Information processing device, computer readable storage medium, and map data updating system

• US 9,891,057 B2
• Filed: 03/08/2016
• Issued: 02/13/2018
• Est. Priority Date: 03/23/2015
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Inventors: Goto, Kunihiro, Yamaguchi, Koichiro, Kidono, Kiyosumi, Meguro, Junichi
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US15/064,326
• Publication Number:
  US 20160282127A1
• Time in Patent Office: 707 Days
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile

Abstract

A position measurement section of an on-board device measures a position of a vehicle. A travelling position identification section identifies a travelling position of the vehicle on map data based on the measured position of the vehicle and the map data. Then, a position error measurement section computes error information indicating the difference between the measured position of the vehicle and travelling position. Then, a communications section transmits the error information and the position information to a server. A communication section of the server receives the transmitted error information and position information. An error registration section stores the error information in an error database in association with the received position information. Then, for each respective item of position information, a priority level setting section sets a priority level corresponding to the position information based on the error information stored in the error database.

Claims

1. An information processing device, comprising:

a memory storing a difference database; and

a first processor programmed to;

determine a position of a moving object based on a satellite signal transmitted from a positioning satellite;

determine a travelling position of the moving object on map data identified based on (i) at least one of the position of the moving object or external environment information indicating an environment of surroundings of the moving object and (ii) the map data;

associate (A) difference information indicating a difference between (a) the determined position of the moving object and (b) the determined travelling position of the moving object, with (B) position information indicating at least one of the position of the moving object or the travelling position, and stores the associated information in a difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.

2. The information processing device of claim 1, wherein, for each item of the position information, the first processor measures a variance of the difference information associated with the item of position information as the amount of change, based on the difference information associated with the position information stored in the difference database, and sets information indicating whether or not the map data associated with the item of position information is to be updated based on a time series of the measured variance of the difference information associated with the item of position information.

3. The information processing device of claim 1, wherein, for each item of the position information, the first processor measures the number of items of the difference information associated with the item of position information of a predetermined threshold value or greater as the amount of change, based on the difference information associated with the position information stored in the difference database, and sets information indicating whether or not the map data associated with the item of position information is to be updated based on a time series of the measured number of items of difference information associated with the item of position information.

4. A map data updating system, comprising:

an installed device that is installed in a moving object; and

the information processing device of claim 1, wherein the installed device comprises;

a second processor programmed to;

detect external environment information indicating an environment of the surroundings of the moving object;

measure the position of the moving object based on a satellite signal transmitted from a positioning satellite; and

transmit, to the information processing device, the detected external environment information and the measured position information indicating the position of the moving object, and

wherein, in the information processing device, the first processor associates the difference information indicating the difference between positions of the moving object measured by the second processor with the position information, and stores the difference information in a difference database.

5. The map data updating system of claim 4, wherein:

the second processor programmed to;

identify the travelling position of the moving object on map data based on the map data and on at least one of the position of the moving object measured by the second processor or the external environment information detected by the second processor that detects external environment information indicating the environment of the surroundings of the moving object;

compute difference information indicating the difference between the position of the moving object measured by the second processor and the identified travelling position; and

transmit, to the information processing device, the computed difference information, and the position information indicating at least one of the position of the moving object measured by the second processor or the identified travelling position;

the first processor of the information processing device is further programmed to receive the difference information and the position information transmitted by the second processor; and

the first processor stores the difference information in the difference database in association with the received position information.

6. The map data updating system of claim 5, wherein:

the second processor of the installed device is further programmed to determine whether or not the difference information and the position information are to be transmitted, according to at least one of the computed difference information, a travelling date and time at which the moving object was travelling, or a number of times that the moving object has travelled through a place on the map data associated with the position information; and

the second processor transmits the difference information and the position information according to the determination result.

7. The map data updating system of claim 4, wherein:

the second processor of the installed device is further programmed to determine whether or not data is to be transmitted from the installed device, according to at least one of a travelling date and time at which the moving object was travelling, or a number of times that the moving object has travelled through a position on the map data; and

the second processor transmits the data according to the determination result.

8. The map data updating system of claim 4, wherein:

the second processor of the installed device is further programmed to update the map data based on information set by the first processor indicating whether or not the map data is to be updated; and

a travelling position of the moving object on the map data is identified based on the external environment information and the updated map data.

9. An information processing device, comprising:

a memory storing a difference database; and

a first processor programmed to;

determine a travel path of a moving object generated from a time series of travelling positions of the moving object on map data, the travel path being identified based on external environment information indicating an environment of surroundings of the moving object and on the map data;

determine an integrated path of the moving object generated from a time series of motion amounts of the moving object generated based on at least one of the external environment information or a travelling state of the moving object;

associate (A) difference information indicating a difference between (a) the travel path of the moving object, and (b) the integrated path of the moving object, with (B) position information indicating a travelling position;

store the associated information in the difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.

10. A map data updating system, comprising:

an installed device that is installed in a moving object; and

the information processing device of claim 9, wherein the installed device comprises a second processor programmed to;

detect external environment information indicating an environment of the surroundings of the moving object; and

transmit the detected external environment information to the information processing device, and

wherein, in the information processing device, the first processor associates the difference information indicating a difference in the travel path generated from a time series of travelling positions identified based on the detected external environment information, with the position information indicating the travelling position, and stores the associated difference information in the difference database.

