JP2016180980A - Information processing device, program, and map data updating system - Google Patents

Abstract

The necessity of updating at each position of map data can be determined. A position measuring unit 128 of an in-vehicle device 12 measures the position of the host vehicle. The travel position specifying unit 130 specifies the travel position of the host vehicle on the map data based on the measured position of the host vehicle and the map data. Then, the position error measurement unit 132 calculates error information representing the difference between the measured position of the host vehicle and the travel position. Then, the communication unit 134 transmits error information and position information to the server 14. In addition, the transmitted error information and position information are received by the communication unit 140 of the server 14. The error registration unit 142 stores the error information in the error database 144 in association with the received position information. Then, the priority setting unit 148 sets the priority corresponding to the position information for each position information based on the error information stored in the error database 144. [Selection] Figure 1

Description

  The present invention relates to an information processing device, a program, and a map data update system.

  2. Description of the Related Art Conventionally, techniques for detecting changes in map data and performing updating are known (Patent Documents 1 and 2). In the road network analysis system described in Patent Document 1, probe information from a plurality of probe cars is totaled for each day, and a change in traffic volume on a daily basis is calculated for each road. If a road with a significant change in traffic volume is detected before and after a specific reference date, it is determined that there has been an important road network change affecting traffic, and that road is Change related roads. Next, a route search is performed between the end points of multiple change-related roads, and a route that has a large overlap between the searched route and the change-related road is selected, and there is a relationship that is commonly affected by one cause. Identify change-related roads and their endpoints. In this way, it is possible to select survey route candidates that can efficiently conduct field surveys for important road network changes by identifying relevant locations by using changes in traffic volume and route search. Can be set.

  Moreover, in the road network analysis apparatus described in Patent Document 2, the amount of traffic of a vehicle passing through the part is determined for a predetermined part constituting the road network from a plurality of the probe information accumulated over a predetermined period. . Similarly, a discontinuity rate that is a rate of occurrence of events in which the vehicle position becomes discontinuous is obtained. And the change of the said road network is detected based on the degree of change of the amount of traffic of the two different periods in the predetermined part which comprises a road network, and the degree of change of the discontinuity incidence rate. If a change in the road network is detected, it can be used for investigation of the road network.

  In addition, the new road determination device described in Patent Literature 3 specifies a travel locus of a vehicle based on the acquired probe information, and when a link exists within the position error range of the position of the vehicle on the travel locus, Map matching is performed by correcting the position of the vehicle to a position on the map. Then, a travel locus that could not be matched with the link in the map matching is extracted as a departure locus. Further, the extracted departure locus is determined as a new road.

  Further, the map information generation system described in Patent Document 4 transmits travel locus information when a vehicle, which is a probe car, travels on a road that is not included in the navigation map data, to the map distribution center as probe data. On the other hand, the map distribution center that has received the travel locus information from each vehicle collects the received data, further groups the travel locus information traveling on the same road, and then creates a new one for each new road. Generate road information.

Japanese Patent No. 5315363 JP 2014-153236 A Japanese Patent No. 2014-130529 Japanese Patent No. 5029009

  In the techniques described in Patent Documents 1 and 2 above, by associating probe information with road network data, traffic volume within a certain period on each existing road is measured, and changes in the road network are detected from changes in traffic volume. It is a method to do.

  However, changes in traffic volume due to road changes are likely to extend to a wide range of surrounding roads, and it may be necessary to conduct a resurvey to determine the point where the change occurred.

  In addition, since the traffic volume is caused by factors other than the change of the road (such as the opening of a new commercial facility), it is not always possible to detect the road change by the traffic volume.

  Further, the technique described in Patent Document 2 detects a new road with higher accuracy than the case of only the traffic volume using information that a probe vehicle passes through a discontinuous link on map data. Although there is a possibility that the presence of a new road can be detected by this method, it is difficult to detect a change in which a new pedestrian crossing or a new sign is installed.

  The technologies described in Patent Documents 3 and 4 described above create a map data by detecting a new road using a travel locus other than the existing link on the map of the probe vehicle, the speed of the vehicle, and the like. Although it is possible to detect the presence of a new road even by this method, it is difficult to detect a change in which a new pedestrian crossing or a new sign is installed.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an information processing apparatus, a program, and a map data update system that can determine the necessity of updating map data.

  In order to achieve the above object, an information processing apparatus according to a first invention includes a position of a moving body measured based on a satellite signal transmitted from a positioning satellite, a position of the moving body, and an environment around the moving body. Difference information indicating a difference between the travel position of the mobile object on the map data, and at least one of the position of the mobile object and the travel position, identified based on at least one of the external environment information and map data Corresponding to the position information based on the difference information corresponding to the position information stored in the difference database for each position information. Update information setting means for setting information indicating whether or not to update the map data.

  According to the information processing apparatus of the first aspect of the invention, the position of the moving body measured by the difference registration means based on the satellite signal transmitted from the positioning satellite, and the external environment representing the position of the moving body and the environment around the moving body The difference information that is specified based on at least one of the information and the map data and that represents the difference between the travel position of the mobile object on the map data is associated with the position information that represents at least one of the position of the mobile object and the travel position. Stored in the difference database.

  Then, the update information setting means sets information indicating whether or not the map data corresponding to the position information is updated based on the difference information corresponding to the position information stored in the difference database for each position information.

As described above, the difference information indicating the difference between the position of the moving object and the traveling position of the moving object on the map data and the position information are stored in the difference database in association with each other, and each position information is stored in the difference database. The necessity of updating the map data can be determined by setting information indicating whether or not the map data corresponding to the position information is to be updated based on the difference information corresponding to the position information.

  The information processing apparatus according to a second aspect of the present invention is directed to the movement generated from a time series of travel positions on the map data of the moving body specified based on external environment information representing the environment around the moving body and map data. A difference representing a difference between a travel trajectory of the body and a cumulative trajectory of the mobile object generated from a time series of the momentum of the mobile object generated based on at least one of the external environment information and the travel state of the mobile object Based on the difference information corresponding to the position information stored in the difference database, for each position information, difference registration means for associating information and position information representing the travel position and storing in the difference database, Update information setting means for setting information indicating whether or not to update the map data corresponding to the position information.

  According to the information processing apparatus of the second invention, the time series of the travel position on the map data of the mobile object specified by the difference registration means based on the external environment information representing the environment around the mobile object and the map data Represents the difference between the travel trajectory of the mobile body generated from the mobile environment and the cumulative trajectory of the mobile body generated from the time series of the momentum of the mobile body generated based on at least one of the external environment information and the travel state of the mobile body The difference information and the position information indicating the traveling position are associated with each other and stored in the difference database.

  Then, the update information setting means sets information indicating whether or not the map data corresponding to the position information is updated based on the difference information corresponding to the position information stored in the difference database for each position information.

  As described above, the difference information indicating the difference between the traveling locus of the moving object and the accumulated locus of the moving object is associated with the position information and stored in the difference database, and the position information stored in the difference database for each position information. The necessity of updating the map data can be determined by setting information indicating whether or not the map data corresponding to the position information is updated based on the difference information corresponding to.

  Further, the update information setting means measures, for each position information, a change amount in the position information based on difference information corresponding to the position information stored in the difference database, and the measured position Information indicating whether or not the map data corresponding to the position information is to be updated can be set based on the amount of change in the information.

  Further, the update information setting means measures, for each position information, an average of the difference information in the position information as the change amount based on difference information corresponding to the position information stored in the difference database. Based on the average time series of the difference information in the measured position information, information indicating whether to update the map data corresponding to the position information can be set.

  Further, the update information setting means measures, for each position information, the variance of the difference information in the position information as the change amount based on the difference information corresponding to the position information stored in the difference database. The information indicating whether to update the map data corresponding to the position information can be set based on the time series of the dispersion of the difference information in the measured position information.

  In addition, the update information setting means, for each position information, based on the difference information corresponding to the position information stored in the difference database, the number of the difference information in the position information equal to or greater than a predetermined threshold Is set as the amount of change, and information indicating whether to update the map data corresponding to the position information is set based on a time series of the number of the difference information in the measured position information. Can be.

  An information processing apparatus according to a third aspect of the present invention represents a comparison result between a position of a moving body measured based on a satellite signal transmitted from a positioning satellite and road information included in map data, and an environment around the moving body. The surrounding environment information generated from the external environment information and the mobile body generated according to at least one of the results of specifying the travel position of the mobile body on the map data specified from the external environment information and map data The difference information indicating the difference between at least one of the positioning trajectory of the moving object generated from the position of the moving object and the map data is associated with the position information indicating at least one of the position of the moving object and the traveling position. Based on difference information corresponding to the position information stored in the difference database for each position information, difference registration means for storing in the difference database, the position information It is configured to include the update information setting means for setting the information indicating whether to update the map data corresponding, to have.

  According to the information processing apparatus of the third invention, the difference registration means compares the position of the moving body measured based on the satellite signal transmitted from the positioning satellite and the road information included in the map data, and the movement The surrounding environment information generated from the external environment information generated according to at least one of the results of specifying the traveling position of the moving body on the map data specified from the external environment information representing the environment around the body and the map data; and A difference is obtained by associating difference information indicating a difference between at least one of the positioning locus of the moving object generated from the position of the moving object and map data with position information indicating at least one of the position of the moving object and the traveling position. Store in the database.

  Then, the update information setting means sets information indicating whether or not the map data corresponding to the position information is updated based on the difference information corresponding to the position information stored in the difference database for each position information.

  As described above, the difference information and the position information generated according to at least one of the comparison result between the position of the moving body and the road information included in the map data and the result of specifying the traveling position of the moving body on the map data are obtained. Store in the difference database in association with each other, and for each position information, set information indicating whether or not to update the map data corresponding to the position information based on the difference information corresponding to the position information stored in the difference database. Thus, the necessity for updating the map data can be determined.

  Further, the difference information is a comparison result between the positioning trajectory of the moving object generated from the position of the moving object and the road information included in map data for a range in which predetermined difference information is generated, and The difference information is generated according to at least one of the results of specifying the travel position of the mobile body in a range in which the predetermined difference information on the map data specified from the external environment information and map data is generated. The predetermined difference information can be generated for each of a plurality of partial areas obtained by dividing the area in which the difference information is generated.

  A map data update system according to a fourth invention is a map data update system comprising a mounting device provided in a mobile body and an information processing device according to the first invention, wherein the mounting device includes the mobile body. Detected by external environment detection means for detecting external environment information representing the surrounding environment, position measurement means for measuring the position of a moving body based on satellite signals transmitted from positioning satellites, and detected by the external environment detection means A transmission means for transmitting the external environment information and position information representing the position of the moving body measured by the position measurement means to the information processing apparatus, and the information processing apparatus comprises the difference registration means, The difference information representing the difference from the position of the moving body measured by the position measuring means is associated with the position information, and the difference information is stored in the difference database.

  A map data update system according to a fifth aspect of the present invention is a map data update system comprising a mounting device provided in a mobile body and an information processing device according to the second invention, wherein the mounting device is the mobile body. An external environment detection unit that detects external environment information that represents a surrounding environment; and a transmission unit that transmits the external environment information detected by the external environment detection unit to the information processing device. The difference registration means represents the difference information representing a difference from the travel locus generated from a time series of the travel positions specified based on the external environment information detected by the external environment detection means; and the travel position And the difference information is stored in the difference database.

  A map data update system according to a sixth aspect of the present invention is a map data update system comprising a mounting device provided in a mobile body and an information processing device according to the third aspect of the invention, wherein the mounting device includes the mobile body. Detected by external environment detection means for detecting external environment information representing the surrounding environment, position measurement means for measuring the position of a moving body based on satellite signals transmitted from positioning satellites, and detected by the external environment detection means The external environment information, and transmission means for transmitting position information indicating the position of the moving body measured by the position measurement means to the information processing apparatus, wherein the information processing apparatus includes the difference registration means, A comparison result between the positioning locus of the moving object generated from the position of the moving object measured by the position measuring means and the road information included in the map data, and at least the specified result Difference information representing the difference between the map data and at least one of the surrounding environment information generated from the external environment information and the positioning locus of the moving object generated from the position of the moving object The difference information is stored in the difference database in association with position information representing at least one of the position of the moving body and the travel position.

  In the map data update system according to the fourth aspect of the invention, the mounting device detects an external environment information that detects the position of the moving body measured by the position measuring means and the external environment information representing the environment around the moving body. Based on at least one of the external environment information detected by the detection means and map data, the travel position specifying means for specifying the travel position of the moving body on the map data, and the position measurement means Difference information generating means for calculating difference information representing a difference between the position of the moving body and the travel position specified by the travel position specifying means; the difference information calculated by the difference information generating means; At least one of the position of the moving body measured by the position measuring means and the travel position specified by the travel position specifying means Transmission means for transmitting the position information to be represented to the information processing apparatus, and the information processing apparatus further comprises reception means for receiving the difference information and the position information transmitted by the transmission means, The difference registration means may store the difference information in a difference database in association with the position information received by the receiving means.

  In the map data update system according to a fifth aspect of the present invention, the on-board device travels on the map data of the mobile body based on the external environment information detected by the external environment detection means and map data. A travel position specifying means for specifying a position; a travel locus generating means for generating a travel locus of the mobile body based on a time series of the travel positions specified by the travel position specifying means; the external environment information; Based on at least one of the traveling states of the moving body, the momentum estimating means for estimating the momentum of the moving body; and based on the time series of the momentum estimated by the momentum estimating means, the cumulative trajectory of the moving body is calculated. Cumulative trajectory generating means to generate, the travel trajectory generated by the travel trajectory generating means, and the cumulative generated by the cumulative trajectory generating means Difference information generating means for calculating difference information representing a difference from a trace, the difference information calculated by the difference information generating means, and position information representing the traveling position identified by the traveling position identifying means A transmission means for transmitting to the information processing apparatus, the information processing apparatus further comprises a reception means for receiving the difference information and the position information transmitted by the transmission means, and the difference registration means comprises: The difference information can be stored in the difference database in association with the position information received by the receiving means.

