JP2022017412A - Feature point generation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a feature point generation method, a feature point generation device, a feature point generation program, and a recording medium recording the feature point generation program, capable of generating feature points of a traveling road.

SOLUTION: A server generates a feature point as a candidate of a node of a traveling road based on a travel track of a moving body. The server acquires the travel track from an on-vehicle machine via a network. The server extracts a linear component from the travel track, and obtains an intersection point of an extended line of the extracted linear line component and the extended line of another linear line component adjacent to the linear line component in the travel track. Then, if the travel track passes from the intersection point into a predetermined range, the server generates the intersection point as the feature point.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a method for generating feature points.

When a vehicle travels on a new route that does not exist on the map represented by the existing map data, such as a newly opened route, the map data is updated by estimating the shape of the new route from the vehicle's position information and driving direction. (Patent Document 1).

When the above technology is used for intersections and driving roads with many corners such as driving roads in parking lots, not only the shape but also the generation of feature points for identifying intersections and corners can be used for navigation and autonomous driving. It is indispensable for using it. However, in the technique of Patent Document 1, one example is the problem that new feature points are not generated only by inferring the shape of the new traveling path.

Japanese Unexamined Patent Publication No. 2014-235510

The present invention is an example of a problem to deal with such a problem. That is, it is an object of the present invention to provide, for example, a feature point generation method capable of generating feature points on a traveling path, a feature point generation device, a feature point generation program, and a recording medium on which the feature point generation program is recorded. It is supposed to be.

The feature point generation method according to claim 1, which has been made to solve the above-mentioned problems, is a feature point generation method for generating feature points that are candidates for a node of a travel path based on a travel locus of a moving body. An acquisition step for acquiring the traveling locus, an extraction step for extracting a linear component from the traveling locus, an extension line of the extracted linear component, and an extension line of another linear component adjacent to the linear component in the traveling locus. It is characterized by including a first generation step of generating the intersection of and the above as the feature point.

Further, the feature point generation device according to claim 5 is a feature point generation device that generates feature points that are candidates for nodes of the travel path based on the travel locus of the moving body, and is an acquisition unit that acquires the travel locus. The feature point is the intersection of the extraction unit that extracts the linear component from the traveling locus, the extension line of the extracted linear component, and the extension line of another linear component adjacent to the linear component in the traveling locus. It is characterized by including a first generation unit generated as.

The feature point generation program according to claim 6 is a feature point generation program that causes a computer to generate feature points that are candidates for a node of a travel path based on a travel locus of a moving body, and the computer is used to generate the feature points. An acquisition unit for acquiring a travel locus, an extraction unit for extracting a linear component from the travel locus, an extension line of the extracted linear component, and an extension line of another linear component adjacent to the linear component in the travel locus. It is characterized in that it functions as a first generation unit that generates the intersection of the above as the feature point.

The recording medium according to claim 7 is characterized in that the feature point generation program according to claim 7 is recorded.

It is a system configuration using the feature point generation device and the link information generation device according to the embodiment of the present invention. It is a flowchart of the operation which concerns on the feature point generation of the feature point generation apparatus shown in FIG. It is explanatory drawing which showed the specific example of the feature point generation. It is explanatory drawing which showed the specific example of the feature point generation. It is explanatory drawing which showed the specific example of the feature point generation. It is explanatory drawing which showed the modification of the feature point generation. It is explanatory drawing which showed the concrete example of the feature point integration. It is a flowchart of the operation concerning the feature point generation apparatus shown in FIG. (A) shows the integration result when the traveling locus is small, and (B) shows the integration result when the traveling locus is large. It is explanatory drawing which showed the specific example of the link information generation. It is explanatory drawing which showed the specific example of the link information generation. It is a flowchart of the operation concerning the link information generation apparatus shown in FIG. It is explanatory drawing which showed the specific example of the link information generation. It is explanatory drawing which showed the specific example of the link information generation.

The feature point generation method according to one embodiment of the present invention is a feature point generation method for generating feature points that are candidates for a node of a travel path based on a travel locus of a moving body, and is an acquisition method for acquiring the travel locus. The feature is the intersection of the step, the extraction step of extracting the linear component from the traveling locus, the extension line of the extracted linear component, and the extension line of another linear component adjacent to the linear component in the traveling locus. It is characterized by including a first generation step of generating points. As a result, it is possible to generate feature points of the traveling path suitable for the use of navigation and automatic driving.

