Central device, map generation system, map generation method

Abstract

An object is to provide a technique capable of appropriately reducing communication data volume. A central device communicates with a mobile terminal that can move together with a moving body. The mobile terminal includes an extraction information generation unit that generates extraction information extracted from measurement information. The central device includes: a map information generation unit that generates map information based on the extraction information transmitted from the mobile terminal to the central device; and a map generation control unit that evaluates the completion degree of the map information generated by the map information generation unit and generates instruction information based on the completion degree.

Description

Technical Field

[0001] The present disclosure relates to a central device, a map generation system, and a map generation method. Background Art

[0002] In a map generation system, the space of a diagram object is measured with a space measurement sensor, and the position information and shape information of a ground object are inferred based on the measurement result, thereby generating map information with sub-meter level position accuracy. Such a map generation system includes, for example, one or more mobile terminals that measure the space of a diagram object and a central device that generates map information based on the measurement results of the mobile terminals.

[0003] In this map generation system, the measurement result is transmitted from the mobile terminal to the central device via wireless communication. However, since the amount of data of the measurement result is large, it is necessary to reduce the amount of communication-related data. For example, in the map generation system described in Patent Document 1, the mobile terminal extracts a required part from the measurement result based on a predetermined feature amount, thereby reducing the amount of communication data.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2014-228637 Summary of the Invention

[0007] However, in the map generation system described in Patent Document 1, the mobile terminal sometimes also transmits information that the central device does not need, and there is a problem that the amount of communication data cannot be appropriately reduced.

[0008] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a technique capable of appropriately reducing the amount of communication data.

[0009] The central device according to the present disclosure is a central device that communicates with a mobile terminal that can move together with a moving body. The mobile terminal includes: a position information acquisition unit that acquires the position information of the moving body; a measurement information acquisition unit that measures the space around the moving body as the space of a diagram object and acquires measurement information; and an extraction information generation unit that generates extraction information extracted from the measurement information based on the position information and instruction information transmitted from the central device to the mobile terminal. The central device includes: a map information generation unit that generates map information based on the extraction information transmitted from the mobile terminal to the central device; and a map generation control unit that evaluates the degree of completion of the map information generated by the map information generation unit and generates the instruction information based on the degree of completion.

[0010] According to the present disclosure, the central device generates instruction information based on the completion degree of map information. With such a configuration, it is possible to appropriately reduce the communication data volume.

[0011] The object, features, aspects, and advantages of the present disclosure will become clearer through the following detailed description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a block diagram showing the functional configuration of the map generation system according to Embodiment 1.

[0013] Figure 2 is a block diagram showing the functional configuration of the mobile terminal according to Embodiment 1.

[0014] Figure 3 is a diagram showing an example of the operation of the instruction information selection unit of the mobile terminal according to Embodiment 1.

[0015] Figure 4 is a diagram showing an example of the operation of the measurement information extraction unit of the mobile terminal according to Embodiment 1.

[0016] Figure 5 is a diagram showing an example of the operation of the measurement information extraction unit of the mobile terminal according to Embodiment 1.

[0017] Figure 6 is a diagram showing an example of the operation of the measurement information extraction unit of the mobile terminal according to Embodiment 1.

[0018] Figure 7 is a diagram showing an example of the operation of the measurement information extraction unit of the mobile terminal according to Embodiment 1.

[0019] Figure 8 is a block diagram showing the functional configuration of the central device according to Embodiment 1.

[0020] Figure 9 is a diagram showing an example of the operation of the central device according to Embodiment 1.

[0021] Figure 10 is a diagram showing an example of the operation of the central device according to Embodiment 1.

[0022] Figure 11 is a diagram showing an example of the operation of the central device according to Embodiment 1.

[0023] Figure 12 is a diagram showing an example of the operation of the central device according to Embodiment 1.

[0024] Figure 13 is a flowchart showing an example of the operation of the mobile terminal according to Embodiment 1.

[0025] Figure 14 It is a flowchart showing an example of the operation of the central device of Embodiment 1.

[0026] Figure 15 It is a block diagram showing the functional structure of the map generation system of Embodiment 2.

[0027] Figure 16 It is a diagram showing an example of the operation of the mobile terminal of Embodiment 2.

[0028] Figure 17 It is a diagram showing an example of the operation of the mobile terminal of Embodiment 2.

[0029] Figure 18 It is a diagram showing an example of the operation of the mobile terminal of Embodiment 2.

[0030] Figure 19 It is a diagram showing an example of the operation of the central device of Embodiment 2.

[0031] Figure 20 It is a block diagram showing the functional structure of the map generation system of Embodiment 3.

[0032] Figure 21 It is a diagram showing an example of the operation of the central device of Embodiment 3.

[0033] Figure 22 It is a diagram showing an example of the operation of the central device of Embodiment 3.

[0034] Figure 23 It is a diagram showing an example of the operation of the central device of Embodiment 3.

[0035] Figure 24 It is a block diagram showing the functional structure of the map generation system of Embodiment 4.

[0036] Figure 25 It is a diagram showing an example of the operation of the central device of Embodiment 4.

[0037] Figure 26 It is a block diagram showing the hardware structure of the central device of other modification examples.

[0038] Figure 27 It is a block diagram showing the hardware structure of the central device of other modification examples.

[0039] Symbol Explanation

[0040] 1. 1B: Mobile terminal; 2, 2B, 2C, 2D: Central device; 10: Location information acquisition unit; 11: Measurement information acquisition unit; 12, 12B: Extraction information generation unit; 21: Map information generation unit; 22, 22B, 22C, 22D: Map generation control unit; 121: Instruction information storage unit; 122: Instruction information selection unit; 123, 123B: Measurement information extraction unit; 124: Temporary extraction information management unit; 125: Extraction information selection unit; 211: Deduction method selection unit; 212: Ground object deduction unit; 221: Map information evaluation unit; 222, 222D: Instruction information generation unit; 223, 223C: Ground object extraction sequence list; 224, 224D: Instruction information management unit; 225, 225B, 225D: Transmission instruction selection unit; 226: Deduction information storage unit; 227: Extraction sequence selection unit; 228: Completion degree management unit; A1, A2, A3, A4: Map generation systems; V1 to V3: Moving bodies. Detailed implementation manners

[0041] <Embodiment 1>

[0042] This Embodiment 1 will be described with reference to the drawings. Figure 1 FIG. is a block diagram showing the functional structure of the map generation system A1 of this Embodiment 1. The map generation system A1 includes one or more mobile terminals 1 capable of moving together with the moving bodies V1 to V3 and a central device 2 that communicates with the mobile terminal 1.

[0043] The map generation system A1 measures the space around the moving bodies V1 to V3 as the space for generating map information, that is, the space to be illustrated (hereinafter, sometimes also referred to as the "object space"), and performs illustration processing based on the measurement results to generate map information. The mobile terminal 1 can move together with the moving bodies V1 to V3, for example, is mounted on the moving bodies V1 to V3. In addition, the number of moving bodies carrying the mobile terminal 1 and the number of mobile terminals 1 are not limited to three. The central device 2 is installed on the ground and generates map information based on the extraction information extracted from the measurement results by the mobile terminal 1.

[0044] Here, the map information is information that records either the position or the shape or both of the ground objects existing in the object space with a position accuracy of sub-meter level or higher. The map information is, for example, road map information recording the ground objects on the road, indoor map information recording the ground objects inside the house, etc. The map information can include not only the position and shape of the ground objects but also the attributes and connection relationships of the ground objects.

[0045] The above-ground objects include actual above-ground objects that actually exist in the object space and virtual above-ground objects that virtually exist in the object space. For example, if the above-ground object is road map information, it includes road edges, lane lines, stop lines, signal lights, signs, road markings, street lights, road centerlines, lane centerlines, etc. For example, if the above-ground object is indoor map information, it includes columns, doors, lighting, air conditioners, elevators, evacuation sensors, virtual lanes, virtual walls, etc.

[0046] The moving bodies V1 to V3 are animals or machines having units that move in the object space. The moving bodies are, for example, humans, vehicles, mobile robots, drones, etc. The mobile terminal 1 only needs to move in the object space following the moving body. For example, it can be mounted on the moving body or carried. Hereinafter, it is assumed that the mobile terminal 1 is mounted on the moving body for explanation.

[0047] The mobile terminal 1 and the central device 2 are, for example, computers including a storage device that stores programs and parameters, a CPU (Central Processing Unit) that executes programs, a memory that temporarily holds the results calculated by the CPU and the programs executed by the CPU, and an interface for communicating with other devices.

[0048] The central device 2 can be, for example, a cloud server set on the Internet, an MEC (Multi access Edge Computing) server set on a core network such as a mobile phone network, or an offline server set by an operator. In addition, in a modification example, the hardware structures of the mobile terminal 1 and the central device 2 are described in detail.

[0049] <Mobile Terminal 1>

[0050] Figure 2 It is a block diagram showing the functional structure of the mobile terminal 1 according to the first embodiment. The mobile terminal 1 is an information processing device that (i) obtains the position information of the moving body and the measurement information around the moving body based on the measurement results of the sensors mounted on the moving body, (ii) generates an extraction result extracted from the measurement information as extraction information based on the position information and the instruction information sent from the central device 2 to the mobile terminal 1, and (iii) sends the position information and the extraction information to the central device 2 and receives the instruction information from the central device 2.

[0051] In addition, as described later, in the present Embodiment 1, the substantially extracted information includes position information. Therefore, if the extracted information is transmitted, both the position information and the extracted information will be transmitted. However, the position information and the extracted information may also be transmitted separately. In the following description, when the extracted information is transmitted, it is sometimes also described as transmitting the position information and the extracted information. In the present Embodiment 1, the extracted information includes position information, but the extracted information may not include position information.

[0052] The mobile terminal 1 includes: a position information acquisition unit 10 that acquires the position of the moving body; a measurement information acquisition unit 11 that measures the object space around the moving body and acquires measurement information; an extraction information generation unit 12 that generates extraction information extracted from the measurement information; and a mobile terminal communication unit 13 that communicates information with the central device 2.

[0053] The position information acquisition unit 10 acquires the position information of the moving body based on the measurement result of the positioning sensor mounted on the moving body. The measurement information acquisition unit 11 measures the space around the moving body as the object space to be diagrammed based on the measurement result of the space measurement sensor mounted on the moving body, and acquires measurement information. The extraction information generation unit 12 generates part of the measurement information extracted from the measurement information as extraction information based on the position information and the command information transmitted from the central device 2 to the mobile terminal 1. The mobile terminal communication unit 13 communicates information with the central device 2.

[0054] The command information is generated by the central device 2 and is used for the extraction information generation unit 12 of the mobile terminal 1. The command information includes: an object place, which represents the place to be extracted from the measurement information through the extraction process for the extraction information; and an object ground feature category, which is the ground feature category representing the ground feature to be extracted from the measurement information through the extraction process for the extraction information.

[0055] The object place is information representing a point or area within the object space as the place where the extraction process using the command information is applied. The representation form of the object place may be, for example, a representation form using the central coordinates and the distance from the central coordinates, a representation form using a coordinate point sequence and the distance from the coordinate point sequence, or a representation form of a region using a coordinate point sequence.