  Further, in the map data update system according to a sixth aspect of the present invention, the mounting device includes a comparison unit that compares the position of the moving body measured by the position measurement unit with road information included in the map data, and the position Based on at least one of the external environment information detected by the external environment detection means for detecting the external environment information representing the position of the mobile body measured by the measurement means and the environment around the mobile body, and the map data , Based on at least one of a travel position specifying means for specifying the travel position of the mobile body on the map data, a comparison result obtained by the comparison means, and a specification result obtained by the travel position specifying means, Difference information generating means for generating difference information representing a difference between external environment information and the map data, and calculation by the difference information generating means The difference information and the position information representing at least one of the position of the moving body measured by the position measuring unit and the traveling position identified by the traveling position identifying unit are transmitted to the information processing apparatus. A transmission means, wherein the information processing apparatus further comprises a reception means for receiving the difference information and the position information transmitted by the transmission means, and the difference registration means is received by the reception means. The difference information can be stored in the difference database in association with the position information.

  In addition, the mounting device may be configured such that the difference information calculated by the difference information generation unit, the travel date and time when the mobile object traveled, and the number of times the mobile object traveled a place on the map data corresponding to the position information. And determining means for determining whether to transmit the difference information and the position information according to at least one of the transmission information, the transmitting means, according to the determination result determined by the determination means, The difference information and the position information can be transmitted.

  Whether the mounting device transmits data from the mounting device according to at least one of the travel date and time when the mobile body travels and the number of times the mobile body travels the position on the map data. The transmission means may transmit the data according to the determination result determined by the determination means.

  The information processing apparatus further includes map data updating means for updating the map data based on information indicating whether or not to update the map data set by the update information setting means, The travel position of the moving body on the data can be specified based on the external environment information and the map data updated by the map data updating means.

  According to a seventh aspect of the present invention, there is provided a program for causing a computer to execute at least a position of a moving body measured based on a satellite signal transmitted from a positioning satellite, and at least external environment information indicating the position of the moving body and an environment around the moving body. Corresponding difference information indicating a difference between the traveling position of the moving object on the map data and position information indicating at least one of the position of the moving object and the traveling position specified based on one and map data And whether to update the map data corresponding to the position information on the basis of the difference information corresponding to the position information stored in the difference database for each of the position information and the difference registration means for storing in the difference database This is a program for functioning as update information setting means for setting information indicating whether or not.

  According to an eighth aspect of the present invention, there is provided a program that is generated from a time series of travel positions on map data of the mobile body, which is specified based on external environment information representing the environment around the mobile body and map data. Represents a difference between the travel trajectory of the mobile object and the cumulative trajectory of the mobile object generated from the time series of the momentum of the mobile object generated based on at least one of the external environment information and the travel state of the mobile object Based on the difference information corresponding to the position information stored in the difference database for each of the position information, difference registration means for associating the difference information with the position information representing the travel position and storing in the difference database, It is a program for functioning as update information setting means for setting information indicating whether to update the map data corresponding to the position information.

  According to a ninth aspect of the present invention, there is provided a program for causing a computer to store a comparison result between a position of a moving body measured based on a satellite signal transmitted from a positioning satellite and road information included in map data, and an environment around the moving body. The surrounding environment information generated from the external environment information and the movement, generated according to at least one of the results of specifying the travel position of the moving body on the map data specified from the external environment information to be represented and map data Associating difference information representing a difference between at least one of the positioning locus of the moving object generated from the position of the body and the map data with position information representing at least one of the position of the moving object and the traveling position Difference registration means for storing in the difference database, and for each position information, based on the difference information corresponding to the position information stored in the difference database A program for functioning as update information setting means for setting information indicating whether to update the map data corresponding to the position information.

  The storage medium for storing the program of the present invention is not particularly limited, and may be a hard disk or a ROM. Further, it may be a CD-ROM, a DVD disk, a magneto-optical disk or an IC card. Furthermore, the program may be downloaded from a server or the like connected to the network.

  As described above, according to the information processing apparatus, the program, and the map data update system of the present invention, the difference information is stored in the difference database in association with the position information of the moving object, and the position information stored in the difference database. By setting information indicating whether or not to update the map data corresponding to the position information based on the difference information corresponding to the position information, the necessity of updating the map data can be determined. It is done.

It is a block diagram which shows the map data update system which concerns on the 1st Embodiment of this invention. It is a figure which shows an example showing the difference of a driving | running | working position and the position measured by GPS. It is a figure which shows the other example showing the difference of a driving | running | working position and the position measured by GPS. It is explanatory drawing for demonstrating an example of an error database. It is explanatory drawing for demonstrating the variation | change_quantity of the error information for every point. It is explanatory drawing for demonstrating the other example of an error database. It is explanatory drawing for demonstrating the other example of an error database. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the update process routine in the server which concerns on the 1st Embodiment of this invention. It is a figure which shows an example showing the difference of a driving | running | working locus | trajectory and an accumulation locus | trajectory. It is a figure which shows the other example showing the difference of a driving | running | working locus | trajectory and an accumulation locus | trajectory. It is a block diagram which shows the map data update system which concerns on the 2nd Embodiment of this invention. It is a figure which shows an example of the method of producing | generating a cumulative locus. It is a figure for demonstrating the difference of a driving | running locus | trajectory and a cumulative locus. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the map data update system which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the map data update system which concerns on the 4th Embodiment of this invention. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 4th Embodiment of this invention. It is a block diagram which shows the map data update system which concerns on the 5th Embodiment of this invention. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 5th Embodiment of this invention. It is a block diagram which shows the map data update system which concerns on the 6th Embodiment of this invention. It is a figure which shows an example of the lane graph contained in map data. It is explanatory drawing for demonstrating an example of collation with a road surface image and map data. It is explanatory drawing for demonstrating an example of the reliability of collation with a road surface image and map data. It is explanatory drawing for demonstrating an example of the difference of a positioning locus | trajectory and a lane graph. It is explanatory drawing for demonstrating difference information. It is explanatory drawing for demonstrating difference information. It is explanatory drawing for demonstrating difference information. It is explanatory drawing for demonstrating difference information. It is explanatory drawing for demonstrating difference information. It is explanatory drawing for demonstrating an example of a difference database. It is a flowchart which shows the content of the transmission process routine in the computer of the vehicle-mounted apparatus which concerns on the 6th Embodiment of this invention. It is explanatory drawing for demonstrating the case where difference information is produced | generated using target information. It is a block diagram which shows the map data update system which concerns on the 7th Embodiment of this invention. It is a flowchart which shows the content of the registration process routine in the server which concerns on the 7th Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, the map data update system includes an in-vehicle device provided in a vehicle and a server, receives error information transmitted from the in-vehicle device, and creates a map database according to the error information. A case where the present invention is applied to a map data update system for setting information indicating whether or not to update will be described as an example. In this embodiment, a case where the moving body is a vehicle will be described as an example.

[First Embodiment]
<Configuration of map data update system according to first embodiment>
As shown in FIG. 1, the map data update system 10 according to the first embodiment of the present invention receives an in-vehicle device 12 provided in a vehicle and error information transmitted from the in-vehicle device 12 to generate an error. The server 14 which updates a map database according to information and the probe vehicle-mounted apparatus 18 which transmits the sensor information for updating map data to the server 14 based on the signal output from the server 14 are provided. The in-vehicle device 12, the server 14, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 12 is an example of a mounting device, and the server 14 is an example of an information processing device.

[In-vehicle device 12]
The in-vehicle device 12 includes a map database 120 in which map data is stored, a camera 122 that captures a surrounding image of the own vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. The computer 126 which calculates error information based on the surrounding image of a vehicle and the satellite signal received by GPS124 is provided. The in-vehicle device 12 is mounted on a vehicle. The camera 122 is an example of an external environment detection unit.

  The map database 120 stores map data. In the map data, image information or three-dimensional information recording the surrounding environment including the road surface is recorded. In the present embodiment, an example will be described in which a road surface image on which the host vehicle travels is recorded at each point on the map data. The map data stored in the map database 120 is the same as the map data stored in the map database 152 of the server 14 described later.

  The camera 122 sequentially captures surrounding images of the host vehicle as external environment information representing the environment around the host vehicle.

  The computer 126 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 126 is configured to measure the position of the host vehicle based on the satellite signal received by the GPS 124, the position of the host vehicle measured by the position measuring unit 128, and the host vehicle imaged by the camera 122. Based on the surrounding peripheral image, the travel position identifying unit 130 that identifies the travel position of the host vehicle on the map data, the position of the host vehicle measured by the position measurement unit 128, and the travel position identifying unit 130 are identified. A position error measurement unit 132 that calculates error information representing a difference from the travel position of the host vehicle, a communication unit 134 that transmits the error information and position information calculated by the position error measurement unit 132 to the server 14, Map data for updating the map data stored in the map database 120 according to the map data update information transmitted from the server 14. And a base update unit 136. The position error measurement unit 132 is an example of a difference information generation unit. A road surface image is an example of surrounding environment information generated from external environment information.

  The position measurement unit 128 measures the position of the host vehicle based on the satellite signal received by the GPS 124.

  Based on the position of the host vehicle measured by the position measuring unit 128, the surrounding image of the periphery of the host vehicle captured by the camera 122, and the map data stored in the map database 120, the travel position specifying unit 130 The travel position of the vehicle on the data is specified.

  Specifically, the travel position specifying unit 130 generates a road surface image obtained by projecting a peripheral image around the host vehicle captured by the camera 122 onto the road surface. Then, the traveling position specifying unit 130 compares the road image on the map data obtained from the map database 120 corresponding to the position of the host vehicle measured by the position measuring unit 128 with the generated road image. The travel position of the host vehicle on the map data is specified.

  FIG. 2 is a diagram for explaining error information regarding a position due to a change in road shape. As shown in FIG. 2, if the road on which the host vehicle is currently traveling is a newly established road, the current traveling position does not exist on the map data, and thus is identified by the traveling position identifying unit 130. The travel position is an incorrect position. Therefore, as shown in FIG. 2, the difference between the position of the host vehicle measured by the position measuring unit 128 and the traveling position of the host vehicle on the map data identified by the traveling position identifying unit 130 is expected to increase. Is done.

  FIG. 3 is a diagram for explaining error information regarding the position due to a change in the road surface pattern. As shown in FIG. 3, even when there is a difference between the map data and the road surface display of the road being traveled, the road surface pattern represented by the road surface image on the map data and the road surface image obtained from the surrounding image during travel are represented. The road surface pattern is collated at an incorrect position. Therefore, as shown in FIG. 3, a large difference may occur between the travel position of the host vehicle on the map data specified by the travel position specifying unit 130 and the position of the host vehicle measured by the position measurement unit 128. is expected.

  The position error measurement unit 132 calculates error information representing a difference between the position of the host vehicle measured by the position measurement unit 128 and the travel position of the host vehicle specified by the travel position specifying unit 130. In the present embodiment, the position error measurement unit 132 calculates the difference in the current time between the position of the host vehicle measured by the position measurement unit 128 and the travel position of the host vehicle specified by the travel position specifying unit 130 as error information. Calculate as Note that an average value or cumulative value of position differences in a certain section (which may be time or travel distance) may be used as a position error. The error information is an example of difference information.

  Further, the difference between the position of the host vehicle measured by the position measuring unit 128 and the travel position of the host vehicle specified by the travel position specifying unit 130 may be obtained as a linear distance between two points, or the latitude and longitude The difference may be obtained by dividing into two components. Further, it is possible to obtain a difference by dividing into a traveling direction component and an orthogonal direction component. In the present embodiment, the straight line distance between two points is calculated as error information.

  If the error information calculated by the position error measuring unit 132 is transmitted to the server 14, and aggregated and analyzed by the server 14, a large amount of data having a large error is collected at the place where the difference occurs. This makes it possible to identify the necessary parts of the map data and to efficiently update the map data.

  The communication unit 134 includes error information calculated by the position error measuring unit 132, position information representing the position of the host vehicle measured by the position measuring unit 128 and the traveling position of the host vehicle identified by the traveling position identifying unit 130. Is transmitted to the server 14. Further, the communication unit 134 receives the update information of the map data transmitted from the server 14. As the position information, either the position of the host vehicle measured by the position measuring unit 128 or the travel position of the host vehicle specified by the travel position specifying unit 130 may be used.

  The map database update unit 136 updates the map data stored in the map database 120 based on the map data update information received by the communication unit 134.

[Server 14]
The server 14 is composed of a server including a CPU, a ROM that stores a program for realizing a processing routine to be described later, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. Specifically, a communication unit 140 that receives error information and position information transmitted from the in-vehicle device 12, an error registration unit 142 that registers error information received by the communication unit 140 in the error database 144, and error information is stored. Error data 144, a change measuring unit 146 that measures a change amount of error information stored in the error database 144, and a map data update priority based on the change amount measured by the change measuring unit 146 A priority setting unit 148 and a map based on the priority set by the priority setting unit 148 Map database update unit 150 for updating the over data can be represented by structure including an error updating section 154 for updating the error information stored in the map database 152 and the error database 144, the map data is stored. The communication unit 140 is an example of a receiving unit, the error registration unit 142 is an example of a difference registration unit, the priority setting unit 148 is an example of an update information setting unit, and the error database 144 is a difference database. It is an example.