Further, when the traveling locus does not exist within a predetermined range centered on the intersection, or when the intersection does not exist, the locus from the point deviating from the linear component of the traveling locus to the other linear component. The second generation step of generating the intersection of the tangent line and the extension line of the linear component and the intersection point of the tangent line and the extension line of the other linear component as the feature points may be included. As a result, it is possible to generate feature points that are more suitable for navigation and automatic driving.

Further, the tangent line may be a tangent line at the center of the locus.

Further, a third generation step of generating a point in which the change in the inclination angle of the traveling locus is equal to or more than a predetermined angle as the feature point may be included. As a result, it is possible to generate feature points that are more suitable for navigation and automatic driving.

Further, the feature point generation device according to the embodiment of the present invention is a feature point generation device that generates feature points that are candidates for nodes of the travel path based on the travel locus of the moving body, and acquires the travel locus. The intersection of the acquisition unit, the extraction unit that extracts the linear component from the traveling locus, the extension line of the extracted linear component, and the extension line of another linear component adjacent to the linear component in the traveling locus. It is characterized by including a first generation unit generated as the feature point. This makes it possible to generate feature points on new roads.

Further, a feature point generation program may be used in which the above-mentioned feature point generation method is executed by a computer. Since the program is executed by a computer in this way, it does not require dedicated hardware or the like, and can be installed in a general-purpose information processing device to function.

Further, the feature point generation program described above may be stored in a computer-readable recording medium. By doing so, the program can be distributed as a single unit in addition to being incorporated in the device, and version upgrades and the like can be easily performed.

The feature point generation device and the link information generation device of the present invention will be described with reference to FIGS. 1 to 14. A server 10 as a feature point generation device and a link information generation device according to an embodiment of the present invention includes a communication unit 11, a feature point generation unit 12, a link information generation unit 13, and a storage unit 14. There is.

The communication unit 11 communicates with the vehicle-mounted device 20 described later via a network N such as the Internet. The communication unit 11 receives, for example, a traveling locus such as a vehicle (moving body) position information (latitude, longitude), a traveling direction, and an inclination angle acquired by the vehicle-mounted device 20. Further, when the vehicle-mounted device 20 is a device that requires map data such as a navigation device, the communication unit 11 stores the map data stored in the storage unit 14 described later in response to a request from the vehicle-mounted device 20. Send.

The feature point generation unit 12 generates feature points that are candidates for nodes on the travel path based on the travel locus received from the communication unit 11.

The link information generation unit 13 generates a link connecting the feature points generated by the feature point generation unit 12.

The storage unit 14 stores the feature points generated by the feature point generation unit 12 and the links generated by the link information generation unit 13. Further, the storage unit 14 accumulates and stores the traveling loci received from the plurality of vehicle-mounted devices 20. Further, the storage unit 14 stores existing map data in which the travel path of the vehicle is indicated by a node, a link, or the like.

In the above description, the feature point generation unit 12 and the link information generation unit 13 function as an arithmetic unit such as a CPU (Central Processing Unit) of the server 10. Further, in the communication unit 11, the network interface of the server 10 or the like functions. The storage unit 14 functions as a storage medium such as a hard disk of the server 10. Therefore, by configuring the flowcharts of FIGS. 2, 8 and 12, which will be described later, executed by the feature point generation unit 12 and the link information generation unit 13 as a computer program executed by the CPU, the feature point generation program and the link information generation are generated. It can be a program. Further, when the feature point generation unit 12 and the link information generation unit 13 execute the flowcharts shown in FIGS. 2, 8 and 12, the server 10 implements the feature point generation method and the link information generation method of the present invention. ..

The on-board unit 20 is mounted on the vehicle and collects and transmits a traveling locus to the server 10. Further, when the vehicle-mounted device 20 is configured as a navigation device, the vehicle-mounted device 20 requests the generated map data from the server 10 as needed.

The on-board unit 20 includes a communication unit 21, a control unit 22, and a vehicle information acquisition unit 23.

The communication unit 21 communicates with the server 10 via a network N such as the Internet. The communication unit 21 transmits a traveling locus including the vehicle position information (latitude, longitude), traveling direction, inclination angle, etc. acquired by the vehicle information acquisition unit 23. In this embodiment, as shown in FIG. 3, for example, the traveling locus is composed of point cloud data representing a position (latitude, longitude) on the locus on which the vehicle traveled, and the traveling direction at the point representing the position. , Tilt angle, etc. are added.

