Map information registration system, registration device, map information registration method, and program

Abstract

To achieve more accurate autonomous driving of vehicles and promote the introduction of autonomous driving. [Solution] In the map information registration system of the embodiment, the measuring device comprises an information acquisition unit that acquires vehicle location information based on a positioning signal and time information of the current time, and a recording processing unit that acquires and records the driving procedure and the acceleration / deceleration status of the vehicle from an operating device that can be operated by the vehicle driver, acquires and records the vehicle speed from a measuring device, records the operation procedure, speed and acceleration / deceleration status as driving / operation data, and transmits the location information, time information and driving / operation data in association with the registration device. The registration device comprises a generation processing unit that generates track information centered on the track based on the location information, a driving data processing unit that identifies driving change points indicating the location information of the operation point and the acceleration / deceleration point from the location information, time information and driving / operation data, and a registration processing unit that registers driving support data, which associates the driving / operation data with the location information of the driving change points in the track information, into a map database.

Description

Technical Field

[0005]

[0001] Embodiments of the present invention relate to a map information registration system, a registration device, a map information registration method, and a program.

Background Art

[0002] In recent years, there has been a demand for the automatic operation of railway vehicles. As one of the technologies for realizing the automatic operation of railway vehicles at low cost and with ease of introduction, it is conceivable to generate and use a map database that records important railway lines and points for operation, such as the center line of the railway and the stop positions.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, data such as the points where the driver operates an operating device such as a master controller and accelerates or decelerates considering the weather and time zone, and the data corresponding to the driving curve, are the know-how of the driver. Therefore, it is difficult to database and centrally manage such driver know-how, and it has become difficult to semi-automatically generate a map database that records important railway lines and points for operation, such as the center line of the railway and the stop positions.

Means for Solving the Problems

[0005] The map information registration system of the embodiment is a map information registration system comprising: a measuring device installed on a vehicle; a registration device installed in a central center that manages the vehicle's operation and is connected to the measuring device via a network, wherein the measuring device includes: a positioning unit that receives a positioning signal transmitted from an artificial satellite for measuring the vehicle's position; an information acquisition unit that acquires the vehicle's position information and the current time based on the positioning signal received by the positioning unit; an information acquisition unit that acquires and records the driving procedure and the vehicle's acceleration / deceleration status from an operating device that can be operated by the vehicle's driver; an information acquisition unit that acquires and records the vehicle's speed from a measuring device; the operation procedure, the speed, and the acceleration / deceleration status are recorded as driving / operation data; and the position information, the time information, and the driving / operation data. The system comprises a recording processing unit that transmits data to the registration device in association with the data, the registration device being connected to a recording device that stores a map database containing track information in which the location information of the vehicle's travel route is registered, the registration device comprising a data receiving unit that receives the location information, the time information, and the driving / operation data from the measuring device, a generation processing unit that generates the track information which is the center of the track based on the location information, a driving data processing unit that identifies driving change points indicating the location information of the operation point and the acceleration / deceleration point from the location information, the time information, and the driving / operation data, and a registration processing unit that registers driving support data which associates the driving / operation data with the location information of the driving change points in the track information in the map database. [Brief explanation of the drawing]