  The communication unit 140 receives error information and position information transmitted from the in-vehicle device 12 of the vehicle. Further, the communication unit 140 transmits update information of map data output from the map database update unit 150 described later to the in-vehicle device 12. Further, the communication unit 140 transmits request information for requesting sensor information of an area for updating the map data to the probe on-vehicle device 18. Further, the communication unit 140 receives sensor information transmitted from the probe on-vehicle device 18.

  The error registration unit 142 stores the error information in the error database 144 in association with the point corresponding to the position information received by the communication unit 140.

  In the error database 144, error information stored in association with points is stored. FIG. 4 shows a conceptual diagram of the error database 144.

  As shown in FIG. 4, the error information is registered in association with the point corresponding to the position information. Further, the error registration unit 142 updates the number of registered data at each point. The registration point is determined by referring to a preset registration point table from the position information (latitude, longitude) received by the communication unit 140. In addition to the error information, additional information such as data reception date and time may be registered as information to be registered at this time. In the present embodiment, a case where the reception date and time are registered in the error database 144 together with error information will be described as an example.

  The change measurement unit 146 measures the amount of change at the point based on the error information corresponding to the point stored in the error database 144. In the present embodiment, the change measurement unit 146 calculates an average value of all registered error information as a change amount for each point.

  FIG. 5 is a diagram showing an example of the amount of change. As shown in FIG. 5, if the reception date and time is registered for the error information, the average value of the latest error information for a certain period can be calculated as the amount of change. In addition, since there is a possibility that a certain error always occurs depending on the GPS reception status, the difference between the latest average value for a certain period and the other average value may be used as the amount of change. If date and time information is used, a change can be detected earlier than when the average value of the whole is used.

  In addition to the average value, as the value indicating the amount of change, if the variation in error information registered for each point increases, it is suggested that a difference has occurred in the map. May be calculated as

  In addition, the number of pieces of error information equal to or greater than a preset threshold value can be used as the amount of change. At this time, the set threshold value may be always constant, or a different value may be used for each point.

  Note that the change measurement unit 146 may calculate the change amount based on another method. FIG. 6 shows another example of the error database 144. As shown in FIG. 6, instead of registering all of the error information in order to reduce the data capacity, the error information is updated so that the number of registered data at each point and the average value calculated sequentially are updated. You may register. Further, the dispersion values may be used sequentially. It is also possible to use a method of updating the number of error information that is greater than or equal to a preset threshold value among the received error information.

  In the case of the error database 144 as shown in FIG. 6, the average value or variance value of registered error information, or the number of error information equal to or greater than a preset threshold value can be used as the change amount.

  FIG. 7 shows another example of the error database 144. The error information may hold only the average value of all the registered data, but as shown in FIG. 7, it is registered at regular intervals (for example, every week) so that more detailed analysis can be performed. An average value of error information can also be held. In the case of the error database 144 as shown in FIG. 7, the variation is the average value of the latest period or the difference between the average value of the latest period and the average value of other periods in the same way as in FIG. be able to.

  Further, although the above-described change amount is calculated using information of only one point, it can also be calculated by combining not only error information of the point of interest but also peripheral error information. For example, a total value or a weighted average value of the amount of change of the point of interest and the amount of change of the surrounding points may be finally used as the amount of change of the point of interest. At this time, it is necessary to measure the amount of change not only at the point where the error information is registered, but also at all the points affected by the registered point data.

  The priority setting unit 148 updates, as information indicating whether or not to update the map data corresponding to the location based on the error information corresponding to the location stored in the error database 144 for each registered location. Set the priority. In the present embodiment, the priority setting unit 148 sets the update priority based on the average time series of error information corresponding to the points stored in the error database 144.

  As a method for setting the update priority, for example, five levels of values from 1 to 5 (1: update not required, -5: update required) can be set according to a predetermined change amount threshold. At this time, the threshold value may be the same value in all regions, or there may be a difference in GPS positioning accuracy between urban areas and other areas. Different determination conditions may be set for each point, such as setting a lower threshold value in other regions.

  However, if the amount of change does not include the number of times error information is measured, and if the number of times of measurement is small (≒ when the map data has just been updated), if large error information is accidentally measured. Even if there is not enough data, the update priority may be set high. Therefore, when the number of times of measurement does not exceed a certain number, it is desirable to set the update priority low. However, at this time, there is a possibility that the required minimum number of measurements cannot be obtained even in a place where the traffic volume is low even after a long period of time. Therefore, when a certain period has elapsed since the previous update, priority can be set according to the amount of change even if there is no minimum number of measurements.

  The map database update unit 150 updates the map data stored in the map database 152 based on the priority set by the priority setting unit 148.

  Specifically, the map database update unit 150 displays request information indicating a request for data collection request for a required point to the probe in-vehicle device 18 based on the update priority set by the priority setting unit 148. And transmitted via the communication unit 140. Note that the map database update unit 150 may transmit request information for data collection requests for all points having a priority level equal to or higher than a predetermined threshold, and priority is given according to the processing capability of the server 14. The request information for the data collection request may be transmitted to the top X% of the high-frequency points. In the present embodiment, the map database update unit 150 transmits request information for data collection requests to all points having a priority level equal to or higher than a predetermined threshold via the communication unit 140.

  Upon receiving the request information from the map database update unit 150, the probe in-vehicle device 18 uses a sensor to sense the surrounding environment of a point having a priority level equal to or higher than a predetermined threshold, and uses the obtained sensor information as a server. 14 to send. The map database update unit 150 of the server 14 updates the map data stored in the map database 152 using the sensor information transmitted from the probe in-vehicle device 18.

  The map database 152 stores map data. Similar to the map database 120 of the in-vehicle device 12, the map database 152 stores image information that records the surrounding environment including the road surface. The map data stored in the map database 152 is the same as the map data stored in the map database 120 of the in-vehicle device 12.

  The error update unit 154 updates error information at the point where the map data is updated. Specifically, the error update unit 154 deletes all the error information of the points where the map data has been updated so that error information for the newly acquired map data can be recorded.

  When date and time information is added to the error information, the past error information may be deleted under predetermined conditions in consideration of the server capacity even when the map data is not updated. .

<Operation of map data update system>
Next, the operation of the map data update system 10 according to the embodiment of the present invention will be described. When each vehicle equipped with the in-vehicle device 12 is traveling, the in-vehicle device 12 of each vehicle executes a transmission processing routine shown in FIG. 8, and the server 14 executes an update processing routine shown in FIG.

  First, a transmission processing routine executed by the in-vehicle device 12 of each vehicle will be described. The in-vehicle device 12 executes a transmission processing routine shown in FIG. 8 when satellite signals are received by the GPS 124 and surrounding images of the host vehicle are sequentially captured by the camera 122.

<Transmission processing routine>
First, in step S100, the position measurement unit 128 measures the position of the host vehicle based on the satellite signal received by the GPS 124.

  Next, in step S <b> 102, the travel position specifying unit 130 acquires a peripheral image around the host vehicle captured by the camera 122 as external environment information.

  In step S <b> 104, the travel position specifying unit 130 determines the position of the host vehicle measured in step S <b> 100, the surrounding image of the host vehicle acquired in step S <b> 102, and the map data stored in the map database 120. Based on this, the travel position of the host vehicle on the map data is specified.

  In step S106, the position error measurement unit 132 calculates error information indicating the difference between the position of the host vehicle measured in step S100 and the travel position of the host vehicle specified in step S104.

  In step S108, the communication unit 134 receives the error information calculated in step S106, the position of the host vehicle measured in step S100, and the position information indicating the travel position of the host vehicle specified in step S104. To the server 14.

  Next, the operation of the server 14 will be described. When the communication unit 140 of the server 14 receives the error information and the position information transmitted from the in-vehicle device 12, the error registration unit 142 associates the error information with the point corresponding to the position information received by the communication unit 140. Store in the error database 144. The error registration unit 142 of the server 14 stores the error information in the error database 144 every time it receives the position information and the error information.

  And the server 14 performs the update process routine shown in FIG. 9 for every predetermined period. Note that the server 14 may execute the update processing routine at another timing. For example, the server 14 may execute an update processing routine according to the amount of data stored in the error database 144.

<Update processing routine>
In step S200, one of the points registered in the error database 144 is set.

  In step S202, the change measurement unit 146 calculates the change amount at the point based on the error information corresponding to the point stored in the error database 144 for the point corresponding to the position information set in step S200. measure.

  In step S204, the priority setting unit 148 sets an update priority for the point where the amount of change is calculated in step S202.

  In step S206, it is determined whether or not the priority set in step S204 is equal to or higher than a predetermined threshold value. If the priority set in step S204 is greater than or equal to a predetermined threshold, the process proceeds to step S208. On the other hand, if the priority set in step S204 is less than a predetermined threshold, the process proceeds to step S210.

  In step S208, the map database update unit 150 sends request information indicating a request for data collection request for the point set in step S200 to the probe in-vehicle device 18 based on the priority set in step S204. And transmitted via the communication unit 140.

  In step S210, it is determined whether or not the processing in steps S200 to S208 has been executed for all points registered in the error database 144. When the processes in steps S200 to S208 are executed for all points registered in the error database 144, the update process routine is terminated. On the other hand, if there is a point where the processes in steps S200 to S208 are not executed, the process returns to step S200.

  When the probe in-vehicle device 18 receives the request information transmitted in step S208, the probe on-vehicle device 18 senses the surrounding environment of the point and transmits the obtained sensor information to the server 14.

  The communication unit 140 of the server 14 receives the sensor information transmitted from the probe on-vehicle device 18. Then, the map database update unit 150 of the server 14 updates the map data stored in the map database 152 using the sensor information received by the communication unit 140. Further, the error update unit 154 updates error information at the point where the map data is updated by the map database update unit 150. Then, the map database update unit 150 transmits update information of map data corresponding to the updated location to each in-vehicle device 12 via the communication unit 140, and the map database update unit 136 of the in-vehicle device 12 includes the communication unit 134. The map data stored in the map database 120 is updated based on the update information of the map data received by.

  As described above, according to the map data update system of the first embodiment of the present invention, the position of the host vehicle measured by the position measurement unit 128, the travel position specified by the travel position specifying unit 130, and Error information representing the difference between the two is calculated, the calculated error information and position information are transmitted to the server 14, the error information is stored in the error database in association with the transmitted position information, and stored in the error database. Based on the error information corresponding to the position information, the necessity for updating at each position of the map data can be determined by setting the priority corresponding to the position information.

  Further, if there is a difference between the map data and the road on which the vehicle is traveling, an error between the traveling position and the position measured by the GPS sensor becomes large. Therefore, it is possible to determine the necessity of updating and its priority by analyzing error information measured by the vehicle in time series.

  In addition, since it is possible to limit the change points in order to determine whether or not there is a change using the trajectory error at each point, the update process can be performed only at the points that need to be updated.

  In addition, not only the vehicle trajectory information but also information (for example, images and 3D information) obtained by sensing the external environment of the vehicle is used. A change can be detected and an update can be determined.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The second embodiment is different from the first embodiment in that error information is calculated using the trajectory of the vehicle, and the map database is updated according to the calculated error information.

  In the second embodiment, error information is calculated from the difference between two different generated trajectories, and the update priority of map data is determined. The two trajectories used in the second embodiment are as follows.

  The first trajectory is a travel trajectory, the position of the vehicle obtained by GPS, the travel state of the vehicle obtained by an IMU (IMU: Inertial Measurement Unit), and the vehicle imaged by the camera. Is a trajectory generated by collating with map data using a peripheral image of the image. The second trajectory is an accumulative trajectory, which is a trajectory generated by accumulating vehicle motion estimated using the traveling state of the vehicle obtained by the IMU, the surrounding image of the vehicle captured by the camera, and the like.

  The travel locus is a locus indicating where the host vehicle has traveled on the map data. On the other hand, the cumulative trajectory is a trajectory generated from the amount of movement of the vehicle (vehicle speed, yaw rate, etc.) without using map data.

  FIG. 10 is a diagram for explaining error information related to a trajectory due to a change in road shape. As shown in FIG. 10, if the road on which the host vehicle is currently running is a newly established road, the current running position does not exist on the map data, so the vehicle generated by collation with the map data. The travel locus of is an incorrect locus. Therefore, as shown in FIG. 10, the difference between the traveling locus and the accumulated locus is expected to increase.

  FIG. 11 is a diagram for explaining error information related to a trajectory due to a change in road surface pattern. As shown in FIG. 11, even when there is a difference between the map data and the road surface display of the road being traveled, the road surface pattern represented by the road surface image on the map data and the road surface image obtained from the surrounding image during travel are represented. The road surface pattern is collated at an incorrect position. Therefore, as shown in FIG. 11, it is expected that a large difference will occur between the traveling locus and the cumulative locus.

  Therefore, in the second embodiment, if error information relating to the trajectory is collected and analyzed by the server 14, a large amount of data with large errors is collected at the place where the difference occurs, and therefore, necessary for updating the map data. The location can be specified, and the map data can be updated with priority.

<Configuration of map data update system 210 according to the second embodiment>
As shown in FIG. 12, the map data update system 210 according to the second embodiment of the present invention receives the error information transmitted from the vehicle-mounted device 212 and the vehicle-mounted device 212 provided in the vehicle, The server 14 which updates a map database according to information and the probe vehicle-mounted apparatus 18 which transmits the sensor information for updating map data to the server 14 based on the signal output from the server 14 are provided. The in-vehicle device 212, the server 14, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 212 is an example of a mounting device.