Further, when the in-vehicle device 20 is a device such as a navigation device that requires map data, the communication unit 21 requests the map data from the server 10 under the control of the control unit 22 or the like, and transmits the map data from the server 10. Receive the created map data.

The control unit 22 controls the entire control of the vehicle-mounted device 20. The control unit 22 causes the communication unit 21 to transmit the vehicle position information (latitude, longitude), traveling direction, inclination angle, etc. collected by the vehicle information acquisition unit 23 to the server 10 as a traveling locus.

The vehicle information acquisition unit 23 is connected to a GPS (Global Positioning System) receiver, a gyro sensor, various sensors such as a vehicle speed pulse, a receiver, and the like. The vehicle information acquisition unit 23 collects information such as both position information (latitude, longitude), traveling direction, and inclination angle from the above-mentioned sensors and the like.

The in-vehicle device 20 is not limited to the car navigation system installed on the instrument panel of the vehicle, and may be, for example, a portable device such as a smartphone. That is, the on-board unit 20 may be detachably installed in the vehicle.

In the above description, the control unit 22 functions as an arithmetic unit such as a CPU of the vehicle-mounted device 20. Further, in the communication unit 21, the communication circuit, the antenna, and the like of the vehicle-mounted device 20 function. Further, the vehicle information acquisition unit 23 functions as an interface circuit or the like with various sensors.

Next, the operation of the server 10 and the vehicle-mounted device 20 having the above-described configuration will be described. The on-board unit 20 transmits the travel locus to the server 10 at a predetermined timing such as every fixed time or every time the vehicle travels a certain distance. The server 10 functions as an acquisition unit, receives (acquires) a travel locus from the vehicle-mounted device 20, and sequentially stores it in the storage unit 14.

The server 10 (feature point generation unit 12) described above executes the feature point generation process shown in FIG. 2 at a predetermined timing such as every time a travel locus is received or every fixed period. The server 10 reads out one of the plurality of travel loci stored in the storage unit 14 for which the feature point generation process has not been executed (step S1). Subsequently, the server 10 uses a well-known map matching technique to determine whether or not the read travel locus is a travel locus that deviates from the travel path included in the map data (step S2).

When the server 10 determines that the travel locus is a travel path included in the map data (N in step S2), the server 10 ends the process.

On the other hand, when the server 10 determines that the travel locus is a locus deviating from the travel path included in the map data (Y in step S2), the server 10 proceeds to steps S3 to S13 and selects a node of the travel path from the travel locus. Generate feature points.

First, the server 10 functions as an extraction unit and extracts a linear component from the traveling locus by using a well-known linear extraction technique (step S3). Next, as shown in FIG. 3A, the server 10 has an extension line LPn of the extracted linear component LSn and an extension line LPn + 1 of another linear component LSn + 1 adjacent to the linear component LSn in the traveling locus. Find the intersection (step S4). If the server 10 can obtain the intersection in step S4 (Y in step S5), the server 10 uses the intersection obtained in step S4 as the feature point candidate Pcn as shown in FIG. 3 (B) (step S6).

Next, the server 10 determines whether or not the traveling locus exists in the predetermined range A1 centered on the feature point candidate Pcn (step S7). In this embodiment, the predetermined range A1 is an area within a circle centered on the feature point candidate Pcn, but is not limited to this. The predetermined range A1 may have any shape as long as it is centered on the feature point candidate Pcn.

As shown in FIG. 3B, when the server 10 has a traveling locus within a predetermined range A1 centered on the feature point candidate Pcn (Y in step S7), the server 10 is shown in FIG. 3C. After functioning as the first generation unit and determining the feature point candidate Pcn as the feature point Pfn (step S8), the process proceeds to step S13.

On the other hand, when the server 10 does not have a traveling locus within a predetermined range A1 centered on the feature point candidate Pcn, for example, when the radius of curvature of the traveling locus is large, as shown in FIG. 4A (in step S5). N), the process proceeds to step S9. Further, the server 10 proceeds to step S9 even when the intersection of the extension lines LPn and LPn + 1 cannot be formed (N in step S5), for example, as in the trajectory of crank movement as shown in FIG.