[0056] The ground object category is information that uniquely represents one or more categories of ground objects in the mobile terminal 1 and the central device 2, and the target ground object category is information that represents the category of the ground object to which the extraction process using the instruction information is applied. The ground object category can be either a name or an identifier assigned to each ground object in the map information, or a name or an identifier obtained by summarizing multiple ground objects in the map information. For example, the ground object category of road map information can include "road edge", "lane line", "stop line", "road center line", "lane center line", etc. assigned to each type of ground object, or can include "white line" obtained by summarizing multiple ground objects such as "lane line" and "stop line".

[0057] In addition, the instruction information can also include information other than the target location and the target ground object category. For example, the instruction information can also include an identifier for uniquely identifying the instruction information, a generation time indicating the time when the instruction information is generated, a valid period indicating the period during which the instruction information is valid, an application condition indicating the condition for applying the instruction information, etc.

[0058] Next, the components of the mobile terminal 1 will be described in detail. The position information acquisition unit 10 is a processing unit that estimates the current position of the mobile body on which the mobile terminal 1 is mounted and obtains the estimation result as position information. The position information acquisition unit 10 estimates the current position of the mobile body by using, for example, a positioning sensor for estimating the position.

[0059] The positioning sensor of the position information acquisition unit 10 can directly acquire the position information, or can estimate the position information based on the output value of the positioning sensor. The positioning sensor can use, for example, GNSS (Global Navigation Satellite System), a radio beacon, an IMU (Inertial Measurement Unit), or a combination of these.

[0060] Here, the position information is information that uniquely represents the coordinates of the mobile body and the moving direction of the mobile body as the position of the mobile body. The position information can be expressed in the form of, for example, latitude, longitude, and azimuth angle, or in the form of X coordinate, Y coordinate, and rotation angle. The position information acquisition unit 10 provides the position information to the extraction information generation unit 12. As will be described in detail later, the extraction information generation unit 12 that receives the position information from the position information acquisition unit 10 provides the position information to the mobile terminal communication unit 13. In addition, the position information acquisition unit 10 can also directly provide the position information to the mobile terminal communication unit 13. In the following description, for the sake of convenience, the position represented by the position information and the position information are sometimes not distinguished.

[0061] The measurement information acquisition unit 11 is a processing unit that measures the object space around the moving body on which the mobile terminal 1 is mounted and obtains the measurement result as measurement information. For example, the measurement information acquisition unit 11 measures the object space around the moving body by using a space measurement sensor for the measurement space.

[0062] The space measurement sensor of the measurement information acquisition unit 11 only needs to be able to directly measure the relative distance between the space measurement sensor and the above-ground objects around the moving body or be able to infer the relative distance based on the output value of the space measurement sensor. For example, the space measurement sensor can use an LRF (Laser Range Finder), a stereo camera, a ToF (Time Of Flight) camera, or a combination of these.

[0063] Here, the measurement information is information including a set of distance points representing the relative distance between the space measurement sensor and the above-ground objects. In addition, the measurement information may also include a set of color pixels. For example, the measurement information can be expressed in the form of a set of distance, azimuth angle, and elevation angle, or in the form of a set of X coordinate, Y coordinate, and Z coordinate, or in the form of a set of distance, X coordinate, and Y coordinate. The measurement information acquisition unit 11 provides this measurement information to the extraction information generation unit 12.

[0064] The extraction information generation unit 12 is a processing unit that (i) infers the correspondence between the above-ground object category representing the category of the above-ground object and the above-ground object area representing the area of the above-ground object based on the measurement information, and (ii) generates extraction information extracted from the measurement information about the above-ground object area corresponding to the above-ground object category according to the determination result of whether the position information and the above-ground object category respectively correspond to the object place and the object above-ground object category of the command information.

[0065] Specifically, the extraction information generation unit 12 (i) selects the command information for generating the extraction information according to the determination result of whether the position information corresponds to the object place of the command information from the central device 2, (ii) infers the correspondence between the above-ground object category and the above-ground object area based on the measurement information, and (iii) generates partial measurement information extracted from the measurement information about the above-ground object area corresponding to the above-ground object category as extraction information according to the determination result of whether the above-ground object category obtained by inference corresponds to the object above-ground object category of the command information obtained by selection.

[0066] The extraction information generation unit 12 uses the mobile terminal communication unit 13 to send the extraction information to the central device 2. At this time, the extraction information generation unit 12 can either send the extraction information to the central device 2 successively or use a unit that temporarily stores the extraction information to send multiple extraction information to the central device 2 in a summarized manner.

[0067] The extraction information generation unit 12 can either process the measurement information obtained by the measurement information acquisition unit 11 successively or synthesize the time series data of the measurement information for summarized processing. As a method for synthesizing the time series data of the measurement information, for example, it can be synthesized by overlapping each measurement information based on the position information, or it can be synthesized by performing position alignment processing between the measurement information.

[0068] The extraction information generation unit 12 includes: an instruction information storage unit 121 that stores instruction information; an instruction information selection unit 122 that selects instruction information; and a measurement information extraction unit 123 that generates partial measurement information as extraction information according to the instruction information selected by the instruction information selection unit 122.

[0069] The instruction information storage unit 121 is a database unit that stores the instruction information sent from the central device 2 to the mobile terminal 1, that is, the instruction information received by the mobile terminal communication unit 13, and provides the instruction information to the instruction information selection unit 122 according to the request of the instruction information selection unit 122.

[0070] The instruction information selection unit 122 is a processing unit that (i) determines whether the position information obtained by the position information acquisition unit 10 corresponds to the target location of the instruction information stored in the instruction information storage unit 121, and (ii) selects the determined corresponding instruction information from the instruction information storage unit 121 as the instruction information for the measurement information extraction unit 123. The instruction information selection unit 122 provides the selected instruction information or a list thereof to the measurement information extraction unit 123. In the present Embodiment 1, the instruction information selection unit 122 also provides the position information to the measurement information extraction unit 123, but in the case where the synthesis of the measurement information described later is not performed, the position information may not be provided to the measurement information extraction unit 123.

[0071] In the determination method of the instruction information selection unit 122, for example, it is geometrically determined whether the coordinates included in the position information are included in the location or area representing the target location. The instruction information selection unit 122 determines that the position information corresponds to the target location of the instruction information when it determines that the position information is included in the target location, and determines that the position information does not correspond to the target location of the instruction information when it determines that it is not included.

[0072] Next, an example of the operation of the instruction information selection unit 122 will be described using a diagram. Figure 3 This is a diagram showing an example of the operation related to the instruction information selection unit 122. Figure 3 (a) represents the instruction information C1 to C3 stored in the instruction information storage unit 121. The instruction information C1 to C3 each include an object place and an object ground feature category specified by a shape category and shape details. Figure 3 (b) is a diagram showing the moving body V1 on which the mobile terminal 1 is mounted, the object space E in which the moving body V1 moves as the space around the moving body V1, and the object places of the instruction information C1 to C3. In Figure 3 (b), the dotted lines of the instruction information C1 to C3 represent the object places.

[0073] First, the instruction information selection unit 122 determines whether the position information of the moving body V1 corresponds to the object place of the instruction information C1. The instruction information selection unit 122 compares the position information of the moving body V1 and the object place of the instruction information C1. In the case where the moving body V1 exists within the object place of the instruction information C1 as shown in Figure 3 (b), it is determined that the position information of the moving body V1 does not correspond to the object place of the instruction information C1. Thus, the instruction information selection unit 122 selects the instruction information C1 as the instruction information for the measurement information extraction unit 123.

[0074] Next, the instruction information selection unit 122 determines whether the position information of the moving body V1 corresponds to the object place of the instruction information C2 in the same manner as the instruction information C1. In the case where the moving body V1 exists outside the object place of the instruction information C2 as shown in Figure 3 (b), the instruction information selection unit 122 determines that the position information of the moving body V1 does not correspond to the object place of the instruction information C2.

[0075] Then, the instruction information selection unit 122 determines whether the position information of the moving body V1 corresponds to the object place of the instruction information C3 in the same manner as the instruction information C1 and C2. In the case where the moving body V1 exists outside the object place of the instruction information C3 as shown in Figure 3 (b), the instruction information selection unit 122 determines that the position information of the moving body V1 does not correspond to the object place of the instruction information C3.

[0076] Based on the above results, the instruction information selection unit 122 provides the selected instruction information C1 to the measurement information extraction unit 123.

[0077] Return to using Figure 2Description of the mobile terminal 1. The measurement information extraction unit 123 is a processing unit that, based on the position information, measurement information, and instruction information selected by the instruction information selection unit 122, (i) synthesizes one or more pieces of measurement information, (ii) infers the correspondence between the ground object category and the ground object area based on the measurement information, and (iii) generates extraction information extracted from the measurement information regarding the ground object area corresponding to the ground object category according to the determination result of whether the ground object category corresponds to the target ground object category of the instruction information. Hereinafter, the measurement information extraction unit 123 will be specifically described.

[0078] First, the measurement information extraction unit 123 adjusts the reference positions of the multiple pieces of measurement information by rotating or performing parallel operations on the multiple pieces of measurement information based on the multiple position information obtained by the position information acquisition unit 10 and the multiple pieces of measurement information obtained by the measurement information acquisition unit 11, and synthesizes the multiple pieces of measurement information. In addition, when using one piece of measurement information, the measurement information extraction unit 123 may skip this synthesis process or not use the position information as a result.

[0079] Next, the measurement information extraction unit 123 applies the ground object inference process to the measurement information synthesized by the synthesis process, thereby inferring the correspondence between the ground object category representing the type of the ground object reflected in the measurement information and the ground object area representing the area where the ground object exists.

[0080] Then, when the measurement information extraction unit 123 determines that the ground object category obtained by the above inference corresponds to the target ground object category of the instruction information selected by the instruction information selection unit 122, it selects this ground object category.

[0081] Finally, the measurement information extraction unit 123 extracts a partial set of the measurement information corresponding to the ground object area corresponding to the selected ground object category, and generates its extraction result as extraction information. In addition, the ground object area corresponding to the selected ground object category is the ground object area inferred together with the selected ground object category. The measurement information extraction unit 123 may also extract, in addition to the partial set of the measurement information corresponding to the above ground object area, a partial set of the measurement information corresponding to the periphery of the above ground object area, and generate its extraction result as extraction information. The measurement information extraction unit 123 provides the generated extraction information to the mobile terminal communication unit 13.

[0082] Here, the above-ground object area is the range (area) in the object space where above-ground objects are presumed to exist through above-ground object detection processing or the range (area) within the measurement information. The above-ground object area only needs to represent the range where above-ground objects exist. For example, it can be represented by a cuboid surrounding the above-ground object, or by a polyhedron matching the shape of the above-ground object, or by a rectangle surrounding the above-ground object in a planar overhead view.