[0006] [Figure 1] Figure 1 is a block diagram illustrating the schematic configuration of the map information registration system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of the measuring device according to the first embodiment. [Figure 3] Figure 3 is a block diagram showing an example of the functional configuration of a registration device and a recording device according to the first embodiment. [Figure 4] Figure 4 is a schematic diagram showing an example of the structure of a map database according to this embodiment. [Figure 5] Figure 5 shows an example of the structure of the track DB according to the first embodiment. [Figure 6] Figure 6 shows an example of a driver assistance data structure according to the first embodiment. [Figure 7] Figure 7 is a block diagram showing an example of the functional configuration of the on-board device according to the first embodiment. [Figure 8] Figure 8 is a flowchart showing an example of the overall processing procedure for registering map information according to the first embodiment. [Figure 9] Figure 9 is a flowchart showing an example of the measurement process procedure according to the first embodiment. [Figure 10] Figure 10 is a flowchart showing an example of the registration process procedure according to the first embodiment. [Figure 11] Figure 11 is a diagram illustrating an example of a method for generating a first pseudo-point sequence in a straight line section according to the first embodiment. [Figure 12] Figure 12 is a diagram illustrating an example of a method for generating a second pseudo-point sequence in a curved section according to the first embodiment. [Figure 13] Figure 13 is a diagram illustrating an example of a segment identification method according to the first embodiment. [Figure 14] Figure 14 is a flowchart showing an example of the procedure for the driving process according to the first embodiment. [Figure 15] Figure 15 is a block diagram showing an example of the functional configuration of a measuring device according to the second embodiment. [Figure 16] Figure 16 is a block diagram showing an example of the functional configuration of a registration device and a recording device according to the second embodiment. [Figure 17] Figure 17 shows an example of the data structure of driver assistance data according to the second embodiment. [Figure 18] Figure 18 is a flowchart showing an example of the measurement process procedure according to the second embodiment. [Figure 19] Figure 19 is a flowchart showing an example of the registration process procedure according to the second embodiment. [Figure 20] Figure 20 is a block diagram showing an example of the functional configuration of the registration device and the recording device according to the third embodiment. [Figure 21] Figure 21 is a flowchart showing an example of the procedure of the registration process according to the third embodiment. [Figure 22] Figure 22 is a block diagram showing an example of the functional configuration of the registration device and the recording device according to the fourth embodiment. [Figure 23] Figure 23 is a diagram showing an example of the data structure of the driving support data according to the fourth embodiment. [Figure 24] Figure 24 is a diagram showing an example of classification and attributes according to the fourth embodiment. [Figure 25] Figure 25 is a flowchart showing an example of the procedure of the registration process according to the fourth embodiment. [Figure 26] Figure 26 is a flowchart showing an example of the procedure of the running process according to the fourth embodiment.

Mode for Carrying Out the Invention

[0007] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. [First Embodiment] (Configuration of the Map Information Registration System 10) Figure 1 is a schematic configuration block diagram of the map information registration system 10 according to the first embodiment. The map information registration system 10 mainly includes an antenna 150, a measurement device 100, an on-vehicle device 200, a measuring device​​​​​​​The measuring device 120 is a device for measuring the speed of vehicle 1, and consists of, for example, a TG (Tacho Generator) that detects the rotational speed of the motor, and a processing unit that calculates the speed of vehicle 1 from the detected rotational speed of the motor.

[0010] The operating device 130 is a device that can be operated by the driver of vehicle 1 and is used to perform various operations related to driving, such as a master controller. The operating device 130 receives input operation steps and brake operations from the driver. The operating device 130 sequentially outputs the history of said input steps and brake operations as an operation procedure to the measuring device 100.

[0011] The measuring device 100 is mounted on the vehicle 1 and measures the position of the vehicle 1 based on radio signals from satellites received by the antenna 150, outputting the position to the on-board device 200. The measuring device 100 also determines the current time, records the driver's operating procedures (such as the number of input steps and brake operations) from the control device 130, and records the speed of the vehicle 1 from the measuring device 120, and can transmit position information, time information, and driving / operation data (described later) to the registration device 300. Details of the measuring device 100 will be described later.

[0012] The inertial sensor 140 is a self-contained sensor such as a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis geomagnetic sensor. The inertial sensor 140 outputs the output data from each sensor of the vehicle 1 to the measuring device 100.

[0013] The on-board equipment 200 is a device that controls the movement of vehicle 1 based on the measurement results of the measuring device 100. Examples include a train management system (TCMS), a driver assistance control device for automated driving, and an on-board monitor. Details of the on-board equipment 200 will be described later.

[0014] Furthermore, as shown in Figure 1, the map information registration system 10 includes a registration device 300 and a recording device 310, both located at the ground-side central center 2.

[0015] The recording device 310 is a storage medium such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The recording device 310 stores a map database 311 (hereinafter referred to as "map DB311") which contains information on the railway tracks that the railway vehicle 1 can travel on. The recording device 310 is connected to the registration device 300 by wire or wireless, and is also connected to the onboard equipment 200 of the railway vehicle 1 via a network.

[0016] The registration device 300 is connected via a network to the measurement device 100 of the railway vehicle 1. The registration device 300 receives location information, time information, and driving / operation data from the measurement device 100, generates driving support data (described later), and registers it in the map DB 311 of the recording device 310. Details of the registration device 300 and the map DB 311 will be described later.

[0017] (Configuration of measuring device 100) Next, we will describe the details of the measuring device 100. Figure 2 is a block diagram showing an example of the functional configuration of the measuring device 100 according to the first embodiment. Figure 2 also shows the antenna 150, inertial sensor 140, measuring instrument 120, and operating instrument 130.