[In-vehicle device 212]
The in-vehicle device 212 includes a map database 120 in which map data is stored, a camera 122 that captures a surrounding image of the host vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. And a computer 226 that calculates and transmits error information based on the surrounding image of the vehicle and the satellite signal received by the GPS 124. The in-vehicle device 212 is mounted on the vehicle.

  The computer 226 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 226 includes a position measurement unit 128 that measures the position of the host vehicle based on the satellite signal received by the GPS 124, the position of the host vehicle measured by the position measurement unit 128, and the host vehicle imaged by the camera 122. Based on the surrounding peripheral image and the map data of the map database 120, a travel position specifying unit 130 for specifying the travel position of the host vehicle on the map data, and the travel position of the host vehicle specified by the travel position specifying unit 130 Based on the time series of the vehicle, a travel locus generation unit 230 that generates a travel locus of the host vehicle, and a host vehicle motion estimation unit that estimates a momentum of the host vehicle based on a peripheral image around the host vehicle captured by the camera 122. 232 and an accumulation for generating a cumulative trajectory of the own vehicle based on the time series of the amount of movement of the own vehicle estimated by the own vehicle motion estimation unit 232 A position error measuring unit 236 that calculates error information indicating a difference between the trace generated by the trace generating unit 234, the traveled trajectory generated by the traveled trajectory generating unit 230, and the cumulative trajectory generated by the cumulative trajectory generating unit 234; The map data stored in the map database 120 is updated in accordance with the communication unit 134 that transmits the error information and the position information calculated by the unit 236 to the server 14 and the update information of the map data transmitted from the server 14. And a map database updating unit 136 for performing the above-described operation. The position error measurement unit 236 is an example of a difference information generation unit. The own vehicle motion estimation unit 232 is an example of a momentum estimation unit.

The travel locus generation unit 230 generates a travel locus of the host vehicle based on the time series of the travel positions specified by the travel position specification unit 130.
Specifically, the travel locus generation unit 230 generates a travel locus using a time series of travel positions in a certain section specified by the travel position specification unit 130. Here, the fixed section may be a distance section or a time section.

  The host vehicle motion estimation unit 232 estimates the amount of motion of the host vehicle based on the surrounding image around the host vehicle captured by the camera 122. In the present embodiment, the host vehicle motion estimation unit 232 will be described by taking as an example a case where the vehicle speed and the yaw rate are estimated as the amount of motion of the host vehicle.

  For example, the host vehicle motion estimation unit 232 estimates the amount of motion of the host vehicle using the technique described in the following reference based on successive frames of surrounding images around the host vehicle captured by the camera 122.

(References)
Yamaguchi, Kato, Ninomiya, “Estimation of movement of own vehicle using in-vehicle monocular camera”, IEEJ Transactions C, vol.129, No.12, pp.2213-2221, 2009.

  The cumulative trajectory generation unit 234 generates the cumulative trajectory of the host vehicle based on the time series of the vehicle speed and yaw rate of the host vehicle estimated by the host vehicle motion estimation unit 232. Here, the cumulative trajectory generation unit 234 generates a cumulative trajectory in the same section as the travel trajectory generated by the travel trajectory generation unit 230.

  The cumulative trajectory is a trajectory generated by accumulating the amount of movement of the host vehicle from a set starting point. Therefore, the cumulative trajectory generation unit 234 generates the trajectory of the same section by making the start point (position and direction) of the cumulative trajectory the same as the start point of the trajectory generated by the travel trajectory generation unit 230.

  FIG. 13 shows an example of a method for generating a cumulative trajectory. FIG. 13 shows an example in which the estimation result of the movement distance d and the movement direction (yaw rate) θ is used for generating the trajectory. The cumulative trajectory generation unit 234 calculates the travel distance d from the vehicle speed of the host vehicle estimated by the host vehicle motion estimation unit 232, and generates a cumulative trajectory of the host vehicle based on the time series of the travel distance d and the yaw rate θ. .

  Specifically, as shown in FIG. 13, the cumulative trajectory generation unit 234 determines the position of the host vehicle at time t (black square at time t shown in FIG. 13) and direction (black square at time t shown in FIG. 13). The extended trajectory is extended by an estimated distance in the direction estimated between time t and time t + 1, and a cumulative trajectory is generated. At this time, the estimated direction is a relative angle from time t. As illustrated in FIG. 13, the cumulative trajectory is generated by repeatedly performing the same processing.

  The position error measurement unit 236 calculates error information indicating a difference between the travel locus generated by the travel locus generation unit 230 and the accumulated locus generated by the accumulated locus generation unit 234. FIG. 14 shows an example of the difference between the traveling locus and the cumulative locus.

  For example, as shown in FIG. 14, the position error measuring unit 236 measures the difference between the current time position on the travel locus and the current time position on the cumulative locus as error information (difference between the points P6 in FIG. 14). To do. Alternatively, the position error measurement unit 236 may use, as error information, an average value or a cumulative value of a position difference (difference between points P1 to P6 in FIG. 14) at each point between the traveling locus and the accumulated locus. it can. Further, the difference may be obtained by a linear distance between two points, or may be obtained by dividing the difference into latitude and longitude components. Further, it is possible to obtain a difference by dividing into a traveling direction component and an orthogonal direction component.

<Operation of map data update system>
Next, the operation of the map data update system 210 according to the second embodiment of the present invention will be described. When each of the vehicles equipped with the in-vehicle device 212 is traveling, the in-vehicle device 212 of each vehicle executes the transmission processing routine shown in FIG. 15, and the server 14 executes the update processing routine shown in FIG. .

  A transmission processing routine executed by the in-vehicle device 212 of each vehicle will be described. The in-vehicle device 212 executes a transmission processing routine shown in FIG. 15 when satellite signals are received by the GPS 124 and surrounding images of the host vehicle are sequentially captured by the camera 122.

<Transmission processing routine>
In step S306, the travel locus generation unit 230 generates a travel locus of the host vehicle based on the time series of travel positions obtained from the travel position specified this time in step S104 and the travel position specified before the previous time. .

  In step S307, the host vehicle motion estimation unit 232 estimates the vehicle speed and the yaw rate based on successive frames of the peripheral images around the host vehicle acquired in step S102.

  In step S308, the cumulative trajectory generation unit 234 is based on the time series of the vehicle speed and the time series of the yaw rate obtained from the vehicle speed and yaw rate of the host vehicle estimated this time in step S307 and the vehicle speed and yaw rate estimated before the previous time. Thus, a cumulative trajectory of the host vehicle is generated.

  In step S309, the position error measurement unit 236 calculates error information indicating a difference between the travel locus generated in step S306 and the cumulative locus generated in step S308.

  In addition, about the other structure and effect | action of the map data update system 210 which concern on 2nd Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, according to the map data update system of the second embodiment, a travel locus of the vehicle is generated based on the time series of the travel position, and based on the estimated time series of the own vehicle's momentum. A cumulative trajectory of the vehicle is generated, error information indicating a difference between the travel trajectory and the cumulative trajectory is calculated, the calculated error information and position information are transmitted to the server 14, and the error is associated with the transmitted position information. By storing the information in the error database and setting the priority corresponding to the position information based on the error information corresponding to the position information stored in the error database, it is necessary to update the map data at each position. Can be determined.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The third embodiment is different from the first or second embodiment in that the in-vehicle device determines whether or not to transmit the calculated error information to the server in the first embodiment. ing.

<Configuration of map data update system according to third embodiment>
As shown in FIG. 16, the map data update system 310 according to the third embodiment of the present invention receives the error information transmitted from the vehicle-mounted device 312 and the vehicle-mounted device 312 provided in the vehicle. A server 314 that updates the map database according to the information and a probe on-vehicle device 18 that transmits sensor information for updating the map data to the server 314 based on a signal output from the server 314 are provided. The in-vehicle device 312, the server 314, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 312 is an example of a mounting device.

[In-vehicle device 312]
The in-vehicle device 312 includes a map database 120 in which map data is stored, a camera 122 that captures a surrounding image of the host vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. And a computer 326 that calculates and transmits error information based on the surrounding image of the vehicle and the satellite signal received by the GPS 124. The in-vehicle device 312 is mounted on the vehicle.

  The computer 326 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 326 includes a position measuring unit 128 that measures the position of the host vehicle based on the satellite signal received by the GPS 124, the position of the host vehicle measured by the position measuring unit 128, and the host vehicle imaged by the camera 122. Based on the surrounding peripheral image and the map data of the map database 120, a travel position specifying unit 130 that specifies the travel position of the host vehicle on the map data, and the position of the host vehicle measured by the position measuring unit 128; A position error measuring unit 132 that calculates error information indicating a difference from the traveling position of the host vehicle identified by the traveling position identifying unit 130; a determination unit 333 that determines whether or not to transmit the error information to the server 314; Based on the determination result determined by the determination unit 333, the error information and the position information calculated by the position error measurement unit 132 are A communication unit 334 to be transmitted to over server 314, in accordance with the update information of the map data transmitted from the server 314, and a map database update unit 136 for updating the map data stored in the map database 120.

  The determination unit 333 determines whether to transmit error information and position information according to the error information calculated by the position error measurement unit 132. Specifically, based on the error information calculated by the position error measurement unit 132 and a predetermined threshold value, the determination unit 333 determines that the error information is greater than or equal to a predetermined threshold value, the communication unit 134. Output error information and position information. Then, the communication unit 134 transmits the error information and the position information output by the determination unit 333 to the server 14.

  On the other hand, the determination unit 333 does not output the error information and the position information when the error information calculated by the position error measurement unit 132 is less than a predetermined threshold.

  The predetermined threshold value may be a constant value or a variable value depending on the traveling position of the host vehicle specified by the traveling position specifying unit 130 or the position of the host vehicle measured by the position measuring unit 128. It may be set.

  In the present embodiment, whether or not to transmit error information and position information is determined according to the error information calculated by the position error measurement unit 132, but the error information and position information are determined by other methods. It may be determined whether or not to transmit. For example, the necessity of transmission may be determined according to the traveling position of the host vehicle so that a large amount of error information at the same location is not transmitted from the same vehicle. Or you may determine whether error information and a positional information are transmitted according to the frequency | count that the own vehicle drive | worked the place on the map data corresponding to a positional information. Or you may determine whether error information and a positional information are transmitted according to the driving | running | working date which the own vehicle drive | worked.

  The communication unit 334 transmits error information and position information according to the determination result determined by the determination unit 333.

[Server 314]
The server 314 is configured by a server including a CPU, a ROM that stores a program for realizing a processing routine to be described later, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. Specifically, a communication unit 140 that receives error information and position information transmitted from the in-vehicle device 312, an error registration unit 142 that registers error information received by the communication unit 140 in the error database 144, and error information is stored. Error data 144, a change measurement unit 346 that measures a change amount of error information stored in the error database 144, and a map data update priority based on the change amount measured by the change measurement unit 346 Based on the priority set by the priority setting unit 148 and the priority setting unit 148 Map database update unit 150 for updating the Figure, can be represented by structure including an error updating section 154 for updating the error information stored in the map database 152 and the error database 144, the map data is stored. The communication unit 140 is an example of a receiving unit.

The change measuring unit 346 measures the amount of change at the point based on the number of times the error information corresponding to the point stored in the error database 144 is updated. In the present embodiment, since only the large error information is transmitted from the in-vehicle device 312, the change measurement unit 346 uses the number of receptions at the registration point of the error database 144 as the change amount.
When the determination unit 333 determines whether to transmit error information and position information according to the travel position of the host vehicle or the travel date and time, the change measurement unit 346 includes the first implementation. The amount of change is calculated in the same manner as the above.

<Operation of map data update system>
Next, the operation of the map data update system 310 according to the third embodiment of the present invention will be described. When each of the vehicles equipped with the in-vehicle device 312 is traveling, the in-vehicle device 312 of each vehicle executes the transmission processing routine shown in FIG. 17, and the server 14 executes the update processing routine shown in FIG. .

  A transmission processing routine executed by the in-vehicle device 312 of each vehicle will be described. The in-vehicle device 312 executes a transmission processing routine shown in FIG. 17 when satellite signals are received by the GPS 124 and surrounding images of the host vehicle are sequentially captured by the camera 122.

<Transmission processing routine>
In step S507, the determination unit 333 determines whether the error information is greater than or equal to a predetermined threshold based on the error information calculated in step S106 and a predetermined threshold. If the error information is greater than or equal to a predetermined threshold, the process proceeds to step S508. On the other hand, if the error information is less than a predetermined threshold, the process returns to step S100.

  In step S508, the communication unit 334 transmits error information and position information.

  In addition, about the other structure and effect | action of the map data update system 310 which concern on 3rd Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, according to the map data update system of the third embodiment, the difference between the position of the host vehicle measured by the position measuring unit 128 and the travel position specified by the travel position specifying unit 130 is calculated. Error information to be expressed is calculated, it is determined whether or not the calculated error information and position information are transmitted to the server 14, the error information is stored in the error database in association with the transmitted position information, and the error database is stored. Based on the error information corresponding to the stored position information, by determining the necessity of transmission of the error information and the position information by setting the priority corresponding to the position information, the communication and the server The processing load can be reduced.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described. In addition, about the part which becomes the structure similar to 2nd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The fourth embodiment is different from the first to third embodiments in that the in-vehicle device determines whether or not to transmit the calculated error information to the server in the second embodiment. ing.