[0083] The above-ground object presumption processing of the measurement information extraction unit 123 only needs to be presumption processing for presuming the above-ground object category and the above-ground object area based on the measurement information. For example, the above-ground object presumption processing can also be a geometric presumption method for above-ground objects that corresponds to thresholds in advance according to thresholds such as positions, shapes, and sizes preset for each above-ground object category. Additionally, for example, the above-ground object presumption processing can also be a model presumption method for above-ground objects that presumes through methods such as the RANSAC (Random Sampling Consensus) method according to a model preset for each above-ground object category. Additionally, for example, the above-ground object presumption processing can also be a machine learning-based presumption method that uses a convolutional neural network for presuming the above-ground object category and the above-ground object area to detect the above-ground object category and the above-ground object area.

[0084] The instruction information selected by the instruction information selection unit 122 can be either 0 or multiple. When the instruction information is 0, the measurement information extraction unit 123 can either extract according to a preset default above-ground object category, or stop extraction, or extract according to all above-ground object categories. Additionally, when the instruction information is multiple, the measurement information extraction unit 123 can either merge multiple extraction information into 1 extraction information, or still process according to multiple extraction information.

[0085] Next, an example of the operation of the measurement information extraction unit 123 will be described using a figure. Figures 4 - 7 It is a figure showing an example of the operation related to the measurement information extraction unit 123. In Figures 4 - 7 this example, the target above-ground object category of the instruction information is set to "electric pole".

[0086] First, the measurement information extraction unit 123 obtains the measurement information M1 as shown in Figure 4 from the measurement information acquisition unit 11. Figure 4 It is a figure showing the measurement information M1 represented by a point cloud of relative distances centered on a moving object from above.

[0087] Next, the measurement information extraction unit 123 performs above-ground object presumption processing on the measurement information M1 to obtain a presumption result as shown in Figure 5 that. Figure 5This is a diagram showing a case where four ground objects D1 to D4 are inferred (detected) from measurement information M1. In Figure 5 , the results of inferring (detecting) the ground object category and the ground object area through the ground object detection process are shown. The ground object categories of the ground objects D1 to D4 are "building", "curb", "vehicle", and "pole" respectively, and the ground object areas of the ground objects D1 to D4 are represented by dotted frame lines.

[0088] Finally, the measurement information extraction unit 123 determines whether the ground object categories of the ground objects D1 to D4 correspond to the target ground object category "pole" of the command information. In Figure 5 's example, it is determined that the ground object category of the ground object D4 corresponds to the target ground object category. The measurement information extraction unit 123 extracts the ground object area of the ground object D4 from the measurement information M1, thereby generating the extraction information M2 as shown in Figure 6 and Figure 7 . In addition, Figure 6 is a diagram looking down on the extraction information M2 from above. Figure 7 is a diagram showing the extraction information M2.

[0089] In the first embodiment, as shown in Figure 7 , the extraction information includes: the position information used in the reference position of the measurement information, the partial set of data representing the distance data extracted from the measurement information regarding the ground object area, and the ground object category of the ground object corresponding to the target ground object category and represented by this data.

[0090] Return to the description of the mobile terminal 1 using Figure 2 . The mobile terminal communication unit 13 is a communication unit that communicates information with the central device 2. The mobile terminal communication unit 13 sends the extraction information provided by the extraction information generation unit 12 to the central device 2, or receives the command information from the central device 2 and provides it to the extraction information generation unit 12. In addition, in the first embodiment, since the extraction information includes the position information and the ground object category, the extraction information is sent to the central device 2, so that the position information and the ground object category are also sent to the central device 2.

[0091] As a communication method of the communication unit 13 of the mobile terminal 1, it is sufficient for the mobile terminal 1 in motion to be able to communicate with the central device 2. For example, wide-area radio communication such as LTE (Long Term Evolution) or WiMAX (World Interoperability For Microwave Access) can be used, or narrow-area radio communication such as 5G (5 Generation), wireless LAN (Local Area Network), Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication) can be used. Also, a mobile communication method based on light or sound other than radio waves can be used. The mobile terminal 1 and the central device 2 do not need to directly communicate information, and can also communicate information via a wired communication or wireless communication network.

[0092] <Structure of the central device 2>

[0093] Next, use Figure 8 to explain the details of the central device 2. Figure 8 is a block diagram showing the functional structure of the central device 2 of the first embodiment.

[0094] The central device 2 is an information processing device that (i) generates map information based on the extraction information provided by the mobile terminal 1, (ii) evaluates the completeness of the map information, (iii) generates instruction information based on the completeness, and (iv) selects the instruction information and sends it to the mobile terminal 1.

[0095] The central device 2 includes: a central device communication unit 20 that communicates information with the mobile terminal 1; a map information generation unit 21 that generates map information based on the extraction information; and a map generation control unit 22 that generates instruction information based on the map information.

[0096] The central device communication unit 20 is a communication unit that communicates information with the mobile terminal 1. The central device communication unit 20 receives the extraction information from the mobile terminal 1, provides the extraction information (location information and ground object category) to the map information generation unit 21 and the map generation control unit 22, or sends the instruction information generated by the map generation control unit 22 to the mobile terminal 1.

[0097] As a communication method of the central device communication unit 20, it is sufficient for the mobile terminal 1 in motion to be able to communicate with the central device 2. For example, it can also be the same as the mobile terminal communication unit 13.

[0098] The map information generation unit 21 is a processing unit that (i) selects a ground object speculation method according to the ground object category of the extraction information provided by one or more mobile terminals 1, and (ii) uses the ground object speculation method to generate map information for each ground object category.

[0099] The map information generation unit 21 includes: a speculation method selection unit 211 that selects a ground object speculation method from multiple ground object selection methods; and a ground object speculation unit 212 that uses the ground object speculation method selected by the speculation method selection unit 211 to speculate the position or shape of the ground object. In addition, multiple ground object speculation methods are prepared in the ground object speculation unit 212 according to the ground object category, and Figure 8 ground object speculation methods A to C are prepared.

[0100] The speculation method selection unit 211 is a processing unit that selects, as the ground object speculation method for the ground object speculation unit 212, the ground object speculation method corresponding to the ground object category of the extraction information sent from the mobile terminal 1 to the central device 2 from multiple ground object speculation methods.

[0101] The correspondence between the ground object category and multiple ground object speculation methods is set in advance, and the speculation method selection unit 211 retrieves the ground object category that is the same as the ground object category of the extraction information according to the correspondence. Then, the speculation method selection unit 211 selects, as the ground object speculation method for the ground object speculation unit 212, the ground object speculation method corresponding to the ground object category.

[0102] The ground object speculation unit 212 is a processing unit that (i) uses the ground object speculation method selected by the speculation method selection unit 211 to speculate the position or shape of the ground object, (ii) appropriately applies statistical processing to improve the accuracy of the position and shape of the ground object, and (iii) generates map information for each ground object category according to the position or shape of the ground object.

[0103] For example, first, when there is map information being created, the above-ground object estimation unit 212 uses the above-ground object estimation method to correct the reference position indicated by the position information of the extraction information. Next, the above-ground object estimation unit 212 performs above-ground object estimation processing such as geometric calculation methods, model estimation methods, and machine learning on the extraction information to estimate the position and shape of the above-ground objects. Then, the above-ground object estimation unit 212 estimates the same above-ground objects by matching the above-ground object categories, positions, and shapes based on the extraction information for the currently estimated above-ground objects and the previously estimated above-ground objects, or appropriately applies statistical processing to the above-ground objects to improve the accuracy of the positions and shapes of the above-ground objects. Finally, the above-ground object estimation unit 212 records the estimation results of the map information for each above-ground object category to generate or update the map information for each above-ground object category. At this time, when there are already map information for multiple different above-ground object categories, the above-ground object estimation unit 212 can also merge them.

[0104] The map generation control unit 22 is a processing unit that (i) evaluates the completion degree of the map information generated by the map information generation unit 21, and (ii) switches the target above-ground object category according to the completion degree and generates instruction information including the target above-ground object category for selection. The map generation control unit 22 switches the target above-ground object category in a predetermined order of the completion degree according to the completion degree of the map information. For example, if it is a map generation system related to road map information, the map generation control unit 22 switches the target above-ground object category in the order of "road", "white line", and "structure".

[0105] The map generation control unit 22 includes a map information evaluation unit 221, an instruction information generation unit 222, an above-ground object extraction order table 223, an instruction information management unit 224, and a send instruction selection unit 225.

[0106] The map information evaluation unit 221 evaluates the completion degree of the map information generated by the map information generation unit 21. The map information evaluation unit 221 can evaluate the completion degree of the map information generated by the map information generation unit 21 as a whole for the target above-ground object category, or can evaluate the completion degree of the map information generated by the map information generation unit 21 for each target above-ground object category.

[0107] The above-ground object extraction order table 223 represents the correspondence between the completion degree and the target above-ground object category. The instruction information generation unit 222 switches the target above-ground object category corresponding to the completion degree according to the completion degree evaluated by the map information evaluation unit 221 in accordance with the above-ground object extraction order table 223 and generates instruction information including the target above-ground object category. The instruction information management unit 224 registers, stores, and deletes the instruction information generated by the instruction information generation unit 222 to manage the instruction information.

[0108] The transmission instruction selection unit 225 predicts the arrival range indicating the range where the mobile terminal 1 arrives based on the position information of the extraction information transmitted from the mobile terminal 1 to the central device 2. Then, the transmission instruction selection unit 225 selects the instruction information to be transmitted from the central device 2 to the mobile terminal 1 from the instruction information management unit 224 according to the arrival range and the target location of the instruction information.

[0109] Next, each component of the map generation control unit 22 will be specifically described. The map information evaluation unit 221 is a processing unit that (i) evaluates the position accuracy of the ground objects included in the map information based on the map information generated by the map information generation unit 21, and (ii) calculates the completion degree of the map information according to the evaluation result.

[0110] Specifically, first, the map information evaluation unit 221 determines the evaluation range of the range to be evaluated from the range represented by the map information. The evaluation range is the range included in the range represented by the map information.

[0111] As a method for determining the evaluation range of the map information evaluation unit 221, it is possible to determine one or more evaluation ranges from the map information by dividing the map information into one or more ranges (regions), etc. For example, the map information evaluation unit 221 may also determine one or more units divided according to a preset grid as the evaluation range. In addition, for example, the map information evaluation unit 221 may also determine the range updated by the map information generation unit 21 as the evaluation range. In addition, for example, the map information evaluation unit 221 may also obtain the division points between ground objects (for example, the merging and splitting points of roads) from the map information being generated, divide according to the division points, and determine the range where ground objects exist as the evaluation range.

[0112] Next, the map information evaluation unit 221 evaluates the reliability of how reliable the position accuracy of the ground objects in the evaluation range is, and calculates the completion degree of the map information according to the evaluation result of the reliability.

[0113] As a method for evaluating the position accuracy of the map information evaluation unit 221, it is only necessary to perform the evaluation in such a way that the higher the position accuracy, the higher the completion degree. For example, the map information evaluation unit 221 may also evaluate according to the number of times of measuring the ground objects of the ground object category in the evaluation range, and the higher the number of measurements, the higher the completion degree. In addition, for example, the map information evaluation unit 221 may also evaluate according to the measurement time in the evaluation range, and the longer the measurement time, the higher the completion degree. In addition, for example, the map information evaluation unit 221 may also evaluate according to the statistical processing result of the map information generation unit 21, and the smaller the fluctuation error of the position of the ground object, the higher the completion degree.

