JP7267501B2 - Driving route recording device, driving route recording system, server, driving route recording method, and program - Google Patents

Description

The present invention relates to a travel route recording device, a travel route recording system, a server, a travel route recording method, and a program.

Vehicle-mounted devices such as navigation systems perform map matching processing in real time to specify which position the vehicle has traveled on a digital map (see Patent Document 1, for example).

Japanese Patent Publication No. 2001-503563

In recent years, there has been considered a technique of charging a toll for a vehicle when the vehicle-mounted device judges that the vehicle has traveled on a toll road by map matching processing. For this reason, there is a demand for further improvement in real-time map matching processing technology so that it is possible to accurately identify which road the vehicle has traveled.

According to one aspect of the present disclosure, a driving route recording device includes a map matching processing unit that inputs map matching input information to a first map matching algorithm and acquires a map matching result output from the first map matching algorithm. a correct information acquisition unit that acquires correct map matching information; and a deviation acquisition unit that acquires a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm. and an adjustment unit that adjusts the weighting parameters included in the first map matching algorithm so that the deviation becomes small.

According to one aspect of the present disclosure, a travel route recording system includes an onboard device mounted on a vehicle, and a server communicably connected to the onboard device. The vehicle-mounted device includes a map matching processing unit that inputs map matching input information to a first map matching algorithm and acquires a map matching result output from the first map matching algorithm. The server includes a correct information acquisition unit that acquires correct map matching information, and a deviation that acquires a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm. An acquisition unit, an adjustment unit that adjusts the weighting parameters included in the first map matching algorithm so that the deviation becomes small, and a transmission unit that transmits the adjusted weighting parameters to the vehicle-mounted device.

According to one aspect of the present disclosure, a server is mounted on a vehicle, and a vehicle-mounted device that inputs map matching input information to a first map matching algorithm and acquires a map matching result output from the first map matching algorithm. a result acquisition unit that acquires the map matching result, a correct information acquisition unit that acquires correct map matching information, a map matching result indicated by the correct map matching information, and output from the first map matching algorithm A deviation acquisition unit that acquires a deviation from a map matching result, an adjustment unit that adjusts a weighting parameter included in the first map matching algorithm so that the deviation becomes small, and the adjusted weighting parameter to the vehicle-mounted device. and a transmitting unit for transmitting.

According to one aspect of the present disclosure, a driving route recording method includes: inputting map matching input information to a first map matching algorithm to obtain a map matching result output from the first map matching algorithm; obtaining map matching information; obtaining a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm; and adjusting weighting parameters included in the first map matching algorithm.

According to one aspect of the present disclosure, a program inputs map matching input information to a first map matching algorithm in a computer of a travel route recording device, and acquires a map matching result output from the first map matching algorithm. obtaining correct map matching information; obtaining a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm; and adjusting weighting parameters included in the first map matching algorithm such that the deviation is small.

According to at least one aspect of the present disclosure, it is possible to improve the accuracy of map matching processing performed in real time.

1 is a diagram showing the overall configuration of a travel route recording system according to a first embodiment of the present disclosure; FIG. 1 is a diagram showing a functional configuration of a travel route recording system according to a first embodiment of the present disclosure; FIG. FIG. 5 is a diagram showing an example of map matching results according to the first embodiment of the present disclosure; FIG. It is a figure showing an example of correct map matching information concerning a 1st embodiment of this indication. 4 is a flow chart showing an example of processing of the travel route recording system according to the first embodiment of the present disclosure; FIG. 10 is a diagram showing a functional configuration of a travel route recording system according to a second embodiment of the present disclosure; FIG.

<First embodiment>
A travel route recording system 1 according to a first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 5. FIG.

(Overall Configuration of Driving Route Recording System)
FIG. 1 is a diagram showing the overall configuration of a travel route recording system according to the first embodiment of the present disclosure.
As shown in FIG. 1, the travel route recording system 1 according to the present embodiment includes a vehicle-mounted device 10 mounted on each of a plurality of vehicles A, and a server 11 .

The vehicle-mounted device 10 receives a signal (satellite signal) received from a satellite that constitutes the GNSS (Global Navigation Satellite System), and a sensor (acceleration sensor, angular velocity sensor, angular acceleration sensor, etc.) of the vehicle A. Based on signals (sensor signals) and the like, the travel route of the vehicle A is sequentially specified. In addition, on the road network data composed of links (roads) and nodes (intersections, etc.) connecting the links, the traveling route of the vehicle A shows the links (positions on the links) traveled by the vehicle A in chronological order. Represented as an ordered list. In addition, the vehicle-mounted device 10 transmits the identified travel route of the vehicle A to the server 11 through the communication network NW.