<Configuration of map data update system according to fourth embodiment>
As shown in FIG. 18, the map data update system 410 according to the fourth embodiment of the present invention receives the error information transmitted from the in-vehicle device 412 and the in-vehicle device 412 provided in the vehicle. A server 414 that updates the map database according to the information, and a probe on-vehicle device 18 that transmits sensor information for updating the map data to the server 414 based on a signal output from the server 414 are provided. The in-vehicle device 412, the server 414, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 412 is an example of a mounting device.

[In-vehicle device 412]
The in-vehicle device 412 includes a map database 120 in which map data is stored, a camera 122 that captures a surrounding image of the host vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. And a computer 426 that calculates and transmits error information based on the surrounding image of the vehicle and the satellite signal received by the GPS 124. The in-vehicle device 412 is mounted on the vehicle.

  The computer 426 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 426 includes a position measurement unit 128 that measures the position of the host vehicle based on the satellite signal received by the GPS 124, the position of the host vehicle measured by the position measurement unit 128, and the host vehicle imaged by the camera 122. Based on the surrounding peripheral image and the map data of the map database 120, a travel position specifying unit 130 for specifying the travel position of the host vehicle on the map data, and the travel position of the host vehicle specified by the travel position specifying unit 130 Based on the time series of the vehicle, a travel locus generation unit 230 that generates a travel locus of the host vehicle, and a host vehicle motion estimation unit that estimates a momentum of the host vehicle based on a peripheral image around the host vehicle captured by the camera 122. 232 and an accumulation for generating a cumulative trajectory of the own vehicle based on the time series of the amount of movement of the own vehicle estimated by the own vehicle motion estimation unit 232 A position error measurement unit 236 that calculates error information representing a difference between the trace generation unit 234, the travel trajectory generated by the travel trajectory generation unit 230, and the cumulative trajectory generated by the cumulative trajectory generation unit 234, and error information The determination unit 433 that determines whether or not to transmit to the server 414, and the error information and the position information calculated by the position error measurement unit 236 based on the determination result determined by the determination unit 433 are transmitted to the server 414. And a map database update unit 136 that updates the map data stored in the map database 120 in accordance with the map data update information transmitted from the server 414.

  The determination unit 433 determines whether to transmit error information and position information according to the error information calculated by the position error measurement unit 236. Specifically, based on the error information calculated by the position error measurement unit 236 and a predetermined threshold, the determination unit 433 determines that the error information is greater than or equal to a predetermined threshold, and the communication unit 434 Output error information and position information. Then, the communication unit 434 transmits the error information and the position information output by the determination unit 433 to the server 414.

  On the other hand, based on the error information calculated by the position error measurement unit 236 and a predetermined threshold, the determination unit 433 determines whether the error information and the position information are less than the predetermined threshold. Is not output.

  The predetermined threshold value may be a constant value or a variable value depending on the traveling position of the host vehicle specified by the traveling position specifying unit 130 or the position of the host vehicle measured by the position measuring unit 128. It may be set.

  In the present embodiment, it is determined whether or not to transmit error information and position information according to the error information calculated by the position error measurement unit 236, but the error information and position information are determined by other methods. It may be determined whether or not to transmit. For example, the necessity of transmission may be determined according to the traveling position of the host vehicle so that a large amount of error information at the same location is not transmitted from the same vehicle. Or you may determine whether error information and a positional information are transmitted according to the frequency | count that the own vehicle drive | worked the place on the map data corresponding to a positional information. Or you may determine whether error information and a positional information are transmitted according to the driving | running | working date which the own vehicle drive | worked.

  The communication unit 434 transmits error information and position information according to the determination result determined by the determination unit 433.

[Server 414]
The server 414 includes a CPU, a ROM that stores a program for realizing a processing routine to be described later, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. Specifically, a communication unit 140 that receives error information and position information transmitted from the in-vehicle device 412, an error registration unit 142 that registers error information received by the communication unit 140 in the error database 144, and error information is stored. Error data 144, a change measurement unit 446 that measures a change amount of error information stored in the error database 144, and a map data update priority based on the change amount measured by the change measurement unit 446 Based on the priority set by the priority setting unit 148 and the priority setting unit 148 Map database update unit 150 for updating the Figure, can be represented by structure including an error updating section 154 for updating the error information stored in the map database 152 and the error database 144, the map data is stored. The communication unit 140 is an example of a receiving unit.

The change measuring unit 446 measures the amount of change at the point based on the number of times the error information corresponding to the point stored in the error database 144 is updated. In the present embodiment, only the large error information is transmitted from the in-vehicle device 412, so the change measurement unit 446 uses the number of receptions at the registration point of the error database 144 as the change amount.
When the determination unit 433 determines whether or not to transmit error information and position information according to the travel position of the host vehicle or the travel date and time, the change measurement unit 446 performs the second implementation. The amount of change is calculated in the same manner as the above.

<Operation of map data update system>
Next, the operation of the map data update system 410 according to the fourth embodiment of the present invention will be described. When each of the vehicles equipped with the in-vehicle device 412 is traveling, the in-vehicle device 412 of each vehicle executes the transmission processing routine shown in FIG. 19, and the server 414 executes the update processing routine shown in FIG. .

  A transmission processing routine executed by the in-vehicle device 412 of each vehicle will be described. The in-vehicle device 412 executes the transmission processing routine shown in FIG. 19 when satellite signals are received by the GPS 124 and surrounding images of the host vehicle are sequentially captured by the camera 122.

<Transmission processing routine>
In step S607, the determination unit 433 determines whether the error information is greater than or equal to a predetermined threshold based on the error information calculated in step S309 and a predetermined threshold. If the error information is greater than or equal to a predetermined threshold, the process proceeds to step S608. On the other hand, if the error information is less than a predetermined threshold, the process returns to step S100.

  In step S608, the communication unit 334 transmits error information and position information.

  In addition, about the other structure and effect | action of the map data update system 410 which concern on 4th Embodiment, since it is the same as that of 2nd Embodiment, description is abbreviate | omitted.

  As described above, according to the map data update system of the fourth embodiment, a vehicle trajectory is generated based on the time series of the travel position, and based on the estimated time series of the own vehicle's momentum. A cumulative trajectory of the vehicle is generated, error information indicating a difference between the travel trajectory and the cumulative trajectory is calculated, it is determined whether or not the calculated error information and position information are transmitted to the server 414, and the calculated error is calculated. The information and the position information are transmitted to the server 414, the error information is stored in the error database in association with the transmitted position information, and the position information is based on the error information corresponding to the position information stored in the error database. By setting the priority corresponding to, it is possible to reduce communication and server processing load by determining whether or not to transmit error information and position information.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described. In addition, about the part which becomes the same structure as the 1st-4th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the fifth embodiment, in the second embodiment, the momentum of the host vehicle is estimated using an IMU (IMU: Inertial Measurement Unit). It is different from the form.

<Configuration of Map Data Update System 510 According to Fifth Embodiment>
As shown in FIG. 20, the map data update system 510 according to the fifth embodiment of the present invention receives the error information transmitted from the in-vehicle device 512 and the in-vehicle device 512 provided in the vehicle, The server 14 which updates a map database according to information and the probe vehicle-mounted apparatus 18 which transmits the sensor information for updating map data to the server 14 based on the signal output from the server 14 are provided. The in-vehicle device 512, the server 14, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 512 is an example of a mounting device.

[In-vehicle device 512]
The in-vehicle device 512 includes a map database 120 in which map data is stored, a camera 122 that captures a surrounding image of the own vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. And a computer 526 that calculates and transmits error information based on the surrounding image of the vehicle, the satellite signal received by the GPS 124, and the traveling state of the host vehicle detected by the IMU 524. The in-vehicle device 512 is mounted on the vehicle.

  The IMU 524 sequentially measures the three-axis angular velocity and acceleration of the host vehicle as the traveling state of the host vehicle.

  The computer 526 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 526 includes a position measuring unit 128 that measures the position of the host vehicle based on the satellite signal received by the GPS 124, the position of the host vehicle measured by the position measuring unit 128, and the host vehicle imaged by the camera 122. Based on the surrounding peripheral image and the map data of the map database 120, a travel position specifying unit 130 for specifying the travel position of the host vehicle on the map data, and the travel position of the host vehicle specified by the travel position specifying unit 130 Based on the time series of the vehicle, a travel locus generation unit 230 that generates a travel locus of the host vehicle, and a host vehicle motion estimation unit that estimates the amount of motion of the host vehicle based on the angular velocity and acceleration of the host vehicle detected by the IMU 524. Based on 532 and the time series of the amount of movement of the host vehicle estimated by the host vehicle motion estimation unit 532, a cumulative trajectory of the host vehicle is generated. A product trajectory generator 234, a position error measuring unit 236 that calculates error information representing a difference between the travel trajectory generated by the travel trajectory generator 230 and the cumulative trajectory generated by the cumulative trajectory generator 234, and a position error The map data stored in the map database 120 according to the update information of the map data transmitted from the communication unit 134 and the map data transmitted from the server 14 is transmitted to the server 14 with error information and position information calculated by the measurement unit 236. And a map database updating unit 136 for updating. The own vehicle motion estimation unit 532 is an example of a momentum estimation unit.

  The host vehicle motion estimation unit 532 estimates the vehicle speed and yaw rate as the amount of motion of the host vehicle based on the three-axis angular velocity and acceleration of the host vehicle measured by the IMU 524.

<Operation of map data update system>
Next, the operation of the map data update system 510 according to the fifth embodiment of the present invention will be described. When each vehicle equipped with the in-vehicle device 512 is traveling, the in-vehicle device 512 of each vehicle executes the transmission processing routine shown in FIG. 21, and the server 14 executes the update processing routine shown in FIG. .

  A transmission processing routine executed by the in-vehicle device 512 of each vehicle will be described. The in-vehicle device 512 receives the satellite signal by the GPS 124, sequentially captures surrounding images of the own vehicle by the camera 122, and detects the angular velocity and acceleration of the own vehicle by the IMU 524, thereby transmitting the transmission processing routine shown in FIG. Execute.

<Transmission processing routine>
In step S506, the host vehicle motion estimation unit 532 acquires the angular velocity and acceleration of the host vehicle detected by the IMU 524.

  In step S507, the host vehicle motion estimation unit 532 estimates the vehicle speed and yaw rate based on the angular velocity and acceleration of the host vehicle acquired in step S506.

  In addition, about the other structure and effect | action of the map data update system 510 which concern on 5th Embodiment, since it is the same as that of 2nd Embodiment, description is abbreviate | omitted.

  As described above, according to the map data update system of the fifth embodiment, a travel locus of the vehicle is generated based on the time series of the travel position, and is estimated from the travel state of the host vehicle detected by the IMU 524. A cumulative trajectory of the vehicle is generated based on the time series of the momentum of the host vehicle, error information indicating a difference between the travel trajectory and the cumulative trajectory is calculated, and the calculated error information and position information are transmitted to the server 14. The error information is stored in the error database in association with the transmitted position information, and the priority corresponding to the position information is set based on the error information corresponding to the position information stored in the error database, The necessity for updating at each position of the map data can be determined.

[Sixth Embodiment]
Next, a sixth embodiment of the present invention will be described. In addition, about the part which becomes the same structure as the 1st-5th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In 6th Embodiment, the point which produces | generates difference information based on the comparison result of a driving | running position and the lane graph contained in map data, and the specific result of driving | running | working position is the 1st-5th embodiment. Is different.

<Configuration of Map Data Update System 610 According to Sixth Embodiment>
As shown in FIG. 22, the map data update system 610 according to the sixth embodiment of the present invention receives the difference information transmitted from the in-vehicle device 612 provided in the vehicle and the in-vehicle device 612, and performs the difference. A server 614 that updates the map database according to the information and a probe on-vehicle device 18 that transmits sensor information for updating the map data to the server 614 based on a signal output from the server 614 are provided. The in-vehicle device 612, the server 614, and the probe in-vehicle device 18 are connected via a network 16 such as the Internet. The in-vehicle device 612 is an example of a mounting device.

[In-vehicle device 612]
The in-vehicle device 612 includes a map database 620 in which map data is stored, a camera 122 that captures a surrounding image of the host vehicle, a GPS 124 that receives a satellite signal transmitted from a positioning satellite, and an image captured by the camera 122. And a computer 626 that calculates and transmits difference information based on the surrounding image of the vehicle and the satellite signal received by the GPS 124. The in-vehicle device 612 is mounted on the vehicle.

  The map database 620 stores map data including lane graphs. FIG. 23 shows an example of the lane graph. As shown in FIG. 23, the lane graph represents a track serving as a guide for the vehicle to travel according to the traffic rules. In addition, the lane graph can be created from the travel locus of the vehicle, lane information drawn on the road surface, and the like. Each point of the lane graph holds latitude, longitude, and height information. The lane graph is an example of road information.

  The computer 626 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. Based on the position measurement unit 128, the position of the host vehicle measured by the position measurement unit 128, the surrounding image of the periphery of the host vehicle imaged by the camera 122, and the map data in the map database 620, the map Based on the time series of the position of the own vehicle measured by the traveling position specifying unit 630 that identifies the traveling position of the own vehicle on the data and calculates the reliability of the comparison between the road surface image and the map data, and the position measuring unit 128 A positioning trajectory generation unit 629 that generates a positioning trajectory of the host vehicle, a lane graph comparison unit 631 that compares the lane graph stored in the map database 620 and the positioning trajectory generated by the positioning trajectory generation unit 629, and travel The result of specifying the traveling position of the host vehicle specified by the position specifying unit 630 and the comparison obtained by the lane graph comparing unit 631 Depending on the results, a difference information generation unit 632 that generates difference information representing a difference between the road surface image and the map data stored in the map database 620, a communication unit 134, and a map database update unit 136 are provided. . The lane graph comparison unit 631 is an example of a comparison unit.