[0114] Here, the completion degree is an index indicating the degree to which all or part of the map information is completed. The completion degree is information that can determine which stage the map information generation process is in. For example, the completion degree can directly be the ground object category and its position accuracy, or it can be a value obtained by numericalizing the ground object category and its position accuracy. The value obtained by numericalizing the ground object category and its position accuracy can be a value obtained by converting the ground object category and its position accuracy into true / false values using a threshold, or it can be a value obtained by standardizing the ground object category and its position accuracy, or it can be a numerical value or identifier that represents the start to end of map generation by transforming the ground object category and position accuracy according to a preset list with continuous values.

[0115] The instruction information generation unit 222 is a processing unit that, based on the completion degree evaluated by the map information evaluation unit 221, retrieves the corresponding target ground object category according to the ground object extraction order table 223 and generates instruction information including the target ground object category to be extracted.

[0116] The instruction information generation unit 222 generates instruction information that includes all or part of the range determined by the map information evaluation unit 221 as the target location. Based on the above, the instruction information generated by the instruction information generation unit 222 includes all or part of the range determined by the map information evaluation unit 221 as the target location and includes the target ground object category indexed from the ground object extraction order table 223 according to the completion degree.

[0117] The ground object extraction order table 223 is an index table that records the target ground object categories to be extracted by the mobile terminal 1 according to the completion degree. For example, in a map generation system related to road map information, if the completion degree is evaluated in three levels, then in the ground object extraction order table 223, the completion degree "1" is set to "road", the completion degree "2" is set to "white line", and the completion degree 3 is set to "structure".

[0118] In addition, in the ground object extraction order table 223, one target ground object category can also be recorded multiple times. For example, in a map generation system related to road map information, if the completion degree is evaluated in four levels, then in the ground object extraction order table 223, for the completion degree "1", the first time "road" can be set, for the completion degree "2", "white line" can be set, for the completion degree 3, "structure" can be set, and for the completion degree 4, the second time "road" can be set.

[0119] The instruction information management unit 224 is a database unit that manages instruction information by registering, storing, and deleting one or more pieces of instruction information generated by the instruction information generation unit 222, and provides the instruction information according to a request from the transmission instruction selection unit 225.

[0120] In addition, in addition to holding the instruction information, the instruction information management unit 224 may also hold the completion degree calculated by the map information evaluation unit 221. In this case, the instruction information generation unit 222 may also refer to the completion degree to determine the instruction information.

[0121] The transmission instruction selection unit 225 is a processing unit that (i) predicts the arrival range of the mobile terminal 1 based on the position information of the extraction information sent from the mobile terminal 1 to the central device 2, (ii) selects the instruction information stored in the instruction information management unit 224 that includes the target place within the arrival range, and (iii) uses the central device communication unit 20 to send the instruction information to the mobile terminal 1.

[0122] As the prediction process of the arrival range, the transmission instruction selection unit 225 may, for example, predict the range within a certain distance (for example, within 3 kilometers) centered on the position represented by the position information as the arrival range based on the position information sent from the mobile terminal 1. In addition, for example, as the prediction process of the arrival range, the transmission instruction selection unit 225 may predict the range that can be reached within a certain time (for example, within 5 minutes) centered on the position represented by the position information as the arrival range. In addition, for example, the transmission instruction selection unit 225 may also predict the path within a certain distance range starting from the position of the moving body represented by the position information as the arrival range based on the information related to the path and the position information. In addition, the transmission instruction selection unit 225 may also predict the range set by the user of the central device 2 as the arrival range.

[0123] Next, an example of the operation of the central device 2 will be described with reference to the drawings. Figures 9 - 12 This is a diagram showing an example of the operation related to the central device 2. Here, it is assumed that the central device 2 generates road map information. In addition, in Figures 9 - 12 this example, it is assumed that the central device 2 evaluates the completion degree in the order of three levels "1", "2", and "3", and the target ground object categories are "road", "white line", and "structure".

[0124] Figure 9 This is a diagram showing the initial state of the central device 2. In Figure 9 it, the map information P0 generated by the map information generation unit 21 and the ground object extraction order table 223T of the map generation control unit 22 are shown. In Figure 9In the overground object extraction order list 223T, the completion degree "1" corresponds to the overground object category "road", the completion degree "2" corresponds to the overground object category "white line", and the completion degree "3" corresponds to the overground object category "structure". In the initial state, it is the completion degree "1" with the lowest completion degree, so the map generation control unit 22 generates instruction information including the overground object category "road".

[0125] Next, Figure 10 This is a diagram showing the first state after the initial state of the central device 2. The map information generation unit 21 generates map information P1 including the overground object category "road" based on the extraction information sent by the mobile terminal 1 upon receiving this instruction information. In Figure 10 the roadside line D11 and the road center line D12 correspond to the overground object category "road" included in the map information P1. The map generation control unit 22 evaluates the map information P1. When it is determined that the map information of the overground object category "road" is completed, the completion degree is changed from "1" to "2". Along with this, the map generation control unit 22 generates instruction information including the overground object category "white line" in accordance with the overground object extraction order list 223T.

[0126] Then, Figure 11 This is a diagram showing the second state after the first state of the central device 2. The map information generation unit 21 generates map information P2 including the overground object categories "road" and "white line" based on the extraction information sent by the mobile terminal 1 upon receiving this instruction information. In Figure 11 the section line D21, the lane center line D22, and the crosswalk D23 correspond to the overground object category "white line" included in the map information P2. The map generation control unit 22 evaluates the map information P2. When it is determined that the map information of the overground object category "white line" is completed, the completion degree is changed from "2" to "3". Along with this, the map generation control unit 22 generates instruction information including the overground object category "structure" in accordance with the overground object extraction order list 223T.

[0127] Finally, Figure 12 This is a diagram showing the third state after the second state of the central device 2. The map information generation unit 21 generates map information P3 including the overground object categories "road", "white line", and "structure" based on the extraction information sent by the mobile terminal 1 upon receiving this instruction information. In Figure 12 the traffic signal D31, the utility pole D32, and the telegraph pole D33 correspond to the overground object category "structure" included in the map information P3. The map generation control unit 22 evaluates the map information P3. When it is determined that the map information of the overground object category "structure" is completed, it is determined that the map information is completed.

[0128] <Actions of Mobile Terminal 1>

[0129] Next, an example of the actions of the mobile terminal 1 of the map generation system A1 according to Embodiment 1 will be described using figures. Figure 13 It is a flowchart showing an example of the actions of the mobile terminal 1 of the map generation system A1.

[0130] First, in step S101, the mobile terminal communication unit 13 of the mobile terminal 1 receives instruction information sent from the central device 2. Also, in step S101, the mobile terminal communication unit 13 provides the instruction information to the instruction information storage unit 121. When step S101 is completed, the process proceeds to step S102.

[0131] In step S102, the position information acquisition unit 10 acquires the position information of the moving object and provides the position information to the instruction information selection unit 122. When step S102 is completed, the process proceeds to step S103.

[0132] In step S103, the measurement information acquisition unit 11 acquires measurement information about the periphery of the moving object and provides the measurement information to the measurement information extraction unit 123. When step S103 is completed, the process proceeds to step S104.

[0133] In step S104, the instruction information selection unit 122 selects (retrieves) instruction information from the instruction information storage unit 121 based on the position information acquired in step S102. When step S104 is completed, the process proceeds to step S105.

[0134] In step S105, the measurement information extraction unit 123 performs a ground object speculation process based on the measurement information acquired in step S103, and speculates by associating the ground object category with the ground object area. When step S105 is completed, the process proceeds to S106.

[0135] In step S106, the measurement information extraction unit 123 determines whether the ground object category speculated in step S105 corresponds to the target ground object category of the instruction information selected in step S104. If it is determined that they do not correspond, the extraction information is not sent. Figure 13 The series of processes is completed. If it is determined that they correspond, in order to send the extraction information, the process proceeds to step S107.

[0136] In step S107, the measurement information extraction unit 123 partially extracts the measurement information based on the ground object area corresponding to the ground object category corresponding in step S106, and generates the extraction result as the extraction information. Then, the measurement information extraction unit 123 provides the generated extraction information to the mobile terminal communication unit 13. When step S107 is completed, the process proceeds to step S108.

[0137] In step S108, the communication unit 13 of the mobile terminal sends the extraction information generated in step S107 to the central device 2. In the present Embodiment 1, since the extraction information includes the position information and the ground object category, together with the extraction information, the position information and the ground object category are sent to the central device 2. In addition, in the case where the mobile terminal 1 is configured such that the position information and the ground object category are not included in the extraction information, the extraction information, the position information, and the ground object category may be sent to the central device 2 separately. When step S108 is completed, Figure 13 a series of processes is completed. Although not shown, it is also possible to return to step S101 after step S108 is completed.

[0138] In addition, in the above description, the processes of steps S101 to S103 may be performed in a swapped order or in parallel. Further, the process of step S101 may not be performed in the initial state. Specifically, it may be performed only when a series of processes is completed and the central device 2 has sent the command information.

[0139] <Operation of the central device 2>

[0140] Next, an example of the operation of the central device 2 of the map generation system A1 according to the present Embodiment 1 will be described with reference to the drawings. Figure 14 It is a flowchart showing an example of the operation of the central device 2 of the map generation system A1.

[0141] First, in step S201, the central device communication unit 20 of the central device 2 receives the extraction information sent from the mobile terminal 1. In addition, in step S201, the central device communication unit 20 provides the extraction information to the map information generation unit 21 and the map generation control unit 22. In the present Embodiment 1, since the extraction information includes the position information and the ground object category, together with the extraction information, the position information and the ground object category are received and provided by the central device communication unit 20. In addition, in the case where the mobile terminal 1 is configured such that the position information and the ground object category are not included in the extraction information, the extraction information, the position information, and the ground object category may be received and provided by the central device communication unit 20 separately. When step S201 is completed, the process proceeds to step S202.

[0142] In step S202, the speculation method selection unit 211 of the map information generation unit 21 selects the ground object speculation method to be executed in the next step according to the ground object category of the extraction information obtained in step S201. In Figure 14 it, as an example, is shown by Figure 5The ground object estimation processes a to c are respectively performed for the three ground object estimation methods A to C. When the ground object category of the extracted information is ground object category aa, the process proceeds to step S203A. When the ground object category of the extracted information is ground object category bb, the process proceeds to step S203B. When the ground object category of the extracted information is ground object category cc, the process proceeds to step S203C.

[0143] In steps S203A to S203C, the ground object estimation unit 212 of the map information generation unit 21 performs the ground object estimation methods A to C based on the extracted information including the position information obtained in step S201, thereby generating map information and providing the map information to the map generation control unit 22. When any of the steps S203A to S203C is completed, the process proceeds to step S204.

[0144] In step S204, the map information evaluation unit 221 of the map generation control unit 22 evaluates the map information generated in steps S203A to S203C, thereby calculating the completion degree and providing the completion degree to the command information generation unit 222 of the map generation control unit 22. When step S204 is completed, the process proceeds to step S205.