The server 11 is connected to each of the vehicle-mounted devices 10 through the communication network NW. A detailed functional configuration of the server 11 will be described later.

(Functional configuration of driving route recording system)
FIG. 2 is a diagram showing the functional configuration of the travel route recording system according to the first embodiment of the present disclosure.

First, the functional configuration of the vehicle-mounted device 10 of the travel route recording system 1 will be described. As shown in FIG. 2, the vehicle-mounted device 10 includes a CPU 10A and a storage medium 10B.

The CPU 10A is a processor that controls the overall operation of the vehicle-mounted device 10 . The CPU 10A functions as a map matching processing section 101 and a receiving section 102 by operating according to a predetermined program.

The map matching processing unit 101 inputs map matching input information to the first map matching algorithm and acquires map matching results output from the first map matching algorithm.

The map matching input information includes information based on satellite signals and information based on sensor signals. Information based on satellite signals includes positioning information (latitude, longitude, altitude) of vehicle A, velocity vector, satellite signal strength, number of captured satellites, and the like. Information based on the sensor signal includes the acceleration, angular velocity, angular acceleration, and the like of the vehicle A.

The first map matching algorithm uses satellite navigation and autonomous navigation to identify which link the vehicle A is traveling on on the road network data, and uses the identified traveling position (position on the link) as a map matching result. This is an algorithm for sequential output. Note that, in the present embodiment, a known map matching algorithm may be used as the first map matching algorithm. In the following description, the process of identifying the link on which the vehicle A is traveling by using the first map matching algorithm by the map matching processing unit 101 according to this embodiment is also referred to as "real-time map matching process".

FIG. 3 is a diagram illustrating an example of map matching results according to the first embodiment of the present disclosure.
The map matching processing unit 101 acquires map matching input information at certain times t1 to t10. Assume that the positioning information (latitude and longitude) of vehicle A included in these map matching input information is the positions P1 to P10 in FIG. As in the example of FIG. 3, the positions P1 to P10 indicated by the positioning information of the vehicle A may not exist on the links L1, L2, and L3 of the road network data due to positioning errors or the like. It is difficult to identify whether the link is running. For this reason, the map matching processing unit 101 executes real-time map matching processing each time map matching input information is acquired, and sequentially identifies which link the vehicle A is traveling on.

Assume that map matching input information is obtained at time t1. The map matching processing unit 101 inputs this map matching input information to the first map matching algorithm to specify which link the vehicle A is running at time t1. For example, in the first map matching algorithm, among the links existing near the position P1 of the vehicle A indicated by the positioning information included in the map matching input information, the degree (score) of matching with the map matching input information at time t1 is high. A link is identified as a link on which vehicle A travels. Here, the first map matching algorithm assigns n explanatory variables obtained from current (time t1) map matching input information, past (before time t1) map matching results, and road network data as "A1, A2, A3, . .

S=W1×A1+W2×A2+W3×A3+ Wn×An (1)

The explanatory variables are, for example, the distance from the position P1 indicated by the positioning information to the link for which the score S is calculated (hereinafter also referred to as "target link"), the degree of matching between the velocity vector and the orientation of the link, acceleration, Angular velocity, angular acceleration, target link attribute, link connection, and the like. The attribute of the target link is information such as right/left turn prohibition and U-turn prohibition. Further, the connection of links is the presence or absence of connection between links. For example, when the link on which the vehicle A traveled last time is not connected to the target link L1, it is not possible to move from the link on which the vehicle A traveled last time to the target link L1. It will be a value that

In the example of FIG. 3, since the link L1 has the highest score at time t1, the map matching processing unit 101 identifies that the vehicle A traveled on the link L1 (position MA1).

Similarly, the map matching processing unit 101 performs the real-time map matching processing each time map matching input information is acquired for each time after time t2. Here, in the real-time map matching process, when the vehicle is traveling in a place where a plurality of links are close to each other, there is a possibility that the wrong link will be matched due to the influence of the positioning error or the like. For example, as shown in FIG. 3, positions P5 to P7 indicated by map matching input information (positioning information) at times t5 to t7 are closer to link L3 than to link L2. In this case, in the real-time map matching process, there is a possibility that the position of vehicle A at times t5 to t7 will be matched with link L3 (positions MA5 to MA7). Note that even if the map matching processing unit 101 acquires temporarily erroneous map matching results (positions MA5 to MA7) in this way, at some point in the future (for example, time t8 in FIG. 3), the erroneous link If the score S of the correct link L2 is higher than the score S of L3, then correct map matching results (positions MA8 to MA10) can be obtained.

Further, the map matching processing unit 101 accumulates map matching input information and map matching results for each time in the storage medium 10B, and periodically transmits them to the server 11. FIG.