In step S9, as shown in FIGS. 4B and 5, the server 10 is tangent to the center of the locus from the point Pn deviating from the linear component LSn to the point Pn + 1 on the other linear component LSn + 1. Find Ltn. Then, the server 10 uses the intersection of the obtained tangent line Ltn and the extension line LPn of the linear component LSn as the feature point candidate Pcn1 and the intersection of the obtained tangent line Ltn and the extension line LPn + 1 of the straight line component LSn + 1 as the feature point candidate Pcn2. (Step S10).

After that, the server 10 determines whether or not the traveling locus exists in the predetermined range A1 centered on the feature point candidates Pcn1 and Pcn2, as in step S7 (step S11). When the traveling locus exists in the predetermined range A1 centered on the feature point candidates Pcn1 and Pcn2 (Y in step S11), the server 10 functions as a second generation unit, and the feature point candidates Pcn1 and Pcn2 are set as feature points Pfn. After confirming, the process proceeds to step S13. On the other hand, if the traveling locus does not exist in the predetermined range A1 centered on the feature point candidates Pcn1 and Pcn2 (N in step S11), the server 10 proceeds to step S13 without determining the feature point Pfn.

After that, the server 10 determines whether or not the process of determining the feature points of steps S4 to S12 has been executed for all the linear components adjacent to each other in the traveling locus (step S13). If the feature points have not been determined for all the adjacent linear components (N in step S13), the process of returning to step S4 and executing the process of determining the feature points for the next adjacent linear components LSn + 1 and LSn + 2 on the traveling locus is executed. ..

According to the feature point generation process described above, the server 10 extracts a linear component from the traveling locus, and extends the extension line LPn of the extracted linear component LSn and another linear component LSn + 1 adjacent to the linear component LSn in the traveling locus. The feature point candidate Pcn, which is the intersection of the line LPn + 1, is generated as the feature point Pfn. As a result, feature points can be generated at positions that are candidates for nodes such as corners of the runway and intersections, and feature points of the runway suitable for use in navigation and automatic driving can be generated.

Further, according to the feature point generation process described above, when the traveling locus does not exist in the predetermined range A1 centered on the feature point candidate Pcn which is the intersection of the extension lines LPn and LPn + 1, or between the extension lines LPn and LPn + 1. If the intersection of the above points does not exist, the feature point candidates Pcn1 and Pcn2, which are the intersections of the tangent line Ltn and the extension lines LPn and LPn + 1, are generated as the feature point Pfn.

As a result, as shown in FIG. 4, when the radius of curvature of the traveling locus is large, the feature point Pfn can be generated near the turning angle of the traveling locus and at a position close to the traveling locus. As a result, map matching can be performed with high accuracy, and it is possible to generate feature points of the traveling path more suitable for the use of navigation and automatic driving.

In the above embodiment, when the traveling locus does not exist in the predetermined range A1 centered on the intersection of the extension lines LPn and LPn + 1, the feature point Pfn is not generated at the intersection, but the present invention is not limited to this. If there is an intersection of the extension lines LPn and LPn + 1 without determining whether or not the traveling locus exists in the predetermined range A1, the intersection may be set as the feature point Pfn.

Further, when the traveling locus does not exist in the predetermined range A1 centered on the intersection of the extension lines LPn and LPn + 1, the feature point Pfn is obtained based on the extension lines LPn and LPn + 1 without newly obtaining the feature point candidates Pcn1 and Pcn2. It does not have to be generated.

Further, in the above embodiment, if the traveling locus does not exist in the predetermined range A1 centered on the intersection of the tangent line Ltn and the extension lines LPn and LPn + 1 (feature point candidates Pcn1 and Pcn2), the feature point Pfn is not generated. It is not limited to this. The intersection of the tangent line Ltn and the extension lines LPn and LPn + 1 may be generated as the feature point Pfn without determining whether or not the traveling locus exists in the predetermined range A1 centered on the feature point candidates Pcn1 and Pcn2.

Further, when the traveling locus does not exist in the predetermined range A1 centered on the feature point candidates Pcn1 and Pcn2, a tangent line is drawn at a position slightly deviated from the center to the points Pn and Pn + 1, respectively, and the tangent line and the extension line LPn, The intersection with LPn + 1 may be used as a new feature point candidate. Then, it is conceivable to shift the tangent line to the points Pn and Pn + 1 side until the traveling locus exists in the predetermined range A1 centered on the new feature point candidate.