[0018] As shown in Figure 2, the measuring device 100 mainly comprises a GNSS positioning unit 101, an inertial sensor measuring unit 102, a position and time information acquisition unit 103, and a recording processing unit 104. The GNSS positioning unit 101, for example, configures a GNSS (Global Navigation Satellite System) and performs positioning (satellite positioning) of the vehicle 1 using radio waves from positioning satellites received by the antenna 150, and outputs the measurement result data to the position and time information acquisition unit 103. The antenna 150 and the GNSS positioning unit 101 are examples of positioning units.

[0019] Here, GNSS is a general term for satellite positioning systems such as the US GPS, Japan's Quasi-Zenith Satellite System (QZSS), Russia's GLONASS (GLO), the European Union's Galileo (GAL), and China's Beidou (BDS). Therefore, the receiver constituting the GNSS positioning unit 101 is configured to be able to perform positioning using any of those satellite positioning systems.

[0020] The inertial sensor measurement unit 102 performs positioning from the output of the inertial sensor 140, which is a self-contained sensor such as a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis geomagnetic sensor, and obtains self-contained positioning result data. The inertial sensor measurement unit 102 also obtains the acceleration (acceleration information) of the vehicle 1 from the output of the inertial sensor 140. The inertial sensor measurement unit 102 outputs the self-contained positioning result data and acceleration information to the position time information acquisition unit 103.

[0021] The position and time information acquisition unit 103 calculates the position of vehicle 1 based on the positioning result data and autonomous positioning result data output from the GNSS positioning unit 101 and outputs it as position information to the recording processing unit 104. The position and time information acquisition unit 103 also outputs the current time as time information to the recording processing unit 104. Furthermore, the position and time information acquisition unit 103 outputs acceleration information acquired from the inertial sensor measurement unit 102 to the recording processing unit 104. The position and time information acquisition unit 103 is an example of an information acquisition unit.

[0022] The recording processing unit 104 acquires the driving procedure (i.e., operations such as the number of input stages and brake operations) from the operating device 130. The recording processing unit 104 also calculates (acquires) and records the acceleration / deceleration status based on the change in the number of input stages acquired from the operating device 130 and the acceleration information acquired from the position time information acquisition unit 103. The recording processing unit 104 also acquires and records the speed of vehicle 1 from the measuring device 120. The recording processing unit 104 generates driving / operation data from the acquired driving procedure, the speed of vehicle 1 and the acceleration / deceleration status, and records the driving / operation data.

[0023] The recording processing unit 104 then associates the location information obtained from the location and time information acquisition unit 103, the time information obtained from the location and time information acquisition unit 103, and the above-mentioned operation and running data, and transmits them to the registration device 300 via the network.

[0024] (Configuration of registration device 300 and recording device 310) Next, the details of the registration device 300 and the recording device 310 will be described. Figure 3 is a block diagram showing an example of the functional configuration of the registration device 300 and recording device 310 according to the first embodiment.

[0025] As shown in Figure 3, the recording device 310 according to this embodiment stores a map DB 311. The map DB 311 contains the track DB 3111 and the driving support data 3112.

[0026] Map DB311 contains map information for the area including the route taken by vehicle 1. Figure 4 is a schematic diagram showing an example of the structure of the map DB311 according to the embodiment. As shown in Figure 4, the map DB311 is composed of multiple layers. In the example in Figure 4, it is composed of a layer in which the Geospatial Information Authority of Japan's 1 / 2500 level base map data is registered, a layer in which the detection area section and detection area range are registered, and a layer in which information on civil engineering structures such as tunnels and bridges is registered. The railway DB3111 is registered in one of these multiple layers. In addition, the map DB311 also has the operation support data 3112 registered.

[0027] Note that this information is just an example, and map DB311 may not contain some of this information, or it may contain other information.

[0028] The track database DB3111 is a database in which the location information of the travel route of vehicle 1 is registered, and track-related information is set for each location. Track-related information includes point sequence data of track centerlines at the track level and section level.

[0029] Figure 5 shows an example of the structure of the track DB3111 according to the first embodiment. As shown in Figure 5, the track database 3111 associates the following information with each designated point: designated point identification information, designated point location information, location information, station information, rail information, landmark information, land elevation gradient information, and level crossing information. This single record in the track database 3111 is an example of track information.

[0030] The designated location identification information is a number used to identify each designated location. The designated location information is information indicating the location of the designated location. For example, the designated location information includes information such as the latitude, longitude, and altitude of the designated location.