The receiving unit 102 receives weighting parameters included in the first map matching algorithm from the server 11, which will be described later, and stores them in the storage medium 10B.

The storage medium 10B is a so-called auxiliary storage device, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage medium 10B stores a first map matching algorithm including weighting parameters, road network data, and the like. Further, map matching input information and map matching results obtained by the map matching processing unit 101 are sequentially stored and accumulated in the storage medium 10B.

Next, the functional configuration of the server 11 of the travel route recording system 1 will be described. As shown in FIG. 2, the server 11 has a CPU 11A and a storage medium 11B.

The CPU 11A is a processor that controls the overall operation of the server 11. FIG. The CPU 11A functions as a result acquisition unit 111, a correct information acquisition unit 112, a deviation acquisition unit 113, an adjustment unit 114, and a transmission unit 115 by operating according to predetermined programs.

The result acquisition unit 111 acquires map matching input information and map matching results (driving route) by time accumulated in a predetermined period (for example, a period from the present to the past one hour) from each of the plurality of vehicle-mounted devices 10. .

The correct information acquisition unit 112 acquires correct map matching information. The correct map matching information is information indicating the position (driving route) of the vehicle A on the link for each of the map matching input information for the predetermined period acquired by the result acquisition unit 111, and the result acquisition unit 111 acquired from the vehicle-mounted device 10. This is information with higher accuracy than the map matching result.

For example, the correct information acquisition unit 112 inputs all of the plurality of map matching input information collected by the vehicle-mounted device 10 in a predetermined period to the second map matching algorithm, and the predetermined period of time output from the second map matching algorithm. A map matching result at each time point is acquired as correct map matching information. Then, the second map matching algorithm receives not only the map matching input information at each time point (first time point) in the predetermined period, but also the map matching input information of the future (second time point) after the first time point. , the future state of the vehicle A (the position indicated by the positioning information, the future map matching result, etc.) can be reflected when specifying the position of the vehicle A on the link at each point in time. Therefore, the map matching result output from the second map matching algorithm is information with higher accuracy than the map matching result output from the first map matching algorithm.

FIG. 4 is a diagram showing an example of correct map matching information according to the first embodiment of the present disclosure.
FIG. 4 shows an example of map-matching input information and correct map-matching information in a part of a predetermined period (time t1 to t10). Assume that the positions indicated by the positioning information of vehicle A are positions P1 to P10 in FIG. The times t1 to t10 and the positions P1 to P10 correspond to the times t1 to t10 and the positions P1 to P10 in FIG.

In the real-time map matching processing of the vehicle-mounted device 10 (first map matching algorithm), as described above, for example, at time t5, the position P5 indicated by the positioning information is matched to the closest link L3 (position MA5 in FIG. 3). there is a possibility. However, as shown in FIGS. 3 and 4, from the state of vehicle A after time t5 (for example, positions P6 to P10 indicated by positioning information from time t6 to t10, etc.), vehicle A moves to link L2 after time t5. It can be seen that there is a high possibility that the

On the other hand, in the map matching process of the correct information acquisition unit 112 (second map matching algorithm), when specifying the position on the link of vehicle A at time t5, not only the map matching input information at time t5 but also the time Map matching input information at a time after (future) time t5 is used. As a result, the correct information acquisition unit 112 finds that there is a high possibility that the vehicle A traveled on the link L2 from the map matching input information after time t5, so the position of the vehicle A at time t5 is It is possible to correct and identify the link L2 (position MB5 in FIG. 4) instead of the link L3 closest to the position P5 indicated by the positioning information. The correct information acquisition unit 112 similarly identifies the position of the vehicle A at each other point in time. In this manner, the correct information acquisition unit 112 acquires correct map matching information including map matching results with higher accuracy than map matching results specified by the vehicle-mounted device 10 .

Further, the correct information acquisition unit 112 (second map matching algorithm) performs map matching processing using map data with higher accuracy than the road network data used in the vehicle-mounted device 10 (first map matching algorithm). good too. This map data is, for example, 3D map data including road network data consisting of links and nodes, as well as topography and building data around links. In the map matching process, the correct information acquisition unit 112 may compare, for example, the terrain around the link with the positioning information (altitude), or compare the presence or absence of buildings (shields) with the satellite signal strength. good too. By doing so, the correct answer information acquisition unit 112 can acquire more accurate correct answer map matching information.

In this embodiment, the correct information acquisition unit 112 performs the map matching process and acquires the correct map matching information. However, the present invention is not limited to this. In another embodiment, the correct answer information acquisition unit 112 may acquire correct answer map matching information generated by another device such as an external server (not shown). In this case, the correct information acquisition unit 112 transmits the map matching input information acquired by the result acquisition unit 111 to the external server, and acquires correct map matching information for the map matching input information from the external server.