[0145] In step S205, the command information generation unit 222 of the map generation control unit 22 determines whether to switch the target ground object category, that is, the ground object category to be extracted by the mobile terminal 1, according to the completion degree obtained by the calculation in step S204, based on the ground object extraction order table 223. In the case of switching the target ground object category, the process proceeds to step S206. In the case of not switching the target ground object category, the process proceeds to step S207.

[0146] In step S206, the command information generation unit 222 of the map generation control unit 22 generates command information including the target place and the target ground object category based on the map information generated in steps S203A to S203C and the target ground object category determined in step S205, and stores the command information in the command information management unit 224. When step S206 is completed, the process proceeds to step S207.

[0147] In step S207, the transmission command selection unit 225 of the map generation control unit 22 predicts the arrival range based on the position information included in the extracted information obtained in step S201. Then, the transmission command selection unit 225 selects (extracts) the command information including the target place within the arrival range from the command information stored in step S206 and provides the command information to the central device communication unit 20. When step S207 is completed, the process proceeds to step S208.

[0148] In step S208, the central device communication unit 20 sends the instruction information selected in step S207 to the mobile terminal 1. When step S208 is completed, Figure 14 A series of processes is completed. Although not shown, it is also possible to return to step S201 after step S208 is completed.

[0149] In addition, in the above description, the processes of steps S201 and S202 can be either swapped in order or executed in parallel. Also, when only position information is obtained in step S201, it is also possible to execute only the processes of steps S207 and S208.

[0150] <Summary of Embodiment 1>

[0151] According to the first embodiment as described above, the map generation control unit 22 evaluates the completion degree of the map information, thereby generating instruction information including the object ground feature category corresponding to the completion degree. The extraction information generation unit 12 generates extraction information based on the determination result of whether the ground feature category inferred from the measurement information corresponds to the object ground feature category of the instruction information. Thus, the map generation system A1 can reduce the information sent from the mobile terminal 1 to the central device 2 to the information related to the object ground feature category, that is, the information required for the central device 2 to generate map information without existing map information, so that the communication data volume can be appropriately reduced.

[0152] In addition, the map generation control unit 22 sequentially specifies the object ground feature category of the instruction information according to the preset ground feature extraction order table 223. Thus, the map generation system A1 can preferentially generate map information including object ground feature categories with high importance.

[0153] In addition, the map generation control unit 22 predicts the arrival range based on the position information sent from the mobile terminal 1 to the central device 2, and determines the instruction information sent from the central device 2 to the mobile terminal 1 according to the arrival range and the object location of the instruction information. Thus, the map generation system A1 can reduce the number of times of sending instruction information and improve the reliability of providing instruction information to the mobile terminal 1.

[0154] In addition, the map information generation unit 21 selects a ground feature inference method according to the ground feature category included in the extraction information. Thus, the map generation system A1 does not need to perform inference processing on all ground feature categories assumed in the central device 2, so that the processing load of the central device 2 can be reduced.

[0155] <Embodiment 2>

[0156] This embodiment 2 will be described with reference to the drawings. Figure 15It is a block diagram showing the functional structure of the map generation system A2 of the second embodiment. In addition, the basic structure of the map generation system A2 of the second embodiment is the same as that of the map generation system A1 of the first embodiment, so the following mainly describes the differences.

[0157] The differences between the map generation system A1 of the first embodiment and the map generation system A2 of the second embodiment are as follows. In the map generation system A1 of the first embodiment, the central device generates command information in advance, and the mobile terminal successively performs positioning and measurement to generate extraction information.

[0158] On the other hand, in the map generation system A2 of the second embodiment, first, the mobile terminal performs positioning and measurement in advance to generate temporary extraction information as a candidate for the extraction information. The central device generates command information at an arbitrary timing and sends it. The mobile terminal selects the extraction information to be sent to the central device from the temporary extraction information according to the command information.

[0159] As Figure 15 shown, the map generation system A2 includes one or more mobile terminals 1B and a central device 2B instead of the mobile terminal 1 and the central device 2 of the map generation system A1 of the first embodiment.

[0160] The mobile terminal 1B (i) generates temporary extraction information and speculation information from the position information and measurement information, (ii) stores the temporary extraction information, and (iii) selects the extraction information to be sent to the central device 2B from the stored temporary extraction information according to the command information sent from the central device 2B.

[0161] The central device 2B (i) generates map information according to the extraction information provided by the mobile terminal 1B, (ii) evaluates the completion degree of the map information, (iii) generates command information according to the completion degree, and (iv) selects the command information according to the command information and the speculation information sent from the mobile terminal 1B, and sends it to the mobile terminal 1B of the sending source. Hereinafter, the constituent elements of the mobile terminal 1B and the central device 2B will be described in detail.

[0162] <Mobile terminal 1B>

[0163] The mobile terminal 1B includes an extraction information generation unit 12B instead of the extraction information generation unit 12 of the first embodiment. The extraction information generation unit 12B is a processing unit similar to the extraction information generation unit 12 of the first embodiment.

[0164] Specifically, the extraction information generation unit 12B is a processing unit that (i) infers the correspondence between the above-ground object categories and the above-ground object regions based on the measurement information acquired by the measurement information acquisition unit 11, (ii) generates temporary extraction information based on the measurement information, the above-ground object categories, and the above-ground object regions, and stores the temporary extraction information, (iii) generates speculation information including a list of the position information acquired by the position information acquisition unit 10 and the above-ground object categories, and sends the speculation information to the central device 2B, and (iv) selects extraction information from the stored temporary extraction information according to the instruction information sent from the central device 2B to the mobile terminal 1B.

[0165] The extraction information generation unit 12B includes a measurement information extraction unit 123B, a temporary extraction information management unit 124, and an extraction information selection unit 125. Hereinafter, each component of the extraction information generation unit 12B will be specifically described.

[0166] The measurement information extraction unit 123B is a processing unit that (i) infers the correspondence between the above-ground object categories and the above-ground object regions based on the measurement information, (ii) generates partial measurement information extracted from the measurement information for each above-ground object category regarding the above-ground object region as temporary extraction information, and (iii) generates speculation information including a list of the position information and the temporary extraction information of the above-ground object categories, and controls to send the speculation information from the mobile terminal 1B to the central device 2B. In addition, the temporary extraction information in the second embodiment is similar to the extraction information in the first embodiment ( Figure 7 ). Specifically, the temporary extraction information includes: the position information used in the reference position of the measurement information, a partial set of data representing distance data extracted from the measurement information regarding the above-ground object region, and the above-ground object categories of the above-ground objects for which the data is used to extract the temporary extraction information.

[0167] First, the measurement information extraction unit 123B synthesizes a plurality of pieces of measurement information acquired by the measurement information acquisition unit 11. The synthesis method may be the same as that of the measurement information extraction unit 123 in the first embodiment. In addition, when using one piece of measurement information, the measurement information extraction unit 123B may skip the synthesis process.

[0168] Next, the measurement information extraction unit 123B applies the above-ground object speculation process to the measurement information synthesized by the synthesis process, so as to infer the correspondence between the above-ground object categories and the above-ground object regions based on the measurement information. The above-ground object speculation method may be the same as that of the measurement information extraction unit 123 in the first embodiment.

[0169] Next, the measurement information extraction unit 123B extracts, from the measurement information, for each of all the above-ground object categories obtained by the above speculation, the above-ground object region corresponding to the above-ground object category, thereby generating temporary extraction information for each above-ground object category. Then, the measurement information extraction unit 123B stores the temporary extraction information in the temporary extraction information management unit 124.

[0170] Finally, the measurement information extraction unit 123B generates speculation information including a list of above-ground object categories with position information and temporary extraction information, and sends the speculation information to the central device 2B using the mobile terminal communication unit 13.

[0171] The speculation information of the second embodiment is information including position information indicating the reference position of the measurement information and a list of above-ground object categories speculated by the above-ground object speculation process, and is information that does not include distance data or the like like the extraction information. In addition to including position information and a list of above-ground object categories, the speculation information may also include, for example, a generation time indicating the time when the speculation information is generated, or an identifier of the moving body that uniquely identifies the generation of the speculation information.

[0172] The temporary extraction information management unit 124 is a database unit that manages temporary extraction information by registering, storing, and deleting temporary extraction information. The temporary extraction information managed by the temporary extraction information management unit 124 is registered by the measurement information extraction unit 123B and referred to by the extraction information selection unit 125. In addition, in the second embodiment, since the temporary extraction information includes position information and an above-ground object category, when the temporary extraction information management unit 124 stores the temporary extraction information, the position information and the above-ground object category are also stored.

[0173] The extraction information selection unit 125 determines whether the position information and the above-ground object category of the temporary extraction information stored in the temporary extraction information management unit 124 respectively correspond to the target location and the target above-ground object category of the instruction information sent from the central device 2B to the mobile terminal 1B. Based on the determination result, the extraction information selection unit 125 selects the extraction information to be sent to the central device 2B from the temporary extraction information stored in the temporary extraction information management unit 124, and sends the extraction information to the central device 2B using the mobile terminal communication unit 13.

[0174] For example, in the method of selecting extraction information, the extraction information selection unit 125 selects the temporary extraction information as the extraction information to be sent to the central device 2B when the position information of the temporary extraction information corresponds to the target location of the instruction information and the type of the above-ground object of the temporary extraction information corresponds to the target type of the above-ground object of the instruction information. The determination of the target location and the determination of the target type of the above-ground object may be the same as the determination of the instruction information selection unit 122 and the determination of the measurement information extraction unit 123 in Embodiment 1, respectively.

[0175] Next, an example of the operation of the measurement information extraction unit 123B will be described with reference to the drawings. Figures 16 - 18 FIG. is a diagram showing an example of the operation related to the measurement information extraction unit 123B. Figure 16 and Figure 17 The example of Figure 4 and Figure 5 is the same as the example of

[0176] First, the measurement information extraction unit 123B obtains measurement information M1 as shown in Figure 4 in the same manner as Figure 16 Next, the measurement information extraction unit 123B performs the above-ground object speculation process on the measurement information M1 in the same manner as in Embodiment 1, thereby obtaining a speculation result as shown in Figure 5 Figure 17

[0177] Next, the measurement information extraction unit 123B generates temporary extraction information regarding the above-ground objects D1 to D4. Figure 18 (a) is a diagram showing the generated temporary extraction information. As described above, the temporary extraction information includes position information, the type of the above-ground object, and the data of the extracted measurement information. In addition, as shown in Figure 18 (a), the measurement information extraction unit 123B may not generate the temporary extraction information related to the above-ground object D3 having the dynamic above-ground object type "vehicle" that is not required for the generation of the map information.

[0178] Finally, the measurement information extraction unit 123B generates speculation information including the position information and a list of the types of the above-ground objects of the temporary extraction information. In Figure 18 (b), an example of generating speculation information including the position information and a list of the types of the above-ground objects of the temporary extraction information, "building", "curb", and "pole", is shown.

[0179] Returning to the use of Figure 15 ​​Description of the mobile terminal 1B. The mobile terminal communication unit 13 of the mobile terminal 1B is a communication unit that communicates information with the central device 2B. It not only performs the communication of the mobile terminal communication unit 13 in Embodiment 1, but also sends the speculation information generated by the extraction information generation unit 12B to the central device 2B.