  The travel position specifying unit 630 is based on the position of the host vehicle measured by the position measuring unit 128, the surrounding image of the surroundings of the host vehicle captured by the camera 122, and the map data stored in the map database 620. The travel position of the vehicle on the data is specified.

  Specifically, the travel position specifying unit 630 generates a road surface image obtained by projecting a peripheral image around the host vehicle captured by the camera 122 onto the road surface. Then, the traveling position specifying unit 630 collates the road image on the map data obtained from the map database 620 corresponding to the position of the host vehicle measured by the position measuring unit 128 with the generated road image. The travel position of the host vehicle on the map data is specified.

  More specifically, as shown in FIG. 24, the travel position specifying unit 630 uses the generated road surface image as a template and searches for a matching portion on the road surface image of the map data by using an image matching method. Identify the top travel position. As a method of image matching, normalized correlation matching, phase only correlation method, or the like can be used.

  In addition, it is desirable that the traveling position specifying unit 630 generates an ortho image having a somewhat wide range (about 100 m) as a road surface image. This is because even if there is a change in the road surface display, there is a high possibility that a characteristic pattern or road shape is included in the ortho image, and it is possible to identify the traveling position of the host vehicle on the map data by using this information This is because of the increase. In the present embodiment, a case where an ortho image is used as an example of a road surface image will be described as an example.

  Next, the travel position specifying unit 630 determines whether or not the travel position with high reliability has been specified by comparing the road surface image with the map data.

  Specifically, the traveling position specifying unit 630 calculates the reliability of matching between the road surface image and the map data.

For example, as shown in FIG. 25, the travel position specifying unit 630 calculates a correlation value for collation between the road surface image and the road surface image on the map data for each collation position, and the maximum correlation value is determined in advance. When the difference between the largest correlation value and the second largest correlation value is larger than the first threshold value and larger than a predetermined second threshold value, it is determined that the reliability of matching is high.
In addition, as illustrated in FIG. 25, the travel position specifying unit 630 determines that the maximum correlation value is equal to or less than a predetermined first threshold, or that the difference between the maximum correlation value and the second largest correlation value is When it is equal to or less than the predetermined second threshold value, it is determined that the reliability of matching is low.

  In the present embodiment, a difference information generation method to be described later is determined in accordance with the calculated collation reliability.

  The positioning trajectory generation unit 629 generates a positioning trajectory of the host vehicle from the time series of the position of the host vehicle measured by the position measurement unit 128.

  The lane graph comparison unit 631 compares the positioning trajectory generated by the positioning trajectory generation unit 629 with the lane graph included in the map data stored in the map database 620, and calculates the total difference between the positioning trajectory and the lane graph. Calculate the value to represent.

  In the present embodiment, a case will be described as an example in which a positioning trajectory representing a trajectory of a positioning position in a past fixed distance section from the current position of the host vehicle is compared with a lane graph.

  Specifically, as shown in FIG. 26, the lane graph comparison unit 631 calculates the sum of the distances between each point on the positioning trajectory and the closest point on the lane graph, and the sum of the differences between the positioning trajectory and the lane graph. Can be obtained as In the example shown in FIG. 26, the positioning trajectory and the lane graph are expressed in two dimensions. However, since the positioning trajectory and the lane graph hold three-dimensional information, the distance on the three-dimensional coordinates should be measured. You can also. In addition to the total difference between the positioning locus and the lane graph, a maximum value, an average value, or the like may be used.

  The lane graph comparison unit 631 determines that the positioning trajectory and the lane graph match when the calculated value is equal to or less than a preset threshold value. The lane graph comparison unit 631 determines that the positioning locus and the lane graph do not match when the calculated value is larger than a preset threshold value. The threshold value may be constant at all positions, or different values may be used depending on the position.

  The difference information generation unit 632 generates a determination result of the traveling position of the host vehicle in a range in which predetermined difference information on the map data identified by the traveling position identification unit 630 is generated, and predetermined difference information. According to the comparison result obtained by the lane graph comparison unit 631 for the range, the region of the range in which the difference information is generated is divided into a plurality of partial regions, and the road surface image generated by the travel position specifying unit 630 Difference information representing the difference between the map data stored in the map database 620 and the road surface image is generated for each partial area.

  In the present embodiment, when the travel position is specified by the travel position specifying unit 630, information of a wide range is used, so that the stable travel position is specified even if a change occurs in the range. In the generation of the difference information, each of the verified road surface images (the road surface image generated from the camera and a part of the road image of the map data) is divided into partial areas instead of obtaining the entire road surface image. By generating difference information for each partial area, it is possible to grasp in more detail which point on the map data the difference is occurring.

  If the travel position identification process is performed with a wide range of information, it is highly possible that the correct travel position can be identified (can be collated with high reliability). If the travel position can be identified, difference information is generated by a simple feature difference process. Therefore, the processing load can be reduced.

  However, if difference information is generated using the matched road surface images, the difference information of the changed portion is buried because most of the change does not occur even if there is a change in the road surface information or the like. On the other hand, in the difference for each pixel of the road surface image, there is a possibility that a large difference information is erroneously generated in response to noise or the like.

  Therefore, the travel position is specified in a wide range determined in advance, and the difference information from the map data is efficiently and stably obtained by dividing the predetermined range used for specifying the travel position into partial areas. There is a high possibility that the difference information can be generated.

  Specifically, in the comparison result by the lane graph comparison unit 631, it is determined that the positioning locus and the lane graph match, and the traveling position specifying unit 630 determines that the collation reliability is high. In this case, the difference information generation unit 632 calculates the difference between the road surface image and the map data based on each partial region of the road surface image generated by the travel position specifying unit 630 and each partial region of the road surface image of the map data. Difference information representing the difference is generated.

  More specifically, as shown in FIG. 27, the difference information generation unit 632 calculates, for each partial area, the difference between the partial area of the road surface image of the map data and the partial area of the road surface image corresponding to the partial area. . In the present embodiment, as the difference information, the sum of the differences in luminance values of the pixels in the partial area is used. As the difference information, an average of luminance value differences of the pixels in the partial area may be used. Further, as the difference information, the correlation of the edge gradient histogram in the partial region may be used.

  In the example of FIG. 27, there is information effective for collation such as a rhombus road display and a vehicle traffic band break on the map data, and collation with high reliability can be performed. Since a pedestrian crossing is newly established at the lower right of the road surface image, as a result of comparison between the partial areas, the difference is increased only in the partial area corresponding to the newly established pedestrian crossing.

  On the other hand, in the comparison result by the lane graph comparison unit 631, when it is determined that the positioning trajectory and the lane graph match, and the traveling position specifying unit 630 determines that the reliability of the verification is low. In addition, the difference information generation unit 632 generates difference information based on the feature regions of each partial region of the road surface image generated by the travel position specifying unit 630 and the feature regions of each partial region of the road image of the map data. To do.

  More specifically, as shown in FIG. 28, the difference information generation unit 632 extracts a characteristic area as a characteristic area from each partial area of the road surface image.

  For example, the difference information generation unit 632 extracts a region having an edge gradient in the vertical direction with respect to the positioning locus or a group having the same luminance (white, orange, etc.) as the feature region.

  Next, the difference information generation unit 632 selects the lane graph closest to the positioning locus as shown in FIG. Then, the difference information generation unit 632 extracts a feature region on the road surface image of the map data corresponding to the selected lane graph. In this case, the feature region extracted is only the region near the selected lane graph. In addition, when there is room in processing time and resources, the difference information generation unit 632 may detect road surface display. These are considered to be effective areas for specifying the travel position. The fact that the reliability of collation is low despite the presence of such information may indicate a significant change in the road surface display or the establishment of a new road.

  And the difference information generation part 632 compares the presence or absence of the characteristic area in a corresponding area | region between a road surface image and the road surface image of map data, as shown in FIG. Then, if there is a difference in the presence / absence of the feature region, the difference information generation unit 632 gives a difference value to the feature region and generates difference information.

  In the example shown in FIG. 29, a traveling direction display, a stop line, and an intersection cross mark are extracted as feature areas from the road surface image, and a traveling direction display is extracted as a feature area from the road surface image of the map data. In the example illustrated in FIG. 29, the difference information generation unit 632 determines that there is no difference because the traveling direction display exists in the same feature region, and does not include the difference value of the feature region in the generated difference information. On the other hand, the difference information generation unit 632 gives a difference value to the feature region where the stop line and the intersection cross mark exist, and includes the difference value of the feature region in the generated difference information. Note that all the difference values may be constant or variable according to the size and shape of the extracted features.

  Also, in the comparison result by the lane graph comparison unit 631, when it is determined that the positioning locus and the lane graph do not match, and the traveling position specifying unit 630 determines that the reliability of the verification is high In addition, the difference information generation unit 632 represents the difference between the road surface image and the map data based on each partial region of the road surface image generated by the travel position specifying unit 630 and each partial region of the road surface image of the map data. Generate difference information.

  If it is determined that the positioning trajectory does not match the lane graph, and if it is determined that the collation reliability is high, a positioning error has occurred, so the difference between the lane graph and the positioning trajectory Seems to have grown.

  Therefore, it is determined that the travel position on the map data has been correctly identified because the verification reliability is high, and it is determined that the positioning locus and the lane graph match, and the verification reliability is high. The same processing as that performed when it is determined is performed.

  However, there may be a case where the positioning result greatly deviates and collation is performed at another position similar to the road surface pattern different from the travel position on the map (for example, collation with another intersection several tens of meters away). . Therefore, the difference information generation unit 632 may generate difference information by reducing the value of the difference value according to the shift amount between the positioning locus and the lane graph.

  Also, in the comparison result by the lane graph comparison unit 631, when it is determined that the positioning locus and the lane graph do not match, and the traveling position specifying unit 630 determines that the reliability of matching is low In addition, the difference information generation unit 632 generates difference information based on each partial region of the road surface image generated by the travel position specifying unit 630 and each partial region on the positioning trajectory generated by the positioning trajectory generation unit 629. Generate.

  In this case, since the possibility of a new road is very high, the difference information generation unit 632 projects the positioning trajectory onto map data as shown in FIG. 30, and the difference between the partial areas on the projected positioning trajectory. A value is set to a predetermined value and generated as difference information.

  In addition, the difference information produced | generated by one process by the difference information production | generation part 632 is difference information in a part of map data, as shown in FIG. Therefore, it is efficient to store the difference information on the same map data and send the difference information to the next process at the timing when the traveling position of the host vehicle moves to the adjacent map data. The difference information can be retained by averaging the difference values of the partial areas. In addition, the number of times the difference value of each partial area is measured is registered as additional information.

  The communication unit 134 includes difference information generated by the difference information generation unit 632, position information representing the position of the host vehicle measured by the position measurement unit 128 and the travel position of the host vehicle specified by the travel position specifying unit 630, and Is transmitted to the server 614. The difference information is given unique information indicating a position for each partial region, and the difference database 644 described later is updated using the information.

  In addition, the communication unit 134 receives update information of map data transmitted from the server 614. As the position information, any one of the position of the host vehicle measured by the position measuring unit 128 and the travel position of the host vehicle specified by the travel position specifying unit 630 may be used.

[Server 614]
The server 614 includes a CPU, a ROM that stores a program for realizing a processing routine to be described later, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. Specifically, the communication unit 140 that receives the difference information and the position information transmitted from the in-vehicle device 612, the difference registration unit 642 that registers the difference information received by the communication unit 140 in the difference database 644, and the difference information is stored. A difference database 644, a change measurement unit 646 that sets a change amount of difference information stored in the difference database 644, and a map data update priority based on the change amount set by the change measurement unit 646 Based on the priority set by the priority setting unit 648 and the priority setting unit 648 The map database update unit 150 for updating the figure data, the map database 652 for storing the map data including the lane graph, and the difference update unit 654 for updating the difference information stored in the difference database 644 are used. be able to. The communication unit 140 is an example of a receiving unit, and the priority setting unit 648 is an example of an update information setting unit.

  Communication unit 140 receives difference information and position information transmitted from in-vehicle device 612 of the vehicle. Further, the communication unit 140 transmits update information of map data output from the map database update unit 150 described later to the in-vehicle device 612. Further, the communication unit 140 transmits request information for requesting sensor information of an area for updating the map data to the probe on-vehicle device 18. Further, the communication unit 140 receives sensor information transmitted from the probe on-vehicle device 18.

  The difference registration unit 642 stores the difference information in the difference database 644 in association with the point corresponding to the position information received by the communication unit 140. Specifically, the difference registration unit 642 registers the difference information in the corresponding storage area of the difference database 644 based on the position information on the map data given to the difference information.

  In the difference database 644, difference information stored in association with points is stored. FIG. 32 shows a conceptual diagram of the difference database 644.

  As shown in FIG. 32, difference information is stored for each point in the difference database 644, and the difference information of the corresponding point is updated. In the example of FIG. The number of measurements of each partial area 1032 and the average of the difference values included in the difference information are updated.

  Based on the difference information corresponding to the point stored in the difference database 644, the change measurement unit 646 sets an index of change at the point. The change measurement unit 646 sets an index of the change amount of the entire point for each point and stores the change in the difference database 644 in order to determine a priority to be described later. In this embodiment, the maximum value of the difference value of the partial areas registered for each point of the map data is set as the difference value of the entire point, and the priority is determined using this index. As the difference value for the entire point, the number of partial areas having a certain difference value or more can also be used. Moreover, since the number of times of accumulation can also be used for priority setting, a value for the entire point is set. Here, the number of measurements of the partial region having the maximum difference value is used, but the number of times the difference database 644 is updated may be set as the number of measurements.