The deviation acquisition unit 113 is the map matching result indicated by the correct map matching information acquired by the correct information acquisition unit 112 and the map matching result acquired by the result acquisition unit 111 (output from the first map matching algorithm of the vehicle-mounted device 10). Get the deviation from the result.

For example, the deviation acquisition unit 113 determines the mismatch rate ( number of discrepancies) is taken as the deviation. Further, the deviation acquisition unit 113 determines that each of the map matching results (positions MA1 to MA10 in FIG. 3) acquired by the result acquisition unit 111 corresponds to each of the map matching results (positions MB1 to MB10 in FIG. 4) of the correct map matching information. (eg, square root of the sum of squares of distance differences) may be taken as the deviation.

The adjustment unit 114 reduces the deviation acquired by the deviation acquisition unit 113 (that is, so that the map matching result output from the first map matching algorithm is close to the map matching result of the correct map matching information), Adjust the weighting parameters (weighting parameters W1 to Wn in the above equation (1)) included in the first map matching algorithm.

For example, the adjustment unit 114 uses a technique such as a genetic algorithm to output the optimum map matching result (close to the map matching result of the correct map matching information) from the first map matching algorithm. Adjust the weighting parameters included in the map matching algorithm. In addition, the adjustment unit 114 uses machine learning (neural network, etc.) technology that uses the map matching results of the correct map matching information as teacher data, and weights the map matching input information so that the optimum map matching results can be obtained. Parameters may be learned. At this time, the adjustment unit 114 acquires the map matching result again using the first map matching algorithm including the adjusted weighting parameter, and further calculates the deviation between this map matching result and the map matching result of the correct map matching information. You may readjust so that it may become small.

The transmitter 115 transmits the weighting parameters adjusted by the adjuster 114 to the onboard device 10 . In addition, the transmission unit 115 may transmit the first map matching algorithm including the weighting parameter adjusted by the adjustment unit 114 to the vehicle-mounted device 10 .

The storage medium 11B is a so-called auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage medium 11B stores a first map matching algorithm including weighting parameters, map data, and the like. Further, in the storage medium 11B, map matching input information and map matching results obtained from each of the plurality of vehicle-mounted devices 10 by the result obtaining unit 111, correct map matching information obtained by the correct information obtaining unit 112, and information adjusted by the adjusting unit 114 are stored. Weighting parameters and the like are sequentially stored and accumulated.

(Processing flow of driving route recording system)
FIG. 5 is a flowchart showing an example of processing of the travel route recording system according to the first embodiment of the present disclosure.
Hereinafter, the processing of the travel route recording system 1 will be described in detail with reference to FIG.

As shown in FIG. 5, first, the map matching processing unit 101 of the vehicle-mounted device 10 acquires map matching input information (step S101).

Next, the map matching processing unit 101 inputs the acquired map matching input information to the first map matching algorithm including the weighting parameters stored in the storage medium 10B, and the map output from the first map matching algorithm is input. A matching result is obtained (step S102).

Next, the map matching processing unit 101 determines whether or not it is time to transmit the previous map matching result (travel route of the vehicle A) to the server 11 (step S103). For example, if a certain period of time (for example, one hour) has not elapsed since the previous map matching result was transmitted, the map matching processing unit 101 determines that it is not time to transmit (step S103: NO), and proceeds to step S101. return. On the other hand, the map matching processing unit 101 determines that it is time to send when a certain period of time has passed (step S103: YES), and sends the unsent map matching input information and the map matching results accumulated in the storage medium 10B to the server. 11 (step S104).

When the result acquisition unit 111 of the server 11 acquires the map matching input information and the map matching result from the vehicle-mounted device 10 (step S111), they are recorded and accumulated in the storage medium 11B.

Next, the correct information acquisition unit 112 of the server 11 acquires correct map matching information for the map matching input information acquired by the result acquisition unit 111 (step S112). Specifically, the correct information acquisition unit 112 inputs all of the plurality of map matching input information collected by the vehicle-mounted device 10 during a predetermined period (for example, the period from the present to the past one hour) to the second map matching algorithm. to obtain the map matching result at each point in time during the predetermined period, which is output from the second map matching algorithm.

Next, the deviation acquisition unit 113 of the server 11 acquires the deviation between the map matching result of the correct map matching information and the map matching result acquired by the result acquisition unit 111 from the vehicle-mounted device 10 (step S113).