[0180] <Central device 2B>

[0181] The central device 2B is provided with a map generation control unit 22B instead of the map generation control unit 22 in Embodiment 1. The map generation control unit 22B (i) evaluates the completion degree of the map information, (ii) generates instruction information according to the completion degree, (iii) stores the speculation information sent from the mobile terminal 1B to the central device 2B, and (iv) selects instruction information according to the instruction information and the stored speculation information and sends it to the mobile terminal 1B of the sending source.

[0182] As Figure 15 shown, the structure of the map generation control unit 22B is the same as that obtained by deleting the instruction information management unit 224 from the structure of the map generation control unit 22 in Embodiment 1 and adding a speculation information storage unit 226, and changing the sending instruction selection unit 225 to the sending instruction selection unit 225B. Figure 8 The speculation information storage unit 226 is a database unit that manages speculation information by registering or referring to or deleting the speculation information sent from the mobile terminal 1B to the central device communication unit 20. The speculation information storage unit 226 manages the terminal identifier in correspondence with the speculation information.

[0183] Here, the terminal identifier is information that the central device 2B uniquely identifies the mobile terminal 1B, and it is sufficient that the sending instruction selection unit 225B can identify the mobile terminal 1B that sends the instruction information. The terminal identifier can be, for example, an inherent number assigned to the mobile terminal 1B or the communication address of the mobile terminal 1B.

[0184] The sending instruction selection unit 225B is a processing unit that (i) determines whether the location information and the list of ground object categories of the speculation information stored in the speculation information storage unit 226 respectively correspond to the object place and the object ground object category of the instruction information generated by the instruction information generation unit 222, and (ii) selects the instruction information sent from the central device 2B to the mobile terminal 1B that is the sending source of the speculation information according to the determination result.

[0185]

[0186] ​Specifically, first, the transmission instruction selection unit 225B determines whether the position information of the speculation information stored in the speculation information storage unit 226 corresponds to the target location of the instruction information generated by the instruction information generation unit 222. The determination of whether the position information corresponds to the target location can also be the same as that of the extraction information selection unit 125 in Embodiment 2.

[0187] When the transmission instruction selection unit 225B determines that the position information of the speculation information corresponds to the target location of the instruction information, it determines which of the list of above-ground object categories of the speculation information corresponds to the target above-ground object category of the instruction information.

[0188] When the transmission instruction selection unit 225B determines that any one of the list of above-ground object categories of the speculation information corresponds to the target above-ground object category of the instruction information, it determines the terminal identifier of the mobile terminal 1B that transmits the speculation information. Then, the transmission instruction selection unit 225B uses the central device communication unit 20 to transmit the instruction information to the mobile terminal 1B that is identified by the terminal identifier and is the transmission source of the speculation information.

[0189] In addition, for example, the transmission instruction selection unit 225B may be configured to store the number of times the instruction information is transmitted from the central device 2B to the mobile terminal 1B, and not transmit the instruction information when the number exceeds a preset threshold. Additionally, for example, the transmission instruction selection unit 225B may be configured to store the total data volume of the extraction information transmitted from the mobile terminal 1B to the central device 2B, and not transmit the instruction information when the total data volume exceeds a preset threshold.

[0190] Next, an example of the operation of the transmission instruction selection unit 225B will be described with reference to the drawings. Figure 19 It is a diagram showing an example of the operation related to the transmission instruction selection unit 225B. Figure 19 (a) is a diagram combining the terminal identifiers stored in the speculation information storage unit 226 with the speculation information F1 to F3 (position information and list of above-ground object categories). Figure 19 (b) is a diagram showing the instruction information C1 generated by the instruction information generation unit 222. Figure 19 (c) is a diagram showing the positional relationship between the speculation information F1 to F3 (position information) and the target location of the instruction information C1. In Figure 19 (c), the dashed line of the instruction information C1 represents the target location, indicating that the speculation information F1 and F3 exist within the target location of the instruction information C1. In Figure 19 In this example, it is assumed that the above-ground object category "curb" corresponds to the target above-ground object category "road".

[0191] First, the transmission instruction selection unit 225B determines whether the speculation information F1 corresponds to the instruction information C1. That is, the transmission instruction selection unit 225B compares the position information of the speculation information F1 and the target location of the instruction information C1, and compares the ground object category of the speculation information F1 and the target ground object category of the instruction information C1. In Figure 19 the example of, the speculation information F1 exists within the target location of the instruction information C1, and the ground object category "curb" corresponds to the target ground object category "road", so the transmission instruction selection unit 225B determines that the speculation information F1 corresponds to the instruction information C1. Thus, the transmission instruction selection unit 225B selects the terminal identifier "V1" as the transmission destination of the instruction information C1.

[0192] Next, in the same manner as the speculation information F1, the transmission instruction selection unit 225B determines whether the speculation information F2 corresponds to the instruction information C1. The ground object category "curb" corresponds to the target ground object category "road", but the speculation information F2 does not exist within the target location of the instruction information C1, so the transmission instruction selection unit 225B determines that the speculation information F2 does not correspond to the instruction information C1.

[0193] Then, in the same manner as the speculation information F1 and F2, the transmission instruction selection unit 225B determines whether the speculation information F3 corresponds to the instruction information C1. The speculation information F3 exists within the target location of the instruction information C1, but there is no ground object category corresponding to the target ground object category "road", so the transmission instruction selection unit 225B determines that the speculation information F3 does not correspond to the instruction information C1.

[0194] Finally, the transmission instruction selection unit 225B transmits the instruction information C1 to the mobile terminal 1B identified by the terminal identifier "V1".

[0195] <Summary of Embodiment 2>

[0196] According to the present Embodiment 2 as described above, the extraction information generation unit 12B of the mobile terminal 1B generates temporary extraction information regardless of the presence or absence of instruction information, such as when there is spare capacity in the process, and transmits the speculation information including the list of the position information and the ground object category to the central device 2B. The map generation control unit 22B of the central device 2B selects the transmission destination of the transmission instruction information based on the position information and the ground object category of the speculation information. Thus, at the time when the central device 2B transmits the instruction information, the mobile terminal 1B has already generated the temporary extraction information as a candidate for the extraction information, so the central device 2B can collect the extraction information earlier.

[0197] <Embodiment 3>

[0198] This Embodiment 3 will be described with reference to the drawings. Figure 20It is a block diagram showing the functional structure of the map generation system A3 of the third embodiment. In addition, the basic structure of the map generation system A3 of the third embodiment is the same as that of the map generation system A1 of the first embodiment, so the differences will be mainly described below.

[0199] The differences between the map generation system A1 of the first embodiment and the map generation system A3 of the third embodiment are as follows. The map generation system A1 of the first embodiment generates instruction information according to one list of order for extracting ground objects. On the other hand, the map generation system A3 of the third embodiment has multiple lists of order for extracting ground objects and changes the list of order for extracting ground objects used to generate instruction information according to the map information.

[0200] The map generation system A3 is provided with a central device 2C instead of the central device 2 of the map generation system A1 of the first embodiment. The central device 2C not only has the functions of the central device 2 of the first embodiment, but also changes the list of order for extracting ground objects used to generate instruction information according to the map information being produced in the multiple lists of order for extracting ground objects.

[0201] The central device 2C is provided with a map generation control unit 22C instead of the map generation control unit 22 of the first embodiment. The map generation control unit 22C not only has the functions of the map generation control unit 22 of the first embodiment, but also changes the list of order for extracting ground objects used to generate instruction information according to the map information being produced in the multiple lists of order for extracting ground objects.

[0202] The structure of the map generation control unit 22C is the same as the structure obtained by changing one list of order for extracting ground objects 223 in the structure of the map generation control unit 22 of the first embodiment to multiple lists of order for extracting ground objects 223C and adding an extraction order selection unit 227. The extraction order selection unit 227 selects the list of order for extracting ground objects used to generate instruction information according to the map information being produced in the multiple lists of order for extracting ground objects. Hereinafter, each component of the map generation control unit 22C will be specifically described.

[0203] Each of the multiple lists of order for extracting ground objects 223C is the same as the list of order for extracting ground objects 223 of the first embodiment, but between the multiple lists of order for extracting ground objects 223C, the target ground object categories corresponding to the degree of completion are different from each other.

[0204] The multiple lists of order for extracting ground objects 223C are respectively corresponded to multiple spatial categories in advance. Each spatial category represents the category of the space to be illustrated, that is, the classification to which the target space belongs.

[0205] The spatial category is an attribute value that classifies each part of the object space into similar spaces, and only the number of the above-ground object extraction order lists is prepared in advance. For example, if the spatial category is road map information, it includes expressways, arterial roads, residential roads, etc. If it is indoor map information, it includes rooms, lobbies, passageways, etc.

[0206] Multiple above-ground object extraction order lists 223C, for example, in a map generation system that generates road map information, include an above-ground object extraction order list for expressways, an above-ground object extraction order list for arterial roads, an above-ground object extraction order list for residential roads, etc. Multiple above-ground object extraction order lists 223C, for example, in a map generation system that generates indoor map information, include an above-ground object extraction order list for rooms, an above-ground object extraction order list for lobbies, an above-ground object extraction order list for general passageways, etc. Multiple above-ground object extraction order lists 223C, for example, in a map generation system with seamless indoor and outdoor areas, include all of the above-mentioned above-ground object extraction order lists.

[0207] The extraction order selection unit 227 is a processing unit that (i) infers the spatial category based on the map information generated by the map information generation unit 21, and (ii) switches the above-ground object extraction order list by selecting the above-ground object extraction order list 223C corresponding to the spatial category from among the multiple above-ground object extraction order lists 223C as the above-ground object extraction order list for the instruction information generation unit 222. The extraction order selection unit 227 intercepts all or a part of the range of the map information and selects the above-ground object extraction order list applied to the intercepted range.

[0208] The extraction order selection unit 227 can also, for example, infer the spatial category by determining whether the width or crossing interval of the above-ground objects representing the moving range of the moving body in the map information generated by the map information generation unit 21 is included in the range of the threshold values preset for each spatial category. Additionally, the extraction order selection unit 227 can also, for example, infer the spatial category by determining whether the interval of the above-ground objects that restrict the movement of the moving body in the map information generated by the map information generation unit 21 is included in the range of the threshold values preset for each spatial category. Additionally, when map information with spatial categories is prepared in advance for each position, the extraction order selection unit 227 can also, for example, infer the spatial category based on the positions of the above-ground objects included in the map information generated by the map information generation unit 21.

[0209] In addition, when the extraction order selection unit 227 cannot correctly infer the spatial category, it can also use a preset standard above-ground object extraction order list as the inference result. Additionally, the map information evaluation unit 221 can also evaluate the completeness of the map information for each range intercepted by the extraction order selection unit 227.

[0210] Next, an example of the operation of the extraction order selection unit 227 will be described with reference to the drawings. Figures 21 - 23 FIG. is a diagram showing an example of the operation related to the extraction order selection unit 227. Here, it is assumed that the central device 2C generates road map information as map information. In addition, in Figures 21 - 23 this example, it is assumed that the extraction order selection unit 227 switches the multiple ground object extraction order tables 223C according to the spatial category inferred from the width of the road and its threshold value, in accordance with Table T0. In addition, here, it is assumed that the multiple ground object extraction order tables 223C include a ground object extraction order table 223T1 for arterial roads for ground objects and a ground object extraction order table 223T2 for local roads.