Further, in the above-described embodiment, the feature point Pfn is generated from the position (latitude, longitude) of the traveling locus, but the present invention is not limited to this. For example, as shown in FIG. 6, the server 10 may set a position on the traveling locus where the change in the inclination angle is equal to or more than a predetermined angle as the feature point Pfn. In this embodiment, the feature points Pfn and Pfn + 1 are the positions on the traveling locus where the change of the inclination angle is 1 degree or more. Thereby, for example, feature points Pfn and Pfn + 1 can be generated at the boundary between each floor such as a self-propelled multi-storey car park and the slope connecting each floor. Feature points may be generated using GPS altitude data, but since GPS altitude data is likely to have a large error, more accurate feature points can be obtained by obtaining feature points from the tilt angle as described above. can get. Therefore, it is possible to generate feature points Pfn and Pfn + 1, which are more suitable for use in navigation and automatic driving.

Further, a camera is installed in the vehicle, and the image of the camera is transmitted from the vehicle to the server 10. The server 10 may analyze the image of the camera and generate a landmark such as a tollhouse as a feature point if it can be detected. Further, a narrow band communication device (for example, DSRC) that communicates with a toll booth or the like may be mounted on the vehicle, and the fact that the communication has been performed may be added to the position information transmitted to the server 10. The server 10 generates a communication position as a feature point.

By executing the feature point generation process described above, feature points can be generated for each of the plurality of traveling trajectories. Therefore, as shown in FIG. 7, a plurality of feature points Pf are generated for, for example, intersections of the same travel path.

Therefore, every time the feature point Pfn is determined by the feature point generation process (that is, every time steps S9 and S12 are executed), the server 10 functions as an integration unit and integrates a plurality of feature point Pfn. The feature point integration process shown in 8 is executed.

In the feature point integration process, the server 10 determines whether or not the existing feature point Pfn determined before the feature point Pfn exists in the predetermined range A2 centered on the determined feature point Pfn (). Step S21). The predetermined range A2 may be the same as or different from the predetermined range A1 used in the feature point generation process. If the existing feature point Pfn exists in the predetermined range A2 (Y in step S21), the server 10 obtains the average position of the two feature points Pfn existing in the predetermined range A2 (step S22). Then, the server 10 is integrated into the feature points at the average position (step S23).

After that, the server 10 deletes the two feature points Pfn before the integration, stores the integrated feature points Pfn as existing feature points Pfn in the storage unit 14 (step S24), and ends the process. On the other hand, if the existing feature point Pfn does not exist in the predetermined range A2 (N in step S21), the server 10 stores the feature point Pfn determined this time as an existing feature point in the storage unit 14 (step). S24), the process is terminated.

According to the feature point integration process described above, when a plurality of generated feature points Pfn exist within a predetermined range A2, the plurality of feature point Pfn can be integrated. As a result, a plurality of feature points Pfn are not added to one corner or intersection of the traveling path, and feature points suitable for use in navigation and automatic driving can be generated.

Further, according to the above-mentioned feature point integration process, the positions (latitude, longitude) of the plurality of feature points Pfn are integrated into the feature points having an average. This makes it possible to generate feature points Pfn that are more suitable for use in navigation and automatic driving.

In the feature point integration process described above, the integration result differs depending on the number of traveling trajectories. FIG. 9A shows the result of integrating the feature points when the traveling locus is small. FIG. 9B shows the result of integrating the feature points when there are many traveling loci. When the traveling locus is large, the position of the feature point 1 moves slightly lower than when the traveling locus is small. In general, it is considered that the more the traveling locus is, the closer the feature points are to the average of the traveling path on which the actual vehicle travels. By generating feature points according to the actual travel path and using the map data in this way, the accuracy of map matching can be improved.

The above-mentioned feature point integration process was integrated every time one feature point was generated by the feature point generation process, but the present invention is not limited to this. After executing the feature point generation process for a plurality of traveling loci (that is, after executing the feature point generation process a plurality of times), the feature point integration process may be executed. In this case as well, the latitudes and longitudes of the plurality of feature points existing in the predetermined range A2 are averaged and integrated into the averaged points. Further, if there are a plurality of feature points having the same latitude and longitude among a plurality of feature points existing in the predetermined range A2, they may be integrated into a large number of latitudes and longitudes. Further, the feature points may be integrated at the center position of the figure formed by connecting a plurality of feature points existing in the predetermined range A2.