Next, the adjustment unit 114 of the server 11 adjusts the weighting parameters included in the first map matching algorithm so that the deviation acquired by the deviation acquisition unit 113 becomes small (step S114). At this time, the adjustment unit 114 adjusts the weighting parameters such that the deviation between the map matching results collected from each of the plurality of vehicle-mounted devices 10 and the map matching results of the correct map matching information is reduced. As a result, the adjustment unit 114 can reduce map matching errors commonly occurring in a plurality of vehicle-mounted devices 10, and limit map matching errors (errors caused by temporary obstacles, etc., caused by driving operations). It is possible to suppress the reflection of error, etc.) in the first map matching algorithm.

Next, the transmission unit 115 of the server 11 transmits the weighting parameters adjusted by the adjustment unit 114 to each of the plurality of vehicle-mounted devices 10 (step S115). Then, the receiving unit 102 of the vehicle-mounted device 10 stores the received weighting parameters in the storage medium 10B (step S105). At this time, the receiving unit 102 may overwrite the weighting parameters included in the first map matching algorithm stored in the storage medium 10B with the adjusted weighting parameters. As a result, the map matching processing unit 101 of the vehicle-mounted device 10 can obtain a map matching result using the adjusted weighting parameter in subsequent map matching processing.

The vehicle-mounted device 10 and the server 11 record and store the travel route of the vehicle A while improving the first map matching algorithm by repeatedly performing the above-described processes.

(action, effect)
As described above, the travel route recording system 1 according to the present embodiment acquires in real time the map matching result output from the first map matching algorithm in the vehicle-mounted device 10, and the map matching result of the correct map matching information in the server 11. , and the weighting parameters included in the first map matching algorithm are adjusted so as to reduce the deviation from the map matching result of the first map matching algorithm. By doing so, the travel route recording system 1 can improve the accuracy of the real-time map matching processing performed in the vehicle-mounted device 10 .

In addition, while the traveling route recording system 1 acquires the map matching result based on the map matching input information at a certain point in time (first point in time) in the vehicle-mounted device 10, the map matching input information at the first point in time in the server 11 and the first Correct map matching information based on map matching input information at a second point in time after the first point in time is acquired. In this way, when the server 11 acquires the correct map matching information, the travel route recording system 1 corrects the traveling state of the vehicle A at the second point in time after the first point in time. A more accurate map matching result at the first time point can be obtained. As a result, the travel route recording system 1 can accurately acquire the error (deviation from the correct map matching information) of the real-time map matching processing in the vehicle-mounted device 10 and adjust the weighting parameters with high accuracy.

In addition, in the server 11, the driving route recording system 1 inputs a plurality of pieces of map matching input information acquired at a plurality of points in time to the second map matching algorithm, and correct answers including map matching results output from the second map matching algorithm. Get map matching information. By doing so, the travel route recording system 1 can create the correct map matching information in the server 11 and compare it with the map matching result of the real-time map matching processing of the vehicle-mounted device 10 .

In addition, in the second map matching algorithm of the server 11, the travel route recording system 1 uses map data with higher accuracy than the first map matching algorithm of the vehicle-mounted device 10, and outputs a map matching result. Since the real-time map matching processing of the vehicle-mounted device 10 (first map matching algorithm) requires real-time performance, time-consuming arithmetic processing (for example, map matching using high-precision map data such as 3D map data) processing) may be difficult. For this reason, the vehicle-mounted device 10 performs real-time map matching processing using only road network data with a smaller amount of information than the server 11 . However, since the map matching processing of the server 11 (second map matching algorithm) does not require real-time processing, it is possible to execute arithmetic processing using a highly accurate map. As a result, the travel route recording system 1 can acquire more accurate map matching results in the map matching processing of the server 11 .

<Second embodiment>
Next, a travel route recording system 1 according to a second embodiment of the present disclosure will be described with reference to FIG. Components common to those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

(Functional configuration of driving route recording system)
FIG. 6 is a diagram showing the functional configuration of a travel route recording system according to the second embodiment of the present disclosure.
As shown in FIG. 6 , in the travel route recording system 1 according to the present embodiment, the vehicle-mounted device 10 includes a travel route recording device 12 .

The travel route recording device 12 is built in the vehicle-mounted device 10, identifies and records the travel route of the vehicle A on which the vehicle-mounted device 10 is mounted, and uses a first map matching algorithm for specifying the travel route (map matching result). weighting parameter adjustment. That is, the travel route recording device 12 according to the present embodiment is a device having the functions of both the vehicle-mounted device 10 and the server 11 according to the first embodiment.

The travel route recording device 12 includes a CPU 12A and a storage medium 12B.

The CPU 12A is a processor that controls the overall operation of the travel route recording device 12. FIG. The CPU 12A functions as a map matching processing section 121, a correct information acquisition section 122, a deviation acquisition section 123, and an adjustment section 124 by operating according to a predetermined program.