[0211] Figure 21 FIG. is a diagram showing the input state of the extraction order selection unit 227. In Figure 21 this figure, map information P4 including ground objects D13 and D14, a table T0 showing the correspondence between the threshold value of the width of the road and the ground object extraction order tables 223T1 and 223T2, and the ground object extraction order tables 223T1 and 223T2 are shown. The ground objects D13 and D14 are ground objects related to the road. The solid line in the map information P4 represents the road edge, and the dashed line represents the road center line.

[0212] Figure 22 FIG. is a diagram showing the situation where the extraction order selection unit 227 switches the ground object extraction order table around the ground object D13. In Figure 22 this figure, the width of the ground object D13 is "20.0 m", so the extraction order selection unit 227 selects the ground object extraction order table 223T1 from Table T0 as the ground object extraction order table for the instruction information generation unit 222 for the area indicated by the dotted line around the ground object D13.

[0213] Figure 23 FIG. is a diagram showing the situation where the extraction order selection unit 227 switches the ground object extraction order table around the ground object D14. In Figure 23 this figure, the width of the ground object D14 is "4.0 m", so the extraction order selection unit 227 selects the ground object extraction order table 223T2 from Table T0 as the ground object extraction order table for the instruction information generation unit 222 for the area indicated by the dotted line around the ground object D14.

[0214] <Summary of Embodiment 3>

[0215] According to the third embodiment as described above, the extraction order selection unit 227 infers the space category based on the map information, and switches the ground object extraction order list for the instruction information generation unit 222 according to the space category. Thus, the map generation system A3 can switch the order of the ground objects to be collected according to the space category of the target space, suppress the communication of unnecessary information, and therefore can appropriately reduce the communication data volume.

[0216] <Embodiment 4>

[0217] This embodiment 4 will be described with reference to the drawings. Figure 24 FIG. is a block diagram showing the functional configuration of the map generation system A4 of the fourth embodiment. In addition, the basic configuration of the map generation system A4 of the fourth embodiment is the same as that of the map generation system A1 of the first embodiment, so the same points are omitted, and only the different points are described.

[0218] The differences between the map generation system A1 of the first embodiment and the map generation system A4 of the fourth embodiment are as follows. The map generation system A1 of the first embodiment generates instruction information by specifying the target ground object category in the order of completion according to the ground object extraction order list. On the other hand, the map generation system A4 of the fourth embodiment generates the acquisition ratio for each target ground object category. In addition, the acquisition ratio is the ratio of the target ground object category that the mobile terminal 1 should extract, and is equivalent to the extraction priority and the like as described later.

[0219] The map generation system A4 includes a central device 2D instead of the central device 2 of the map generation system A1 of the first embodiment. The central device 2D not only has the functions of the central device 2 of the first embodiment, but also generates the acquisition ratio and the instruction information corresponding to each other according to the completion degree of each target ground object category, and selects the instruction information to be sent from the central device 2D to the mobile terminal 1 according to the acquisition ratio.

[0220] The map generation control unit 22D of the central device 2D replaces the map generation control unit 22 of the first embodiment. The map generation control unit 22D not only has the functions of the map generation control unit 22 of the first embodiment, (i) evaluates the completion degree of the map information for each target ground object category, (ii) generates the acquisition ratio and the instruction information corresponding to each other according to the completion degree of each target ground object category, and (iii) selects the instruction information to be sent from the central device 2D to the mobile terminal 1 according to the position information, the acquisition ratio, and the target location of the instruction information sent from the mobile terminal 1 to the central device 2D.

[0221] The structure of the map generation control unit 22D is the same as that obtained by changing the instruction information generation unit 222, the instruction information management unit 224, and the transmission instruction selection unit 225 in the structure of the map generation control unit 22 in Embodiment 1 to the instruction information generation unit 222D, the instruction information management unit 224D, and the transmission instruction selection unit 225D, and deleting the ground object extraction order table 223 and adding a completion degree management unit 228 for managing (storing) the completion degree of each target ground object category.

[0222] The instruction information generation unit 222D generates by associating an acquisition ratio and instruction information according to the completion degree of each target ground object category stored in the completion degree management unit 228. The instruction information management unit 224D manages (stores) the acquisition ratio and instruction information generated by the instruction information generation unit 222D. The transmission instruction selection unit 225D selects, according to the position information, the acquisition ratio, and the target location of the instruction information sent from the mobile terminal 1 to the central device 2D, the instruction information to be sent from the central device 2D to the mobile terminal 1. Hereinafter, the components of the map generation control unit 22D will be described in detail.

[0223] The completion degree management unit 228 is a database unit that manages the completion degree by registering, updating, storing, and deleting the completion degree of each target ground object category evaluated (calculated) by the map information evaluation unit 221 for the map information generated by the map information generation unit 21. The completion degree management unit 228 associates the target ground object category, the completion degree of the map information of each target ground object category, and the evaluation target area for the map information evaluated by the map information evaluation unit 221, and stores it as completion degree information. The completion degree management unit 228 provides the completion degree information to the instruction information generation unit 222D.

[0224] The instruction information generation unit 222D is a processing unit that (i) calculates, according to the completion degree information managed by the completion degree management unit 228, the ratio of the ground objects to be extracted by the mobile terminal 1 for each target ground object category, and generates instruction information, and (ii) causes the instruction information management unit 224D to manage the acquisition ratio and instruction information as its calculation result.

[0225] Specifically, first, the instruction information generation unit 222D acquires the completion information of the same section from the completion information managed by the completion degree management unit 228. Next, the instruction information generation unit 222D compares the completion degrees of each object ground feature category based on the completion information, thereby setting an acquisition ratio indicating the ratio of the extraction information preferentially extracted by the mobile terminal 1 for each object ground feature category. At this time, the instruction information generation unit 222D can be set in such a way that the acquisition ratio of the object ground feature category with a lower completion degree becomes higher, or can be set in such a way that the acquisition ratio of the object ground feature category with a higher priority becomes higher in consideration of the priority of each object ground feature category. In addition, the instruction information generation unit 222D generates the instruction information corresponding to the acquisition ratio based on the completion information. Finally, the instruction information generation unit 222D registers the acquisition ratio and the instruction information in the instruction information management unit 224D.

[0226] The instruction information generated and managed by the central device 2D includes the object location and multiple object ground feature categories. The instruction information is generated by the instruction information generation unit 222D, or managed by the instruction information management unit 224D, or processed into the instruction information sent from the central device 2D to the mobile terminal 1 by the send instruction selection unit 225D.

[0227] The instruction information management unit 224D is a database unit that manages the acquisition ratio and the instruction information by registering, storing, and deleting one or more acquisition ratios and instruction information generated by the instruction information generation unit 222D, and provides the acquisition ratio and the instruction information according to the request of the send instruction selection unit 225D.

[0228] The send instruction selection unit 225D is a processing unit that (i) predicts the arrival range of the mobile terminal 1 in the same way as the send instruction selection unit 225 in Embodiment 1, and (ii) selects (determines) the instruction information sent from the central device 2D to the mobile terminal 1 from the instruction information management unit 224D according to the arrival range, the acquisition ratio, and the object location of the instruction information.

[0229] Next, an example of the operation of the map generation control unit 22D will be described with reference to the drawings. Figure 25 This is a diagram showing an example of the operation of the map generation control unit 22D. Here, it is assumed that the map generation system A4 generates road map information, and the object ground feature categories are three types: "road", "white line", and "structure".

[0230] Figure 25(a) is a diagram showing the completion information H0 evaluated by the map information evaluation unit 221 and managed by the completion degree management unit 228. In the completion information H0, the completion degree of the target ground object category "road" is "75%", the completion degree of the target ground object category "white line" is "50%", and the completion degree of the target ground object category "structure" is "25%".

[0231] Figure 25 (b) is a diagram showing the information H1 that combines the acquisition ratio generated by the instruction information generation unit 222D and managed by the instruction information management unit 224D and the instruction information. In this information H1, it shows the acquisition ratios of other target ground object categories when the acquisition ratio of the target ground object category "road" is set to "1.0". In this example, the instruction information generation unit 222D determines the acquisition ratio according to Figure 25 the reciprocal ratio of the completion degrees shown in (a).

[0232] Figure 25 (c) is a diagram showing the instruction information H2 - H4 selected by the transmission instruction selection unit 225D and transmitted from the central device 2D and the mobile bodies V1 - V3 as the transmission destinations. The target locations of the instruction information H2 - H4 are the same, and the reach ranges of the mobile bodies V1 - V3 correspond to this target location.

[0233] The transmission instruction selection unit 225D sets the target ground object categories to be extracted by the mobile terminal 1 according to Figure 25 the acquisition ratio shown in (b). In this example, the transmission instruction selection unit 225D makes the number of mobile terminals 1 set with the target ground object categories having a high acquisition ratio larger than the number of mobile terminals 1 set with the target ground object categories having a low acquisition ratio. As a result, as shown in Figure 25 (c), the transmission instruction selection unit 225D sets the target ground object category "structure" for the mobile bodies V1 and V2, and sets the target ground object category "white line" for the mobile body V3. Thus, the instruction information H2 and H3 for extracting the target ground object category "structure" are respectively sent to the mobile terminals 1 of the mobile bodies V1 and V2, and the instruction information H4 for extracting the target ground object category "white line" is sent to the mobile terminal 1 of the mobile body V3.

[0234] <Summary of Embodiment 4>

[0235] According to the fourth embodiment as described above, the map generation control unit 22D determines the acquisition ratio, which is the ratio of the object ground feature categories to be extracted by the mobile terminal, based on the completion degree of the map information for each object ground feature category, and selects the instruction information to be sent to the mobile terminal according to the acquisition ratio. Thus, the map generation system A4 can appropriately reduce the communication data volume and generate the instruction information including multiple object ground feature categories at the same timing.

[0236] <Other Variation Examples>

[0237] Hereinafter, the above-mentioned Figure 8 map information generation unit 21 and map generation control unit 22 are referred to as "map information generation unit 21 etc.". The map information generation unit 21 etc. are implemented by the processing circuit 81 of the central device 2 shown in Figure 26 . That is, the processing circuit 81 of the central device 2 includes: a map information generation unit 21 that generates map information based on the extraction information sent from the mobile terminal 1 to the central device 2; and a map generation control unit 22 that evaluates the completion degree of the map information generated by the map information generation unit 21 and generates instruction information according to the completion degree. The processing circuit 81 can be implemented by dedicated hardware or a processor that executes a program stored in a memory. For example, a central processing unit, a processing device, an arithmetic device, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), etc. correspond to the processor.

[0238] When the processing circuit 81 is dedicated hardware, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit formed by combining these corresponds to the processing circuit 81. The functions of each part such as the map information generation unit 21 etc. can be realized by circuits that disperse the processing circuit respectively, or the functions of each part can be realized collectively by one processing circuit.

