator). This eliminates the need for a person to perform a field survey when updating the map information 1101. As a result, the maintenance work of the map information 1101 can be made more efficient.
[0159]
(Embodiment 3)
According to the third embodiment of the present invention, the user who provides the road information or the landmark information is rewarded, and the user who downloads the updated map information is charged, so that the user can use the information processing system 100 fairly. It can be used.
[0160]
The configuration of the information processing system according to the third embodiment of the present invention is the same as the configuration of information processing system 100 shown in FIG. Therefore, the description is omitted here.
[0161]
The detailed configuration of the information processing apparatus is also the same as the detailed configuration of the information processing apparatus 101 shown in FIG. Therefore, the description is omitted here.
[0162]
FIG. 21 shows an example of a detailed configuration of the center device 102. 21, the same components as those of the center device 102 shown in FIG. 11 are denoted by the same reference numerals, and description thereof will be omitted.
[0163]
The function of the road information updating means 2102 is the same as the function of the road information updating means 1104 shown in FIG. 11 except that the user who manages the road information is instructed to give a reward to the user information managing means 2104. .
[0164]
The functions of the landmark information updating means 1103 shown in FIG. 11 are the same as those of the landmark information updating means 1105 shown in FIG. 11 except that the user information management means 2104 is instructed to reward the user who provided the landmark information. Identical.
[0165]
The function of the communication control means 2105 is the same as the function of the communication control means 1102 shown in FIG. 11 except that the user information management means 2104 is instructed to collect a fee from the user who downloads the updated map information. It is.
[0166]
The user information management unit 2104 increases the points of the user according to the instruction from the road information updating unit 2102 or the landmark information updating unit 2103, and decreases the points of the user according to the down data transmitted via the communication control unit 2105. User points are held in the user information file 1107 for each user.
[0167]
The charging unit 2101 refers to the user's points stored in the user information file 1107 at regular intervals (for example, every month), and pays the user a reward corresponding to the points of the user, or The user shall be charged for the amount of money according to the points of the user. When the billing to the user is completed, the point number of the user is reset to an initial value (for example, 0). For example, if the user's points are positive, the amount corresponding to the positive amount is transferred to the user-specified account, and if the user's points are negative, the amount corresponding to the negative amount is deducted from the user-specified account. Is also good.
[0168]
FIG. 22 shows an example of the procedure of the landmark information update program. This program is executed by the CPU 103.
[0169]
In FIG. 22, the processing in STEP2201 to STEP2205 is the same as the processing in STEP1201 to STEP1205 shown in FIG. 12, respectively. Therefore, the description of these processes is omitted here.
[0170]
STEP2206: The CPU 103 selects a predetermined number of pieces of landmark information from objects having a short distance from the landmark information used for updating the map information 1101 in the cluster, and provides the user who provided the selected landmark information. The user information management unit 2104 is instructed to give a reward. At this time, the amount of the reward to be given to the user can be increased in ascending order of distance from the landmark information used for updating the map information 1101.
[0171]
Similarly, the CPU 103 selects a predetermined number of pieces of road information from objects having a short distance from the road information used for updating the map information 1101 in the cluster, and rewards the user who provided the selected road information. To the user information management means 2104 to give At this time, the amount of reward to be given to the user can be increased in ascending order of distance from the road information used for updating the map information 1101.
[0172]
The amount of the reward to be given to the user can be increased in ascending order of the time of providing the road information or landmark information used for updating the map information 1101. Further, the amount of reward to be given to the user is determined in consideration of both the distance to the road information or landmark information used for updating the map information 1101 and the time at which the road information or landmark information was provided. Is also possible.
[0173]
The user information management unit 2104 receives an instruction from the CPU 103 and operates as described above. Such an operation is achieved, for example, by the CPU 103 executing a program for increasing or decreasing the points of the user.
[0174]
The operation of the charging unit 2101 is achieved, for example, by the CPU 103 executing a charging program.
[0175]
In addition, the billing unit 2101 may discount the billed amount according to the service use period for each user.