The map matching processing section 121 has the same function as the map matching processing section 101 of the vehicle-mounted device 10 according to the first embodiment. That is, the map matching processing unit 121 performs a real-time map matching process of inputting map matching input information to the first map matching algorithm and acquiring map matching results output from the first map matching algorithm. The map matching input information and map matching results acquired by the map matching processing unit 121 are sequentially stored and accumulated in the storage medium 12B. Further, the map matching result acquired by the map matching processing unit 121 may be transmitted to the server 11 and used for billing processing or the like in the server 11 .

The correct information acquisition unit 122 has the same function as the correct information acquisition unit 112 of the server 11 according to the first embodiment. That is, the correct information acquisition unit 122 acquires correct map matching information. In addition, the correct information acquisition unit 122 inputs all of the plurality of map matching input information accumulated in the storage medium 12B for a predetermined period to the second map matching algorithm, and the predetermined period output from the second map matching algorithm. Get the map matching results at each time point of . Also, the correct answer information acquisition unit 122 may acquire the correct answer map matching information from the server 11 .

The deviation acquisition unit 123 has the same function as the deviation acquisition unit 113 of the server 11 according to the first embodiment. That is, the deviation acquisition unit 123 acquires the deviation between the map matching result indicated by the correct map matching information acquired by the correct information acquisition unit 122 and the map matching result acquired by the map matching processing unit 121 .

The adjuster 124 has the same function as the adjuster 114 of the server 11 according to the first embodiment. That is, the adjustment unit 124 periodically (for example, every hour) adjusts the weighting parameters included in the first map matching algorithm so that the deviation acquired by the deviation acquisition unit 113 becomes small. Also, the weighting parameters adjusted by the adjustment unit 124 are stored in the storage medium 12B. As a result, when the map matching processing unit 121 next performs the real-time map matching processing, it is possible to use the first map matching algorithm including the adjusted weighting parameters.

The storage medium 12B is a so-called auxiliary storage device, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage medium 12B stores a first map matching algorithm including weighting parameters, road network data, map data, and the like. The storage medium 12B also sequentially stores map matching input information and map matching results obtained by the map matching processing unit 121, correct map matching information obtained by the correct information obtaining unit 122, weighting parameters adjusted by the adjusting unit 124, and the like. , is accumulated.

(action, effect)
As described above, the traveling route recording device 12 according to the present embodiment acquires and records in real time the map matching result output from the first map matching algorithm, and also acquires and records the map matching result of the correct map matching information, and the map matching result of the correct map matching information. The weighting parameters included in the first map matching algorithm are adjusted so as to reduce the deviation from the map matching results of the one map matching algorithm. By doing so, the travel route recording device 12 can improve the accuracy of the real-time map matching processing in the map matching processing section 121 .

Although the embodiments of the present disclosure have been described in detail above, the present invention is not limited to these as long as they do not deviate from the technical idea of the present invention, and some design changes and the like are possible.

For example, in the first embodiment, the server 11 explained a mode in which a common weighting parameter is distributed to each of the plurality of vehicle-mounted devices 10, but it is not limited to this. In another embodiment, the adjustment unit 114 of the server 11 may adjust the weighting parameters for each vehicle type of the vehicle A on which the vehicle-mounted device 10 is mounted. For example, a motorcycle and a four-wheeled motor vehicle may differ in vehicle behavior (running position in a lane, right/left turn behavior, etc.) estimated from positioning information, angular velocity, etc. included in map matching input information. Therefore, the adjustment unit 114 adjusts the weighting parameters for each vehicle type, so that the tendency of the map matching input information that depends on the vehicle type can be reflected in the first map matching algorithm. In such a mode, the result acquisition unit 111 of the server 11 further acquires information indicating the vehicle type of the vehicle A from the vehicle-mounted device 10, and stores information about which vehicle-mounted device 10 is installed in the vehicle A of which vehicle type in the storage medium 11B. It should be recorded in association with whether the Further, the transmission unit 115 of the server 11 transmits weighting parameters adjusted for the same vehicle type as the vehicle type associated with the vehicle-mounted device 10 to the vehicle-mounted device 10 .

<Appendix>
The travel route recording device, the travel route recording system, the server, the travel route recording method, and the program described in each of the above-described embodiments are understood, for example, as follows.

According to the first aspect of the present disclosure, a travel route recording device (12) inputs map matching input information to a first map matching algorithm and obtains a map matching result output from the first map matching algorithm. a map matching processing unit (121) that acquires correct map matching information, a map matching result indicated by the correct map matching information, and a map output from the first map matching algorithm A deviation acquisition unit (123) that acquires a deviation from a matching result, and an adjustment unit (124) that adjusts weighting parameters included in the first map matching algorithm so as to reduce the deviation.