  For each registered point, the priority setting unit 648 corresponds to the point based on the difference information corresponding to the point stored in the difference database 644 and the change amount index set by the change measuring unit 646. The update priority is set as information indicating whether or not the map data is updated. In the present embodiment, the update priority setting method is a five-level value from 1 to 5 (1: update not required, 5: update required) depending on a predetermined threshold value of the difference of the entire map. Set. In this case, the threshold value may be the same value at all points, or may be a different determination condition for each point.

  However, the magnitude of the difference value does not include the number of data measurements. If the number of measurements is small (≒ when the map has just been updated), it will be sufficient data if a large difference value is accidentally measured. In some cases, the update priority may be set high even though there is not. Therefore, when the number of times of measurement does not exceed a certain number, it is desirable to set the update priority low. However, in this case, there is a possibility that the required minimum number of measurements cannot be obtained even in a place where the traffic volume is low even after a long period. Therefore, the priority setting unit 648 may be configured so that the priority can be set higher by the difference value even when there is no minimum measurement number when a certain period has elapsed since the previous update.

  The difference update unit 654 updates the difference information at the point where the map data is updated. Specifically, the difference update unit 654 deletes all the difference information of the points where the map data has been updated so that difference information for the newly acquired map data can be recorded.

  When date and time information is added to the difference information, processing for deleting past difference information may be performed under a predetermined condition in consideration of the server capacity even when the map data is not updated. .

<Operation of map data update system>
Next, the operation of the map data update system 610 according to the sixth embodiment of the present invention will be described. When each of the vehicles equipped with the in-vehicle device 612 is traveling, the in-vehicle device 612 of each vehicle executes the transmission processing routine shown in FIG. 33, and the server 614 executes the update processing routine shown in FIG. .

  A transmission processing routine executed by the in-vehicle device 612 of each vehicle will be described. The in-vehicle device 612 executes the transmission processing routine shown in FIG. 33 when satellite signals are received by the GPS 124 and surrounding images of the host vehicle are sequentially captured by the camera 122.

<Transmission processing routine>
In step S603, the positioning trajectory generation unit 629 generates a positioning trajectory of the host vehicle from the time series of the position of the host vehicle measured in step S100.

  In step S604, the lane graph comparison unit 631 compares the positioning trajectory generated in step S603 with the lane graph included in the map data stored in the map database 620, and calculates the difference between the positioning trajectory and the lane graph. A value representing the sum is calculated.

  In step S605, the traveling position specifying unit 630 generates a road surface image obtained by projecting the surrounding image around the host vehicle acquired in step S102 on the road surface. And the traveling position specific | specification part 630 collates the road surface image on the map data obtained from the map database 620 corresponding to the position of the own vehicle measured by said step S100, and the produced | generated road surface image, The traveling position of the vehicle on the map data is specified. In addition, the traveling position specifying unit 630 calculates the reliability of matching between the road surface image and the map data.

  In step S606, the difference information generation unit 632 identifies the travel position according to the reliability of the comparison between the road surface image calculated in step S605 and the map data and the comparison result obtained by the lane graph comparison unit 631. Difference information representing a difference between the road surface image generated by the unit 630 and the map data stored in the map database 620 is generated.

  In step S608, the communication unit 134 includes the difference information generated in step S606, the position of the host vehicle measured in step S100, and the position information indicating the traveling position of the host vehicle specified in step S605. Send to server 614.

  Next, the operation of the server 614 will be described. When the communication unit 140 of the server 614 receives the difference information and the position information transmitted from the in-vehicle device 612, the difference registration unit 642 associates the difference information with the point corresponding to the position information received by the communication unit 140. Store in the difference database 644. The difference registration unit 642 of the server 614 stores the difference information in the difference database 644 every time the position information and the difference information are received.

  And the server 14 performs the update process routine shown in the said FIG. 9 for every predetermined period.

  In addition, about the other structure and effect | action of the map data update system 610 which concern on 6th Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, according to the map data update system of the sixth embodiment, the identification result of the traveling position of the host vehicle on the map data identified by the traveling position identifying unit 630 and the lane graph comparing unit 631 The necessity for updating at each position of the map data can be determined by generating difference information according to the obtained comparison result.

  In addition, according to the difference between the driving position of the vehicle and the lane graph on the map data, and the difference between the road surface image obtained from the external environment information of the vehicle and the road surface image on the map data, It becomes possible to determine the necessity and priority of updating.

  In the sixth embodiment, a case has been described in which difference information is generated according to the result of specifying the traveling position of the host vehicle on the map data and the result of comparison between the lane graph and the positioning locus of the vehicle. However, the present invention is not limited to this.

For example, you may produce | generate difference information only according to the specific result of the driving position of the own vehicle on map data. In this case, for example, when it is determined that the reliability of the collation for specifying the traveling position of the host vehicle on the map data is high, the difference information generation unit 632 displays the difference information as shown in FIG. Is generated.
On the other hand, when it is determined that the verification reliability is low, the difference information generation unit 632 assumes that the positioning trajectory matches the lane graph, and projects the positioning trajectory on the road surface image of the map data. As shown in FIG. 28, the process for generating the difference information may be performed, or it may be determined that the difference value included in the difference information is not calculated.

Further, difference information may be generated only according to the comparison result between the positioning locus and the lane graph obtained by the lane graph comparison unit 631. In this case, for example, when it is determined that the positioning trajectory and the lane graph do not match, the difference information generation unit 632 includes each partial region of the road surface image generated by the travel position specifying unit 630 and the positioning. Difference information may be generated based on each partial region on the positioning locus generated by the locus generation unit 629 as shown in FIG.
On the other hand, when it is determined that the positioning trajectory and the lane graph match, the difference information generation unit 632 assumes that the position of the vehicle at the current time in the positioning trajectory is a position on the road surface image of the map data. As shown in FIG. 27, the process of generating the difference information may be performed, or it may be determined not to calculate the difference value included in the difference information.

In the sixth embodiment, when the road image is included in the map data, the road image generated by the travel position specifying unit 630 and the road image of the map data stored in the map database 620 are displayed. Although the case where difference information representing the difference between the two is generated has been described as an example, the present invention is not limited to this. For example, when the map data includes target information as shown in FIG. 34 (for example, the type or position information such as a signal or a sign), the difference information is generated using an in-vehicle sensor. Difference information can also be generated for target information. The target information is an example of the surrounding environment information generated from the external environment information.
In this case, the object at the collation position on the map data is determined according to the result of identifying the travel position of the host vehicle on the map data identified by the travel position identifying unit 630 and the comparison result obtained by the lane graph comparison unit 631. The difference between the target information and the target information generated from the detection result corresponding to the matching position detected by the in-vehicle sensor is calculated as difference information.
For example, as shown in the drawing shown on the left side of FIG. 34, the target information generated from the detection result by the in-vehicle camera, and the map data near the lane graph that is most similar to the traveling locus like the drawing shown on the right side of FIG. The target information is divided into partial areas, the difference in the type and number of the target is obtained in each corresponding partial area, and the number of differences can be used as difference information.

[Seventh Embodiment]
Next, a seventh embodiment of the present invention will be described. In addition, about the part which becomes the same structure as the 1st-6th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The seventh embodiment is different from the first to sixth embodiments in that the travel position specifying unit and the position error measurement unit that are mounted on the in-vehicle device side are mounted on the server side.

  When a large amount of image data can be transmitted from the in-vehicle device to the server and the processing performance of the server is high, the traveling position specifying unit and the position error measuring unit in the first embodiment can be implemented on the server side. The data transmitted in this case is the vehicle position and image data. When the above processing is performed on the server side, data is individually processed from a plurality of vehicles to generate error information, and the generated individual error information is registered.

<Configuration of Map Data Update System 710 According to Seventh Embodiment>
As shown in FIG. 35, the map data update system 710 according to the seventh embodiment of the present invention receives the in-vehicle device 712 provided in the vehicle and the information transmitted from the in-vehicle device 712 to obtain error information. A server 714 that updates the map database according to the error information, and a probe on-vehicle device 18 that transmits sensor information for updating the map data to the server 714 based on the signal output from the server 714. I have. The on-vehicle device 712, the server 714, and the probe on-vehicle device 18 are connected via a network 16 such as the Internet. The on-vehicle device 712 is an example of a mounting device.

[In-vehicle device 712]
The in-vehicle device 712 includes a map database 120 in which map data is stored, a camera 122 that captures surrounding images of the host vehicle, a GPS 124 that receives satellite signals transmitted from positioning satellites, and an image captured by the camera 122. And a computer 726 for transmitting a vehicle peripheral image and a satellite signal received by the GPS 124. The in-vehicle device 712 is mounted on the vehicle.

  The computer 726 includes a CPU, a RAM, and a ROM that stores a program for executing a transmission processing routine described later, and is functionally configured as follows. The computer 726 includes a position measurement unit 128, a communication unit 734 that transmits the position of the host vehicle measured by the position measurement unit 128, and a peripheral image around the host vehicle captured by the camera 122, and a server A map database update unit 136 that updates the map data stored in the map database 120 according to the update information of the map data transmitted from 714.

[Server 714]
The server 714 is configured by a server including a CPU, a ROM that stores a program for realizing a processing routine to be described later, a RAM that temporarily stores data, a memory as a storage unit, a network interface, and the like. Specifically, the communication unit 740 that receives the satellite signal transmitted from the in-vehicle device 712 and the surrounding image of the vehicle, the map data on the basis of the vehicle position received by the communication unit 740 and the surrounding image of the vehicle Error position information that represents the difference between the vehicle position received by the communication position 740 and the vehicle position specified by the vehicle position specifying unit 130 is calculated. The position error measuring unit 132 and the vehicle position received by the communication unit 740 and the travel position specifying unit 130 are specified. An error registration unit 142 that stores the error information calculated by the position error measurement unit 132 in the error database 144 in association with a point corresponding to the position information that represents the travel position of the vehicle, and an error database in which the error information is stored 144, a change measurement unit 146 that measures the change amount of the error information stored in the error database 144, and a priority setting that sets the update priority of the map data based on the change amount measured by the change measurement unit 146 Unit 148, a map database update unit 150 that updates map data based on the priority set by the priority setting unit 148, a map database 152 that stores map data, and error information that is stored in the error database 144 Can be expressed by a configuration including an error updating unit 154 for updating the.

  For each vehicle, the travel position specifying unit 130 specifies the travel position of the host vehicle on the map data based on the position of the vehicle received by the communication unit 740 and surrounding images around the vehicle.

  The position error measurement unit 132 calculates, for each vehicle, error information representing a difference between the vehicle position received by the communication unit 740 and the vehicle travel position specified by the travel position specifying unit 130.

<Operation of map data update system>
Next, operation | movement of the map data update system 710 which concerns on the 7th Embodiment of this invention is demonstrated.

  First, the operation of the in-vehicle device 712 will be described. When each vehicle equipped with the in-vehicle device 712 is traveling, the communication unit 734 of the in-vehicle device 712 of each vehicle detects the position of the own vehicle measured by the position measuring unit 128 and the image captured by the camera 122. The peripheral image around the vehicle is transmitted to the server 714.

  Next, the operation of the server 714 will be described. When the communication unit 740 of the server 714 receives the position of the vehicle and the surrounding image around the vehicle transmitted from the in-vehicle device 712, the server 714 executes a registration processing routine shown in FIG. 36 for each vehicle.

<Registration processing routine>
In step S <b> 702, the traveling position specifying unit 130 acquires a peripheral image around the vehicle received by the communication unit 740 as external environment information.

  In step S704, the travel position specifying unit 130 is based on the vehicle position received by the communication unit 740, the surrounding image of the vehicle acquired in step S702, and the map data stored in the map database 152. The vehicle travel position on the map data is specified.

  In step S706, the position error measurement unit 132 calculates error information indicating the difference between the vehicle position received by the communication unit 740 and the vehicle travel position specified in step S704.

  In step S708, the error registration unit 142 stores the error information calculated in step S706 in the error database 144 in association with the point corresponding to the position information of the vehicle.

  As described above, according to the map data update system of the seventh embodiment of the present invention, the position of the vehicle measured by the position measuring unit 128 provided in the in-vehicle device and the travel position provided in the server. Error information indicating a difference from the travel position specified by the specifying unit 130 is calculated, the calculated error information and the position information are associated with each other, the error information is stored in the error database, and the position information stored in the error database is stored. By setting the priority corresponding to the position information based on the error information corresponding to, it is possible to determine the necessity of updating at each position of the map data.

  Note that the present invention is not limited to the embodiment described with reference to the drawings, and various modifications can be applied without departing from the scope of the invention.

  For example, the system configuration described in the seventh embodiment may be applied to the second and fifth embodiments. In this case, the vehicle-mounted device side is provided with a position measurement unit, and the server side is provided with a travel position specifying unit, a travel trajectory generation unit, a host vehicle motion estimation unit, a cumulative trajectory generation unit, and a position error measurement unit. Also good.

  Further, the system configuration described in the seventh embodiment may be applied to the sixth embodiment. In this case, a position measurement unit may be provided on the in-vehicle device side, and a travel position specifying unit, a positioning locus generation unit, a lane graph comparison unit, and a difference information generation unit may be provided on the server side.