[0176]
Further, the points of the user can be used as a gasoline fee, a parking fee, an insurance fee, a toll road fee, a car wash fee, a car maintenance fee, and a facility use fee. It is also possible to convert into discount coupons (coupons) in cooperation with restaurants and shops.
[0177]
According to the third embodiment, it is possible to lower the usage fee for a user who has provided high-quality information. As a result, services can be provided without inequity, and the system can be continuously maintained at the charged cost.
[0178]
【The invention's effect】
According to the information processing apparatus of the present invention, landmark information for updating map information so as to add the landmark detected by the landmark detecting means to the map is generated and transmitted to the center device. Thus, the landmark information can be centralized in the center device, and the center device can uniformly update the map information based on the landmark information.
[0179]
Further, according to the information processing apparatus of the present invention, it is determined whether or not an “old” landmark present on a map actually exists, and when it is confirmed that the landmark actually exists, the Landmark information indicating that the presence of the landmark has been confirmed is generated and transmitted to the center device. Thus, the landmark information can be centralized in the center device, and the center device can uniformly update the map information based on the landmark information.
[0180]
According to the information processing system of the present invention, the same effects as those described above can be obtained.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an example of a configuration of an information processing system 100 according to a first embodiment of the present invention.
FIG. 2A is a diagram illustrating an example of a configuration of an information processing apparatus 101.
FIG. 2B is a diagram showing an example of the configuration of a center device 102;
FIG. 3 is a diagram showing an example of a format of map information stored in storage means 205 (FIG. 2A) and storage means 104 (FIG. 2B).
FIG. 4 is a diagram showing an example of a format of road information 301 (FIG. 3).
FIG. 5 is a diagram showing an example of a format of landmark information 302 (FIG. 3).
FIG. 6 is a diagram illustrating an example of a detailed configuration of an information processing apparatus 101.
FIG. 7 is a flowchart illustrating an example of a procedure of a road information generation program.
FIG. 8A is a flowchart illustrating an example of a procedure of a landmark information generation program when an operation mode is set to “additional mode”;
FIG. 8B
9 is a flowchart illustrating an example of a procedure of a landmark information generation program when the operation mode is set to “confirmation mode”.
FIG. 9 is a diagram showing an example of the position of a landmark estimated in STEP 801 and a possible range of a landmark obtained in STEP 802.
FIG. 10
Diagram showing an example of the structure of the updater
FIG. 11 is a diagram showing an example of a detailed configuration of a center device 102.
FIG. 12 is a flowchart illustrating an example of a procedure of a landmark information update program when a value of an update mode of landmark information is 0 (= addition) or 2 (= deletion).
FIG. 13 is a view showing distribution of landmark positions indicated by landmark information stored in a landmark information file 1109;
FIG. 14 is a diagram showing an example of road information.
FIG. 15 is a flowchart illustrating an example of a procedure of a road information update program;
FIG. 16 shows an example of user information in a user information file 1107.
FIG. 17 is a diagram showing an example of a configuration of down data.
FIG. 18 illustrates an example of a detailed configuration of an information processing apparatus 101.
FIG. 19 is a diagram showing an example of a detailed configuration of a center device 102.
FIG. 20 is a flowchart illustrating an example of a procedure of a landmark information update program.
FIG. 21 is a diagram showing an example of a detailed configuration of a center device 102.
FIG. 22 is a flowchart illustrating an example of a procedure of a landmark information update program.