By doing so, the travel route recording device can improve the accuracy of the map matching process performed in real time.

According to the second aspect of the present disclosure, in the travel route recording device (12) according to the first aspect, the map matching processing unit (121) causes the first map matching algorithm to acquire the The map matching input information is input to acquire the map matching result at the first time point, and the correct information acquisition unit (122) acquires the first time point and a time after the first time point. Obtaining the correct map matching information at the first time based on the plurality of map matching input information obtained at each of two time points.

By doing so, the traveling route recording device can obtain the correct map matching information with higher accuracy corrected based on the traveling state of the vehicle A at the second point in time, which is later than the first point in time. A map matching result at a first time point can be obtained. As a result, the travel route recording device can accurately acquire the error (deviation from the correct map matching information) of the real-time map matching processing in the map matching processing section, and adjust the weighting parameters with high accuracy.

According to the third aspect of the present disclosure, in the travel route recording device (12) according to the second aspect, the correct information acquisition unit (122) causes the second map matching algorithm to include the first point in time and the second point in time. A plurality of the map matching input information obtained at each time point are input to obtain the correct map matching information including the map matching result at the first time point output from the second map matching algorithm.

By doing so, the travel route recording device can create the correct map matching information by itself and compare it with the map matching result obtained by the real-time map matching process.

According to a fourth aspect of the present disclosure, in the travel route recording device (12) according to the third aspect, the second map matching algorithm uses map data with higher precision than the first map matching algorithm. Output the map matching result.

Since the real-time map matching process of the first map matching algorithm requires real-time performance, time-consuming arithmetic processing (for example, map matching process using high-precision map data such as 3D map data) should be performed. can be difficult. However, since the map matching processing of the second map matching algorithm does not require real-time processing, it is possible to execute arithmetic processing using a highly accurate map. As a result, the travel route recording device can acquire a more accurate map matching result in the map matching process of the second map matching.

According to a fifth aspect of the present disclosure, a travel route recording system (1) includes an onboard device (10) mounted on a vehicle, and a server (11) communicably connected to the onboard device (10). , provided. The vehicle-mounted device (10) includes a map matching processing section (101) that inputs map matching input information to a first map matching algorithm and acquires a map matching result output from the first map matching algorithm. The server (11) includes a correct information acquisition unit (112) that acquires correct map matching information, a map matching result indicated by the correct map matching information, and a map matching result output from the first map matching algorithm. a deviation acquisition unit (113) that acquires the deviation of; an adjustment unit (114) that adjusts the weighting parameters included in the first map matching algorithm so that the deviation becomes small; and a transmitter (115) for transmitting to the device.

By doing so, the travel route recording system can improve the accuracy of real-time map matching processing performed in the vehicle-mounted device.

According to a sixth aspect of the present disclosure, a server (11) is mounted on a vehicle, inputs map matching input information to a first map matching algorithm, and outputs map matching results from said first map matching algorithm. A result acquisition unit (111) that acquires the map matching result from the vehicle-mounted device (10) that acquires the correct map matching information, a correct information acquisition unit (112) that acquires correct map matching information, and a map indicated by the correct map matching information a deviation acquisition unit (113) for acquiring a deviation between a matching result and a map matching result output from the first map matching algorithm; and a weighting parameter included in the first map matching algorithm so as to reduce the deviation. An adjustment unit (114) for adjustment, and a transmission unit (115) for transmitting the adjusted weighting parameters to the vehicle-mounted device.

According to a seventh aspect of the present disclosure, a driving route recording method includes inputting map matching input information to a first map matching algorithm and obtaining a map matching result output from the first map matching algorithm. obtaining correct map matching information; obtaining a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm; and adjusting weighting parameters included in the first map matching algorithm such that

According to the eighth aspect of the present disclosure, the program inputs map matching input information to a first map matching algorithm into the computer of the travel route recording device, and outputs the map matching result output from the first map matching algorithm. obtaining correct map matching information; obtaining a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm; and adjusting the weighting parameters included in the first map matching algorithm such that the deviation is reduced.

According to at least one aspect of the present disclosure, it is possible to improve the accuracy of map matching processing performed in real time.