Further, the above-mentioned feature point integration process is a process of integrating feature points generated from extension lines LPn and LPn + 1 of a traveling locus, but it is also conceivable to integrate feature points generated from an inclination angle as well. For the feature points generated from the tilt angle, the tilt angle is added to the feature points. Then, if there are a plurality of feature points having the same inclination angle in A2 within a predetermined range, the feature points may be integrated by averaging their latitudes and longitudes.

Next, the server 10 generates a link connecting the integrated feature points by the feature point integration process described above. The server 10 (link information generation unit 13) is basically characterized in the order of passage of one traveling locus R1 passing through a predetermined range A3 from each of the plurality of feature points Pf7 and Pf18 as shown in FIG. Points Pf7 and Pf18 are connected to each other. The predetermined range A3 may be the same as or different from the predetermined ranges A1 and A2 used in the feature point generation process and the feature point integration process. Further, at this time, the connection direction of the feature points (passing direction of the vehicle) may be added to the link data.

However, in this link generation method, as shown in FIG. 11B, when a link connecting the feature point Pf3 and the feature point Pf2 is generated along the travel locus R2, the link is generated based on the travel locus R1. Since the traveling locus R2 passes within the predetermined range A3 centered on the feature point Pf8, as shown in FIG. 11A, a link connecting the feature point Pf2 → the feature point Pf8 → the feature point Pf3 is generated. It ends up.

Therefore, in this embodiment, the link generation process shown in FIG. 12 is executed. First, the server 10 is generated by the feature point generation process, and among a plurality of feature points integrated by the feature point integration process, the same travel locus passes within a predetermined range A3 from each feature point, and the passage thereof. Three feature points having a continuous order are extracted (step S30). For example, in the example shown in FIG. 11, the feature points Pf2, Pf8, and Pf3 have three features in which the traveling locus R2 (one of a plurality of traveling loci) passes within the predetermined range A3 and the passing order thereof is continuous. Extracted as points.

Next, the server 10 has a line L1 connecting the three consecutive feature points Pf2, Pf8, and Pf3 extracted, and a traveling locus R2 passing through the predetermined range A3 from each of the three feature points Pf2, Pf8, and Pf3. The first evaluation result of evaluating the distance between and is calculated (step S31). In this embodiment, as shown in FIG. 11A, the server 10 first evaluates the maximum value of the distance until the normal line (indicated by the arrow in the figure) on the traveling locus R2 intersects the line L1. As a result. In the example shown in FIG. 11A, the distance until the normal intersects the feature point Pf8 is the maximum value.

Next, the server 10 calculates a second evaluation result in which the distance between the line L2 connecting the first and last feature points Pf2 and Pf3 among the three feature points Pf2, Pf8, and Pf3 and the traveling locus R2 is evaluated. (Step S32). In this embodiment, as shown in FIG. 11B, the server 10 uses the maximum value of the distance until the normal on the traveling locus R2 intersects the line L2 as the second evaluation result. In the example shown in FIG. 11B, the distance until the normal intersects the feature point Pf2 is the maximum value.

Next, the server 10 compares the first evaluation result and the second evaluation result, and if the first evaluation result is larger than a certain value (Y in step S33), the feature point in the middle. The process is terminated by generating a link connecting the front and rear feature points Pf2 and Pf3 without connecting Pf8 (step S34). On the other hand, if the first evaluation result is not larger than a certain value by a certain value or more (N in step S33), the server 10 connects three consecutive feature points Pf2, Pf8, and Pf3 to end the process. (Step S35).

Especially in the driving path of a parking lot, the traveling direction is often determined in detail. In the example shown in FIG. 11, a pole cone exists between Pf2 and Pf8, and the link between Pf2 and Pf8 is. It was an inappropriate link. According to the above-described embodiment, in the example shown in FIG. 11, a link connecting the feature points Pf2 and Pf3 is generated. Therefore, the accuracy of the link is improved, and the link information suitable for the use of navigation and automatic driving can be generated.