[0239] When the processing circuit 81 is a processor, the functions of the map information generation unit 21 etc. are realized by a combination with software etc. In addition, for example, software, firmware, or software and firmware correspond to software etc. Software etc. are described as a program and stored in a memory. As Figure 27As shown, the processor 82 applied to the processing circuit 81 reads out a program stored in the memory 83 and executes it, thereby implementing the functions of each part. That is, the central device 2 includes a memory 83 for storing a program which, when executed by the processing circuit 81, effectively performs: a step of generating map information based on the extraction information sent from the mobile terminal 1 to the central device 2; and a step of evaluating the completeness of the generated map information and generating instruction information based on the completeness. In other words, this program can also be said to be an order or method for causing a computer to execute the map information generation unit 21 and the like. Here, the memory 83 can be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (ReadOnly Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable ReadOnly Memory), an HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (DigitalVersatile Disc), its drive device, etc., or all storage media to be used in the future.

[0240] As described above, a structure has been explained in which each function of the map information generation unit 21 and the like is implemented by either hardware or software or the like. However, it is not limited to this, and it can also be a structure in which a part of the map information generation unit 21 and the like is implemented by dedicated hardware and another part is implemented by software or the like. For example, regarding the map information generation unit 21, its function is implemented by the processing circuit 81 and the interface, etc., which are dedicated hardware. Regarding the other parts, the processing circuit 81 of the processor 82 reads out a program stored in the memory 83 and executes it, thereby enabling its function to be implemented.

[0241] As described above, the processing circuit 81 can implement the above-mentioned various functions through hardware, software, or a combination thereof. In addition, the map information generation unit 21 and the map generation control unit 22 of the central device 2 have been described above, but the same applies to the position information acquisition unit 10, the measurement information acquisition unit 11, and the extraction information generation unit 12 of the mobile terminal 1. In addition, each component of the map information generation system described above can be configured dispersedly in the mobile terminal 1 and the central device 2, or can be configured concentratedly in any device.

[0242] In addition, the respective embodiments and respective modification examples can be freely combined, or the respective embodiments and respective modification examples can be appropriately modified or omitted.

[0243] The above description is illustrative in all aspects and is not restrictive. It should be understood that countless modification examples not illustrated can be conceived.

Claims

1. A central device that communicates with a mobile terminal capable of moving with a moving body, wherein the mobile terminal includes: a position information acquisition unit that acquires the position information of the moving body; a measurement information acquisition unit that measures the space around the moving body as a space to be diagrammed and acquires measurement information; and an extraction information generation unit that generates extraction information extracted from the measurement information based on the position information and instruction information sent from the central device to the mobile terminal, the central device includes: a map information generation unit that generates map information based on the extraction information sent from the mobile terminal to the central device; and a map generation control unit that evaluates the degree of completion of the map information generated by the map information generation unit related to the category and position accuracy of ground objects, and generates the instruction information based on the degree of completion, the instruction information includes: an object place indicating the place to be extracted; and an object ground object category indicating the category of the ground object to be extracted, the map generation control unit of the central device switches the object ground object category of the instruction information according to the degree of completion, the extraction information generation unit of the mobile terminal speculates the correspondence between the ground object category indicating the category of the ground object and the ground object area indicating the area of the ground object based on the measurement information, and generates the extraction information extracted from the measurement information for the ground object area corresponding to the ground object category based on the determination results of whether the position information and the ground object category respectively correspond to the object place and the object ground object category of the instruction information.

2. The central device according to claim 1, wherein the map generation control unit of the central device includes: a map information evaluation unit that evaluates the degree of completion of the map information; a ground object extraction order table indicating the correspondence between the degree of completion and the object ground object category; an instruction information generation unit that generates the instruction information including the object ground object category corresponding to the degree of completion according to the degree of completion evaluated by the map information evaluation unit in accordance with the ground object extraction order table; an instruction information management unit that stores the instruction information generated by the instruction information generation unit; and a transmission instruction selection unit that predicts an arrival range indicating the range where the mobile terminal arrives based on the position information sent from the mobile terminal to the central device, and selects the instruction information to be sent from the central device to the mobile terminal from the instruction information management unit according to the arrival range and the object place of the instruction information.

3. The central device according to claim 1 or 2, wherein the extraction information generation unit of the mobile terminal includes: an instruction information storage unit that stores the instruction information sent from the central device to the mobile terminal; An instruction information selection unit that selects the instruction information from the instruction information storage unit according to the determination result of whether the position information corresponds to the object location of the instruction information stored in the instruction information storage unit; and A measurement information extraction unit that speculatively associates the above-ground object category with the above-ground object area according to the measurement information, and generates extraction information extracted from the measurement information about the above-ground object area corresponding to the above-ground object category according to the determination result of whether the above-ground object category corresponds to the object above-ground object category of the instruction information selected by the instruction information selection unit.

4. The central device according to claim 1, wherein The extraction information generation unit of the mobile terminal includes: A measurement information extraction unit that speculatively associates the above-ground object category with the above-ground object area according to the measurement information, and generates temporary extraction information, which is information extracted from the measurement information about the above-ground object area for each above-ground object category, and the temporary extraction information includes the above-ground object category used for the extraction; A temporary extraction information management unit that stores the position information and the temporary extraction information; and An extraction information selection unit that selects the extraction information from the temporary extraction information stored in the temporary extraction information management unit according to the determination result of whether the position information stored in the temporary extraction information management unit and the above-ground object category of the temporary extraction information respectively correspond to the object location and the object above-ground object category of the instruction information sent from the central device to the mobile terminal.

5. The central device according to claim 4, wherein The measurement information extraction unit of the mobile terminal generates speculation information including a list of the above-ground object categories of the position information and the temporary extraction information, The map generation control unit of the central device includes: A map information evaluation unit that evaluates the degree of completion of the map information; An above-ground object extraction order table that represents the correspondence between the degree of completion and the object above-ground object category; An instruction information generation unit that generates the instruction information including the object above-ground object category corresponding to the degree of completion according to the degree of completion evaluated by the map information evaluation unit in accordance with the above-ground object extraction order table; A speculation information storage unit that stores the speculation information sent from the mobile terminal to the central device; and A transmission instruction selection unit that selects the instruction information sent from the central device to the mobile terminal that is the source of the speculation information according to the determination result of whether the position information and the list of the above-ground object categories of the speculation information respectively correspond to the object location and the object above-ground object category of the instruction information generated by the instruction information generation unit.

6. The central device according to claim 2 or 5, wherein A plurality of the above-ground object extraction order tables are associated with a plurality of spatial categories each representing the category of the space of the illustration object The map generation control unit of the central device further includes an extraction order selection unit that speculates the space category based on the map information generated by the map information generation unit, and selects the corresponding ground object extraction order table in the plurality of ground object extraction order tables as the ground object extraction order table for the instruction information generation unit.

7. The central device according to any one of claims 1, 2, 4, and 5, wherein the extraction information includes the ground object category corresponding to the target ground object category, the map information generation unit of the central device includes: a speculation method selection unit that selects a ground object speculation method corresponding to the ground object category of the extraction information sent from the mobile terminal to the central device from a plurality of ground object speculation methods; and a ground object speculation unit that speculates the position or shape of the ground object using the ground object speculation method selected by the speculation method selection unit.

8. The central device according to claim 2 or 5, wherein the map information evaluation unit of the central device evaluates the reliability of the position accuracy of the ground objects within the evaluation range included in the range represented by the map information, and calculates the completion degree according to the evaluation result of the reliability, the instruction information generation unit of the central device generates the instruction information including all or part of the evaluation range as the target place.

9. The central device according to claim 1, wherein the map generation control unit of the central device includes: a map information evaluation unit that evaluates the completion degree of the map information for each target ground object category; a completion degree management unit that stores the completion degree of each target ground object category; an instruction information generation unit that generates the acquisition ratio, which is the ratio of the target ground object category to be extracted by the mobile terminal, corresponding to the instruction information according to the completion degree of each target ground object category stored in the completion degree management unit; an instruction information management unit that stores the acquisition ratio and the instruction information generated by the instruction information generation unit; and a transmission instruction selection unit that predicts the arrival range indicating the range reached by the mobile terminal according to the position information sent from the mobile terminal to the central device, and selects the instruction information sent from the central device to the mobile terminal from the instruction information management unit according to the arrival range, the acquisition ratio, and the target place of the instruction information.

10. A map generation system, comprising: the central device according to any one of claims 1 to 9; and the mobile terminal.

11. A map generation method, which is a map generation method of a central device that communicates with a mobile terminal capable of moving together with a moving body, wherein The mobile terminal acquires the position information of the mobile object, measures the space around the mobile object as the space to be diagrammed, acquires measurement information, and generates extraction information extracted from the measurement information according to the position information and the instruction information sent from the central device to the mobile terminal. The central device generates map information according to the extraction information sent from the mobile terminal to the central device, evaluates the degree of completion of the generated map information related to the category and position accuracy of the above-ground objects, and generates the instruction information according to the degree of completion. The instruction information includes: The target location, indicating the location to be extracted; and The target above-ground object category, indicating the category of the above-ground object to be extracted. The central device switches the target above-ground object category of the instruction information according to the degree of completion. The mobile terminal speculates the correspondence between the above-ground object category indicating the category of the above-ground object and the above-ground object area indicating the area of the above-ground object according to the measurement information, and generates the extraction information extracted from the measurement information about the above-ground object area corresponding to the above-ground object category according to the determination results of whether the position information and the above-ground object category respectively correspond to the target location and the target above-ground object category of the instruction information.

12. A central device, which is a central device that communicates with a mobile terminal capable of moving together with a mobile object, wherein The mobile terminal includes: A position information acquisition unit that acquires the position information of the mobile object; A measurement information acquisition unit that measures the space around the mobile object as the space to be diagrammed and acquires measurement information; and An extraction information generation unit that, according to the position information and the instruction information including the target location indicating the location to be extracted and the target above-ground object category indicating the category of the above-ground object to be extracted, sent from the central device to the mobile terminal, speculates the correspondence between the above-ground object category indicating the category of the above-ground object and the above-ground object area indicating the area of the above-ground object according to the measurement information, and generates the extraction information extracted from the measurement information about the above-ground object area corresponding to the above-ground object category according to the determination results of whether the position information and the above-ground object category respectively correspond to the target location and the target above-ground object category of the instruction information. The central device includes: A map information generation unit that generates map information according to the extraction information sent from the mobile terminal to the central device; and A map generation control unit that evaluates the degree of completion of the map information generated by the map information generation unit, and generates the instruction information while switching the target above-ground object category of the instruction information according to the degree of completion. The map generation control unit of the central device includes: A map information evaluation unit that evaluates the degree of completion of the map information; An above-ground object extraction order table, indicating the correspondence between the degree of completion and the target above-ground object category. An instruction information generation unit generates the instruction information including the object ground feature categories corresponding to the degree of completion according to the degree of completion evaluated by the map information evaluation unit and in accordance with the ground feature extraction order list; An instruction information management unit stores the instruction information generated by the instruction information generation unit; and A transmission instruction selection unit predicts an arrival range indicating the range reached by the mobile terminal based on the position information sent from the mobile terminal to the central device, and selects, from the instruction information management unit, the instruction information to be sent from the central device to the mobile terminal based on the arrival range and the object place of the instruction information.

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