1 travel route recording system 10 vehicle-mounted device 10A CPU
101 map matching processing unit 102 receiving unit 10B storage medium 11 server 11A CPU
111 result acquisition unit 112 correct information acquisition unit 113 deviation acquisition unit 114 adjustment unit 115 transmission unit 11B storage medium 12 travel route recording device 12A CPU
121 map matching processing unit 122 correct information acquisition unit 123 deviation acquisition unit 124 adjustment unit 12B storage medium

Claims (8)

a map matching processing unit that inputs map matching input information to a first map matching algorithm and obtains a map matching result output from the first map matching algorithm;
a correct information acquisition unit for acquiring correct map matching information;
a deviation acquisition unit for acquiring a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm;
an adjustment unit that adjusts a weighting parameter included in the first map matching algorithm so that the deviation becomes small;
with
The map matching processing unit inputs the map matching input information acquired at a first time point to the first map matching algorithm to acquire the map matching result at the first time point;
The correct information acquisition unit performs the correct map matching at the first time point based on the plurality of map matching input information acquired at the first time point and at a second time point which is a time after the first time point. get information,
Driving route recorder. The correct information acquisition unit inputs a plurality of the map matching input information acquired at each of the first time point and the second time point to the second map matching algorithm, and outputs the map matching input information from the second map matching algorithm. obtaining the correct map matching information including the map matching result at a first point in time;
The travel route recording device according to claim 1 . The second map matching algorithm outputs the map matching result using map data with higher precision than the first map matching algorithm.
The travel route recording device according to claim 2 . an on-board device mounted on a vehicle;
a server communicably connected to the vehicle-mounted device;
A driving route recording system comprising:
The vehicle-mounted device,
a map matching processing unit that inputs map matching input information to a first map matching algorithm and obtains a map matching result output from the first map matching algorithm;
The server is
a correct information acquisition unit for acquiring correct map matching information;
a deviation acquisition unit for acquiring a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm;
an adjustment unit that adjusts a weighting parameter included in the first map matching algorithm so that the deviation becomes small;
a transmitter that transmits the adjusted weighting parameters to the vehicle-mounted device;
with
The map matching processing unit inputs the map matching input information acquired at a first time point to the first map matching algorithm to acquire the map matching result at the first time point;
The correct information acquisition unit performs the correct map matching at the first time point based on the plurality of map matching input information acquired at the first time point and at a second time point which is a time after the first time point. get information,
Driving route recording system. From a vehicle-mounted device that is mounted on a vehicle and inputs map matching input information acquired at a first time point to a first map matching algorithm and acquires the map matching result at the first time point that is output from the first map matching algorithm , a result acquisition unit that acquires the map matching result;
a correct information acquisition unit for acquiring correct map matching information;
a deviation acquisition unit for acquiring a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm;
an adjustment unit that adjusts a weighting parameter included in the first map matching algorithm so that the deviation becomes small;
a transmitter that transmits the adjusted weighting parameters to the vehicle-mounted device;
with
The correct information acquisition unit performs the correct map matching at the first time point based on the plurality of map matching input information acquired at the first time point and at a second time point which is a time after the first time point. get information,
server. a driving route recording device inputting map matching input information to a first map matching algorithm to obtain a map matching result output from the first map matching algorithm;
a step in which the driving route recording device acquires correct map matching information;
obtaining a deviation between the map matching result indicated by the correct map matching information and the map matching result output from the first map matching algorithm;
adjusting the weighting parameters included in the first map matching algorithm so that the deviation becomes smaller;
has
The step of obtaining the map matching result includes inputting the map matching input information obtained at a first time point into the first map matching algorithm to obtain the map matching result at the first time point;
The step of obtaining the correct map matching information is based on the plurality of pieces of map matching input information obtained at the first time point and at a second time point later than the first time point. obtaining the correct map matching information;
Driving route recording method. a step in which the vehicle-mounted device inputs map matching input information to a first map matching algorithm, acquires a map matching result output from the first map matching algorithm, and transmits the map matching result to a server;
the server obtaining correct map matching information;
obtaining, by the server, a deviation between a map matching result indicated by the correct map matching information and a map matching result output from the first map matching algorithm;
said server adjusting weighting parameters included in said first map matching algorithm such that said deviation is reduced;
has
The step of obtaining the map matching result includes inputting the map matching input information obtained at a first time point to the first map matching algorithm to obtain the map matching result at the first time point;
The step of obtaining the correct map matching information is based on the plurality of pieces of map matching input information obtained at the first time point and at a second time point later than the first time point. obtaining the correct map matching information;
Driving route recording method. inputting map matching input information to a first map matching algorithm to obtain a map matching result output from the first map matching algorithm;
obtaining correct map matching information;
obtaining a deviation between a map matching result indicated by the correct map matching information and a map matching result output from the first map matching algorithm;
adjusting weighting parameters included in the first map matching algorithm so that the deviation is small;
A program that causes the computer of the travel route recording device to execute
The step of obtaining the map matching result includes inputting the map matching input information obtained at a first time point into the first map matching algorithm to obtain the map matching result at the first time point;
The step of obtaining the correct map matching information is based on the plurality of pieces of map matching input information obtained at the first time point and at a second time point later than the first time point. obtaining the correct map matching information;
program .

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