11. The map data updating system of claim 10, wherein:

the second processor of the installed device is further programmed to;

identify the travelling position of the moving object on map data, based on the detected external environment information and the map data,

generate the travel path of the moving object based on a time series of the identified travelling positions,

estimate an amount of movement of the moving object based on at least one of the external environment information or the travelling state of the moving object,

generate an integrated path of the moving object based on a time series of the estimated motion amounts,

compute the difference information indicating the difference between the generated travel path and the generated integrated path, and

transmit the computed difference information, and position information indicating the identified travelling position, to the information processing device;

the first processor of the information processing device is further programmed to receive the difference information and the position information transmitted by the second processor; and

the first processor stores the difference information in the difference database in association with the position information received by the second processor.

12. An information processing device, comprising:

a memory storing a difference database; and

a first processor programmed to;

associate (A) difference information indicating a difference between (a) at least one of surrounding environment information generated from external environment information indicating an environment of surroundings of a moving object or a positioning path of the moving object generated from a position of the moving object, and (b) map data, the difference information being generated according to at least one of (i) a result of a comparison between the position of the moving object measured based on a satellite signal transmitted from a positioning satellite and road information included in the map data, or (ii) an identification result for a travelling position of the moving object on the map data identified from the external environment information and the map data, with (B) position information indicating at least one of a position of the moving object or the travelling position;

store the associated information in the difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.

13. The information processing device of claim 12, wherein:

the difference information is generated for a predetermined range over which difference information is to be generated, according to at least one of a result of a comparison of the positioning path of the moving object generated from positions of the moving object against the road information included in the map data, or an identification result for a travelling position of the moving object in the predetermined range on the map data for which the difference information is to be generated, the identification result being identified from the external environment information and the map data; and

the difference information is generated for each of a plurality of part regions derived by dividing a region of a predetermined range over which the difference information is to be generated.

14. A map data updating system, comprising:

an installed device that is installed in a moving object; and

the information processing device of claim 12, wherein;

the installed device comprises a second processor programmed to;

detect external environment information indicating an environment of the surroundings of the moving object,

measure positions of the moving object based on a satellite signal transmitted from a positioning satellite, and

transmit the detected external environment information, and the measured position information indicating a position of the moving object, to the information processing device; and

in the information processing device, the first processor associates (1) difference information that is generated according to at least one of the identification result or a result of comparing the positioning path of the moving object generated from the measured position of the moving object against the road information included in the map data, and that indicates a difference between the map data and at least one of surrounding environment information generated from the external environment information or the positioning path of the moving object generated from the positions of the moving object, with (2) at least one of the position of the moving object or the travelling position, and stores the difference information in the difference database.

15. The map data updating system of claim 14, wherein:

the second processor of the installed device further is further programmed to;

compare the measured position of the moving object against the road information included in the map data,

identify a travelling position of the moving object on the map data based on the map data and at least one of the measured position of the moving object unit or the detected external environment information detected by the second processor that detects external environment information indicating an environment of the surroundings of the moving object,

generate difference information indicating a difference between the external environment information and the map data, based on at least one of the comparison result or the identification result, and

transmit, to the information processing device, the generated difference information, and the position information indicating at least one of the measured position of the moving object or the identified travelling position;

the first processor of the information processing device is further programmed to receive the difference information and the position information transmitted by the second processor; and

the first processor stores the difference information in the difference database in association with the position information received by the first processor.

16. A non-transitory computer readable medium storing a program executable by a computer to perform a process for information processing, the process comprising:

associating (A) difference information indicating a difference between (a) a position of a moving object measured based on a satellite signal transmitted from a positioning satellite and (b) a travelling position of the moving object on map data identified based on (i) at least one of the position of the moving object or external environment information indicating an environment of surroundings of the moving object and (ii) the map data, with (B) position information indicating at least one of the position of the moving object or the travelling position;

storing the associated information in a difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.

17. A non-transitory computer readable medium storing a program executable by a computer to perform a process for information processing, the process comprising:

associating (A) difference information indicating a difference between (a) a travel path of a moving object generated from a time series of travelling positions of the moving object on map data identified based on external environment information indicating an environment of surroundings of the moving object and on the map data, and (b) an integrated path of the moving object generated from a time series of motion amounts of the moving object generated based on at least one of the external environment information or a travelling state of the moving object, with (B) position information indicating the travelling position;

storing the associated information in a difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.

18. A non-transitory computer readable medium storing a program executable by a computer to perform a process for information processing, the process comprising:

associating (A) difference information indicating a difference between (a) at least one of surrounding environment information generated from external environment information indicating an environment of surroundings of a moving object or a positioning path of the moving object generated from positions of the moving object, and (b) map data, the difference information being generated according to at least one of (i) a result of a comparison between a position of the moving object measured based on a satellite signal transmitted from a positioning satellite and road information included in the map data, or (ii) an identification result for a travelling position of the moving object on the map data identified from the external environment information and the map data, with (B) position information indicating at least one of a position of the moving object or the travelling position, and

storing the associated information in a difference database; and

for each item of the position information;

measure an average of the difference information associated with the item of position information as an amount of change, based on the difference information associated with the position information stored in the difference database,

determine a time series of the measured average of the difference information associated with the item of position information, and

set information for updating the map data based on the average of past difference information and the average of current difference information.