The first evaluation result and the second evaluation result are not limited to the above-mentioned examples. As the first evaluation result, for example, as shown in FIG. 13A, the traveling locus R2, the line L1, the normal line L3 on the traveling locus R2 passing through the first feature point Pf3, and the last feature point Pf2. It may be an area surrounded by a normal line L4 on a traveling locus R2 passing through (indicated by a diagonal line in the figure). As the second evaluation result, for example, as shown in FIG. 13B, the area surrounded by the traveling locus R2, the line L2, and the normal lines L3 and L4 (indicated by diagonal lines in the figure) may be used.

Further, as the first evaluation result, as shown in FIG. 14A, the maximum value of the distances until the normal on the traveling locus R2 intersects each of the three feature points Pf2, Pf8, and Pf3 may be used. Further, as the second evaluation result, as shown in FIG. 14B, the maximum value of the distance between the normal on the traveling locus R2 and each of the front and rear features Pf2 and Pf3 may be used. In this case, as in the embodiment shown in FIG. 11, the distance until the normal on the traveling locus R2 intersects the feature point Pf8 is the first evaluation result, and until the normal on the traveling locus R2 intersects the feature point Pf2. The distance of is the second evaluation result.

Even if the first evaluation result and the second evaluation result are determined in this way, the accuracy of the link is similarly improved, and the link information suitable for the use of navigation and automatic driving can be generated.

In the above-described embodiment, whether or not the first evaluation result is larger than a certain value or more than the second evaluation result, that is, whether or not the difference between the first evaluation result and the second evaluation result is a certain value or more. The link was generated based on this, but it is not limited to this. Links may be generated based on whether the first evaluation result is larger than the second evaluation result. More specifically, if the first evaluation result> the second evaluation result, the center feature point Pf8 is not connected, and a link connecting the front and rear feature points Pf2 and Pf3 is generated. On the other hand, if the first evaluation result ≤ the second evaluation result, the three feature points Pf2, Pf8, and Pf3 are connected to generate a link.

Further, according to the above-described embodiment, in the link information generation process, the server 10 has extracted three consecutive feature points, but the present invention is not limited to this. You may try to extract three or more consecutive feature points.

Further, according to the above-described embodiment, the server 10 capable of communicating with the vehicle-mounted device 20 via the network N generates feature points and link information, but the present invention is not limited to this. A device that stores the traveling locus in a memory that can be attached to and detached from the vehicle-mounted device 20 and reads the memory removed from the vehicle-mounted device 20 may be used to generate feature points and link information. Further, the vehicle-mounted device 20 may generate a feature point from its own traveling locus and transmit it to the server 10.

Further, according to the above-described embodiment, the generation of feature points, integration, and generation of link information are performed by one server 10, but the present invention is not limited to this. Feature points may be generated, integrated, and link information may be generated on separate servers.

Further, in the above-described embodiment, the description has been made mainly assuming a traveling path in the parking lot, but the description is not limited to this. The travel path may be a general road or the like.

The present invention is not limited to the above embodiment. That is, it can be variously modified and carried out within a range that does not deviate from the gist of the present invention.

10 servers (feature point generator, link information generator, acquisition unit)
12 Feature point generation unit (extraction unit, first generation unit, second generation unit, generation unit, integration unit)
13 Link information generator

Claims (5)

It is a feature point generation method that generates feature points that are candidates for nodes on a travel path based on the travel locus of a moving object.
A generation process that generates feature points for each of multiple travel loci,
A method for generating a feature point, which comprises an integration step of integrating the plurality of generated feature points when a plurality of the generated feature points exist within a predetermined range. The feature point generation method according to claim 1, wherein in the integration step, the plurality of feature points are integrated into feature points having an average latitude and longitude. It is a feature point generation device that generates feature points that are candidates for nodes on a travel path based on the travel locus of a moving object.
A generator that generates feature points for each of multiple travel loci,
A feature point generation device comprising an integrated unit that integrates the plurality of generated feature points when a plurality of the generated feature points exist within a predetermined range. A feature point generation program that causes a computer to generate feature points that are candidates for nodes on a travel path based on the travel trajectory of a moving object.
A generator that generates feature points for each of multiple travel loci,
A feature point generation program characterized in that when a plurality of the generated feature points exist within a predetermined range, the plurality of feature points are made to function as an integrated unit for integrating the plurality of feature points. A recording medium characterized in that the feature point generation program according to claim 4 is recorded.

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