  Moreover, in the said embodiment, although the position measurement part 128 demonstrated as an example the case where the position of the own vehicle was measured based on the satellite signal received by GPS124, it is not limited to this, GPS124 The position of the host vehicle may be measured by combining the satellite signal received by the control unit and CAN information (Controller Area Network) (for example, vehicle speed, yaw angular velocity, etc.). Alternatively, the position measurement unit 128 may measure the current position of the host vehicle based on the past measurement result of the position of the host vehicle.

  Moreover, in the said embodiment, although the case where the road surface image which the own vehicle drive | works was recorded with respect to each point on the map data stored in the map database was demonstrated to the example, it is limited to this. It is not a thing. For example, three-dimensional position information (distance information) of a three-dimensional object around which the host vehicle travels may be recorded for each point on the map data. When the three-dimensional position information of the three-dimensional object is recorded for each point on the map data, the traveling position specifying unit can detect the three-dimensional position information of the three-dimensional object obtained from the stereo camera or the three-dimensional object obtained from the laser radar. The travel position can be specified using the three-dimensional position information of the object, and the difference information in the three-dimensional position information can be generated.

  Moreover, in the said embodiment, although the change measurement part demonstrated as an example the case where the average value of the difference information registered for every point was calculated as a variation | change_quantity, it is not limited to this, The amount of change may be calculated by a method.

  Moreover, in the said embodiment, although the own vehicle motion estimation part demonstrated as an example the case where the momentum of the own vehicle was estimated based on the external environment information of the own vehicle or the driving state of the own vehicle, it is limited to this. For example, the momentum of the host vehicle may be estimated based on the external environment information of the host vehicle and the traveling state of the host vehicle.

  In the above embodiment, the case where the vehicle and the probe vehicle are distinguished from each other has been described as an example. However, the present invention is not limited to this, and the vehicle and the probe vehicle need not be distinguished.

  In the first to sixth embodiments, the position measurement unit and the travel position measurement unit are provided on the in-vehicle device side, and in the seventh embodiment, the travel position measurement unit is provided on the server side. However, the present invention is not limited to this. The arrangement of each processing unit in the in-vehicle device and the server may be any arrangement as long as the map data update system of the present embodiment can be realized.

  The program of the present invention may be provided by being stored in a storage medium.

10, 210, 310, 410, 510, 610, 710 Map data update system 12, 212, 312, 412, 512, 612, 712 Vehicle-mounted device 14, 314, 414, 614, 714 Server 16 Network 18 Probe vehicle-mounted device 122 Camera 120, 152, 620, 652 Map database 126, 226, 326, 426, 526, 626, 726 Computer 128 Position measuring unit 130, 630 Traveling position specifying unit 132, 236 Position error measuring unit 134, 140, 334, 434, 734 , 740 Communication unit 136, 150 Map database update unit 142 Error registration unit 144 Error database 146, 346, 446, 646 Change measurement unit 148, 648 Priority setting unit 154 Error update unit 232, 532 Self-motion estimation unit 230 Locus generating unit 234 cumulative trajectory generation unit 333,433 determination unit 629 positioning trace generation unit 631 lane graph comparing unit 632 difference information generating unit 642 difference registration unit 644 differential database 654 the difference update portion

Claims (20)

The position of the moving body measured based on the satellite signal transmitted from the positioning satellite, the position of the moving body and at least one of the external environment information representing the environment around the moving body, and map data, Difference registration means for associating difference information representing a difference with the travel position of the mobile object on map data and position information representing at least one of the position of the mobile object and the travel position in a difference database;
Update information setting means for setting, for each position information, information indicating whether or not to update the map data corresponding to the position information based on difference information corresponding to the position information stored in the difference database. An information processing apparatus comprising: A travel locus of the mobile body generated from a time series of travel positions on the map data of the mobile body, identified based on external environment information representing the environment around the mobile body and map data;
Difference information representing a difference between the moving environment and the accumulated trajectory of the moving object generated from the time series of the momentum of the moving object, generated based on at least one of the external environment information and the traveling state of the moving object; Difference registration means for associating and storing position information representing the difference information in the difference database;
Update information setting means for setting, for each position information, information indicating whether or not to update the map data corresponding to the position information based on difference information corresponding to the position information stored in the difference database. An information processing apparatus comprising:   The update information setting means measures, for each position information, a change amount in the position information based on difference information corresponding to the position information stored in the difference database, and in the measured position information. The information processing apparatus according to claim 1, wherein information indicating whether to update the map data corresponding to the position information is set based on a change amount.   The update information setting means measures, for each position information, an average of the difference information in the position information as the change amount based on difference information corresponding to the position information stored in the difference database, and The information processing apparatus according to claim 3, wherein information indicating whether to update the map data corresponding to the position information is set based on an average time series of the difference information in the measured position information.   The update information setting means measures, for each of the position information, the variance of the difference information in the position information as the change amount based on the difference information corresponding to the position information stored in the difference database, The information processing apparatus according to claim 3, wherein information indicating whether or not to update the map data corresponding to the position information is set based on a time series of dispersion of the difference information in the measured position information.   The update information setting means sets the number of the difference information in the position information equal to or greater than a predetermined threshold based on the difference information corresponding to the position information stored in the difference database for each position information. The information representing whether or not to update the map data corresponding to the position information is set based on a time series of the number of the difference information in the measured position information. The information processing apparatus described in 1. Identified from the comparison result between the position of the moving body measured based on the satellite signal transmitted from the positioning satellite and the road information included in the map data, and the external environment information representing the environment around the moving body and the map data Positioning of the moving body generated from the surrounding environment information generated from the external environment information and the position of the moving body, generated according to at least one of the results of specifying the traveling position of the moving body on the map data Difference registration means for associating difference information representing a difference between at least one of a trajectory and the map data and position information representing at least one of the position of the moving body and the travel position in a difference database;
Update information setting means for setting, for each position information, information indicating whether or not to update the map data corresponding to the position information based on difference information corresponding to the position information stored in the difference database. An information processing apparatus comprising: The difference information includes a comparison result between a positioning locus of the moving object generated from a position of the moving object and road information included in map data for a range in which predetermined difference information is generated, and the external environment. Generated according to at least one of the results of specifying the travel position of the mobile body in a range for generating the predetermined difference information on the map data specified from information and map data;
The information processing apparatus according to claim 7, wherein the difference information is generated for each of a plurality of partial areas obtained by dividing an area in a range where the predetermined difference information is generated. A map data update system comprising a mounting device provided in a moving body and the information processing device according to claim 1,
The mounting device is
External environment detection means for detecting external environment information representing the environment around the mobile body;
Position measuring means for measuring the position of the moving body based on the satellite signal transmitted from the positioning satellite;
A transmission means for transmitting the external environment information detected by the external environment detection means and position information representing the position of the moving body measured by the position measurement means to the information processing apparatus;
The information processing apparatus includes:
The map data update system in which the difference registration unit associates the difference information indicating a difference with the position of the moving body measured by the position measurement unit and the position information, and stores the difference information in a difference database. A map data update system comprising a mounting device provided in a moving body and the information processing device according to claim 2,
The mounting device is
External environment detection means for detecting external environment information representing the environment around the mobile body;
Transmission means for transmitting the external environment information detected by the external environment detection means to the information processing apparatus,
The information processing apparatus includes:
The difference registration means represents the difference information representing a difference from the travel locus generated from a time series of the travel positions specified based on the external environment information detected by the external environment detection means; and the travel position A map data update system that stores the difference information in a difference database in association with position information representing the difference. A map data update system comprising a mounting device provided in a moving body and the information processing device according to claim 7,
The mounting device is
External environment detection means for detecting external environment information representing the environment around the mobile body;
Position measuring means for measuring the position of the moving body based on the satellite signal transmitted from the positioning satellite;
The external environment information detected by the external environment detection means, and transmission means for transmitting position information representing the position of the moving body measured by the position measurement means to the information processing apparatus,
The information processing apparatus includes:
In accordance with at least one of the comparison result between the positioning locus of the moving object generated from the position of the moving object measured by the position measuring means and the road information included in the map data, and the specifying result. Difference information representing the difference between the map data and at least one of the surrounding environment information generated from the external environment information and the positioning locus of the moving object generated from the position of the moving object, and the movement A map data update system for storing the difference information in a difference database in association with position information representing at least one of a body position and the travel position. The mounting device is
At least one of the external environment information detected by the external environment detection means for detecting the external environment information representing the position of the mobile body measured by the position measurement means and the environment around the mobile body, and map data Based on the travel position specifying means for specifying the travel position of the mobile body on the map data,
Difference information generating means for calculating difference information representing a difference between the position of the moving body measured by the position measuring means and the traveling position identified by the traveling position identifying means;
The difference information calculated by the difference information generating means, and position information representing at least one of the position of the moving body measured by the position measuring means and the traveling position specified by the traveling position specifying means. Transmission means for transmitting to the information processing apparatus,
The information processing apparatus includes:
And further comprising receiving means for receiving the difference information and the position information transmitted by the transmitting means,
The map data update system according to claim 9, wherein the difference registration unit stores the difference information in a difference database in association with the position information received by the receiving unit. The mounting device is
Based on the external environment information detected by the external environment detection means and map data, a travel position specifying means for specifying a travel position on the map data of the mobile body,
A travel locus generating means for generating a travel locus of the moving body based on a time series of the travel positions specified by the travel position specifying means;
A momentum estimating means for estimating a momentum of the moving body based on at least one of the external environment information and the traveling state of the moving body;
A cumulative trajectory generating means for generating a cumulative trajectory of the moving body based on the time series of the momentum estimated by the momentum estimating means;
Difference information generating means for calculating difference information representing a difference between the traveling locus generated by the traveling locus generating means and the accumulated locus generated by the accumulated locus generating means;
Transmission means for transmitting the difference information calculated by the difference information generating means and position information representing the traveling position specified by the traveling position specifying means to the information processing apparatus;
The information processing apparatus includes:
And further comprising receiving means for receiving the difference information and the position information transmitted by the transmitting means,
The map data update system according to claim 10, wherein the difference registration unit stores the difference information in a difference database in association with the position information received by the receiving unit. The mounting device is
A comparison means for comparing the position of the moving body measured by the position measurement means with road information included in the map data;
At least one of the external environment information detected by the external environment detection means for detecting the external environment information representing the position of the mobile body measured by the position measurement means and the environment around the mobile body, and map data Based on the travel position specifying means for specifying the travel position of the mobile body on the map data,
Difference information generating means for generating difference information representing a difference between the external environment information and the map data based on at least one of the comparison result obtained by the comparison means and the identification result obtained by the travel position specifying means. When,
The difference information calculated by the difference information generating means, and position information representing at least one of the position of the moving body measured by the position measuring means and the traveling position specified by the traveling position specifying means. Transmission means for transmitting to the information processing apparatus,
The information processing apparatus includes:
And further comprising receiving means for receiving the difference information and the position information transmitted by the transmitting means,
The map data update system according to claim 11, wherein the difference registration unit stores the difference information in a difference database in association with the position information received by the receiving unit. The mounting device is
According to at least one of the difference information calculated by the difference information generating means, the travel date and time when the mobile body traveled, and the number of times the mobile body traveled a place on the map data corresponding to the position information , Further comprising determination means for determining whether to transmit the difference information and the position information,
The map data update system according to any one of claims 12 to 14, wherein the transmission unit transmits the difference information and the position information in accordance with a determination result determined by the determination unit. The mounting device is
A determination means for determining whether to transmit data from the mounting device according to at least one of a travel date and time when the mobile body travels and a number of times the mobile body travels a position on the map data; Prepared,
The map data update system according to any one of claims 9 to 15, wherein the transmission unit transmits the data according to a determination result determined by the determination unit. The information processing apparatus includes:
Map data update means for updating the map data based on information indicating whether or not to update the map data set by the update information setting means;
The travel position of the mobile body on the map data is specified based on the external environment information and the map data updated by the map data update means. The map data update system described. Computer
The position of the moving body measured based on the satellite signal transmitted from the positioning satellite, the position of the moving body and at least one of the external environment information representing the environment around the moving body, and map data, Difference registration means for associating difference information representing a difference between the travel position of the mobile object on map data and position information representing at least one of the position of the mobile object and the travel position in a difference database; and Update information setting means for setting, for each position information, information indicating whether or not to update the map data corresponding to the position information based on difference information corresponding to the position information stored in the difference database. Program to function as. Computer
A travel locus of the mobile body generated from a time series of travel positions on the map data of the mobile body, identified based on external environment information representing the environment around the mobile body and map data;
The difference information representing the difference between the moving environment and the accumulated trajectory of the moving object generated from the time series of the momentum of the moving object generated based on at least one of the external environment information and the traveling state of the moving object, and the traveling position. Differential registration means for associating the positional information to be represented and storing it in the differential database, and for each of the positional information, based on the differential information corresponding to the positional information stored in the differential database, the position information corresponding to the positional information A program for functioning as update information setting means for setting information indicating whether or not to update map data. Computer
Identified from the comparison result between the position of the moving body measured based on the satellite signal transmitted from the positioning satellite and the road information included in the map data, and the external environment information representing the environment around the moving body and the map data Positioning of the moving body generated from the surrounding environment information generated from the external environment information and the position of the moving body, generated according to at least one of the results of specifying the traveling position of the moving body on the map data Difference registration means for associating difference information representing a difference between at least one of a trajectory and the map data with position information representing at least one of the position of the moving body and the traveling position in a difference database; and For each position information, the map data corresponding to the position information is updated based on the difference information corresponding to the position information stored in the difference database. A program for functioning as update information setting means for setting information indicating whether or not to perform.