[Explanation of symbols]
100 Information processing system
101 Information processing device
102 center equipment

Claims (14)

An information processing device movable with a moving body,
Storage means for storing map information indicating a map including roads and landmarks;
Landmark detection means for detecting landmarks around the moving body,
Estimating means for estimating the position of the detected landmark;
Determining means for determining whether a landmark on the map corresponding to the detected landmark exists within a predetermined range including the estimated position,
When it is determined that there is no landmark on the map corresponding to the detected landmark, a landmark for updating the map information so as to add the detected landmark to the map. Landmark information generating means for generating information;
An information processing apparatus comprising: a transmission unit configured to transmit the landmark information to a center device. The information processing apparatus according to claim 1, wherein the landmark information includes information related to a timing at which the map information is updated. The information processing apparatus further includes a road information generating unit that generates road information for updating the map information,
The information processing apparatus according to claim 1, wherein the landmark information and the road information have different identifiers. The information processing apparatus according to claim 1, wherein the information processing apparatus further includes a receiving unit configured to receive updated map information from the center apparatus. An information processing device movable with a moving body,
Storage means for storing map information indicating a map including roads and landmarks;
Determining means for determining whether a landmark having date and time information indicating a date and time earlier than a predetermined date and time exists within a predetermined range on the map,
If it is determined that a landmark having date and time information indicating a date and time earlier than a predetermined date and time is present within a predetermined range on the map, a confirmation is made to confirm whether or not the landmark actually exists. Means,
When it is confirmed that the landmark actually exists, landmark information generating means for generating landmark information indicating that the presence of the landmark has been confirmed,
An information processing apparatus comprising: a transmission unit configured to transmit the landmark information to a center device. The information processing apparatus according to claim 5, wherein the landmark information includes information related to a timing of updating the map information. The information processing apparatus further includes a road information generating unit that generates road information for updating the map information,
The information processing apparatus according to claim 5, wherein the landmark information and the road information have different identifiers. The information processing apparatus according to claim 5, wherein the information processing apparatus further includes a receiving unit that receives updated map information from the center apparatus. An information processing system including an information processing device movable with a moving body and a center device,
The information processing device,
First storage means for storing first map information indicating a map including roads and landmarks;
Landmark detection means for detecting landmarks around the moving body,
Estimating means for estimating the position of the detected landmark;
Determining means for determining whether a landmark on the map corresponding to the detected landmark exists within a predetermined range including the estimated position,
When it is determined that there is no landmark on the map corresponding to the detected landmark, a landmark for updating the map information so as to add the detected landmark to the map. Landmark information generating means for generating information;
Transmitting means for transmitting the landmark information to the center device,
The center device,
Second storage means for storing second map information;
Receiving means for receiving the landmark information transmitted by the transmitting means,
An information processing system comprising: landmark information updating means for updating the second map information based on the landmark information. The information processing apparatus further includes a camera that outputs image data,
The landmark information generating means generates landmark information to which the image data is added,
The center device, before updating the second map information based on the landmark information, updates information confirmation enabling a person to confirm whether or not the update of the second map information is appropriate. The information processing system according to claim 9, further comprising a unit. The center device further includes a user information management unit that manages user information, and a charging unit that charges based on the user information,
The information processing system according to claim 9, wherein the landmark information updating unit instructs the user information management unit to give a reward to a user who provided the landmark information. An information processing system including an information processing device movable with a moving body and a center device,
The information processing device,
First storage means for storing first map information indicating a map including roads and landmarks;
Determining means for determining whether a landmark having date and time information indicating a date and time earlier than a predetermined date and time exists within a predetermined range on the map,
If it is determined that a landmark having date and time information indicating a date and time earlier than a predetermined date and time is present within a predetermined range on the map, a confirmation is made to confirm whether or not the landmark actually exists. Means,
When it is confirmed that the landmark actually exists, landmark information generating means for generating landmark information indicating that the presence of the landmark has been confirmed,
Transmitting means for transmitting the landmark information to the center device,
The center device,
Second storage means for storing second map information;
Receiving means for receiving the landmark information transmitted by the transmitting means,
An information processing system comprising: landmark information updating means for updating the second map information based on the landmark information. The information processing apparatus further includes a camera that outputs image data,
The landmark information generating means generates landmark information to which the image data is added,
The center device, before updating the second map information based on the landmark information, updates information confirmation enabling a person to confirm whether or not the update of the second map information is appropriate. The information processing system according to claim 12, further comprising a unit. The center device further includes a user information management unit that manages user information, and a charging unit that charges based on the user information,
The information processing system according to claim 12, wherein the landmark information updating unit instructs the user information management unit to give a reward to a user who has provided the landmark information.

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