[0031] Location information is information about the location of the specified point. Location information includes information such as the location, rail switches, terrain topography, presence or absence of landmarks, and presence or absence of level crossings. Location indicates whether it is near a station or between stations. Rail switches indicate whether a switch is installed on rail R. Terrain topography indicates whether the land at the specified point P1 is flat, uphill, or downhill. Presence or absence of landmarks indicates whether landmark L1 is present. Presence or absence of level crossings indicates whether there is a level crossing.

[0032] Station information is information that is set when the corresponding setting location is a station. Station information includes information such as a number to identify the station and the direction indicating the direction of travel of railway vehicle 1 at the station.

[0033] Rail information refers to information about rail R. Rail information includes detailed information, 2D data, and 3D data. Detailed information includes the type of rail R, the number of rail R branches, the direction of travel of railway vehicle 1 at multiple rail R branches, and the curve radius or curvature to identify the shape, such as straight lines, right curves, and left curves. 2D data is information showing the shape of rail R in the captured image information. 2D data includes the number of nodes and the coordinates representing the position of each node N1 in 2D. 3D data is information showing the shape of rail R in the distance image. 2D data includes the number of nodes and the coordinates representing the position of each node N1 in 3D.

[0034] Returning to Figure 3, the registration device 300 according to this embodiment mainly comprises a location data processing unit 301, a map data noise processing unit 302, a map data generation processing unit 303, a driving data processing unit 304, a location data matching processing unit 305, a registration processing unit 306, an input device 321, and a display device 322, as shown in Figure 3.

[0035] The input device 321 is an input device such as a keyboard or mouse. The display device 322 is a display device such as a display unit.

[0036] The location data processing unit 301 receives location information, time information, and driving / operation data of vehicle 1 from the measuring device 100. The location data processing unit 301 is an example of a data receiving unit. The map data noise processing unit 302 removes noise from a sequence of points consisting of multiple location information received by the location data processing unit 301. Specifically, the map data noise processing unit 302 determines whether a sequence consists of straight lines or curves from the multiple location information received by the location data processing unit 301. Then, the map data noise processing unit 302 removes noise from the sequence of points in the straight lines to generate a first pseudo-sequence of points. Furthermore, the map data noise processing unit 302 removes noise from the sequence of points in the curves to generate a second pseudo-sequence of points.

[0037] The map data generation processing unit 303 generates track information that represents the center of the track based on the location information received by the location data processing unit 301. The map data generation processing unit 303 generates track information from pseudo-point sequences, which are sequences of points from which noise has been removed. More specifically, the map data generation processing unit 303 identifies the section containing the first pseudo-point sequence and the second pseudo-point sequence from the location information of the start and end points of the section pre-set in the map DB 311, and generates track information that represents the center of the track based on the identified section.

[0038] The driving data processing unit 304 identifies driving change points from location information, time information, and driving / operation data. Here, driving change points are information indicating the location of the point of operation and the point of acceleration / deceleration. The driving data processing unit 304 calculates the average value of multiple driving change points identified from the location information, time information, and driving / operation data of vehicle 1, which are received by the location data processing unit 301, as vehicle 1 travels the same route multiple times.

[0039] The position data matching processing unit 305 determines whether the average value of the operational change points identified by the operational data processing unit 304 matches the position information of the track information generated by the map data generation processing unit 303. If the location data matching processing unit 305 determines that the operational change point is not consistent with the location information of the track information generated by the map data generation processing unit 303, the user displays the map and location information on the display device 322 and then uses the input device 321 to correct the operational change point or location information so that the location information of the track information and the operational change point are consistent.

[0040] The registration processing unit 306 receives the input for the correction and, in accordance with the user's instructions, reflects the correction of the driving change point or location information. Furthermore, the registration processing unit 306 generates driver support data from location information (or corrected location information if the location information has been corrected), time information, driving / operation data, and the average value of driving change points (or corrected value if the information has been corrected), and registers the generated driver support data 3112 in the map DB 311. Here, the driver support data is data that corresponds to the track information and associates the driving / operation data with the location information of the average value of driving change points in the track information.

[0041] Figure 6 shows an example of a driver assistance data structure according to the first embodiment. As shown in Figure 6, the driver assistance data 3112 according to this embodiment consists of location information, speed, and driving / operation data. The location information is the location information of vehicle 1, and the coordinates of the location of the driving change point are registered. The speed is the speed of vehicle 1. As described above, the driving / operation data consists of the speed of vehicle 1, acceleration / deceleration status, and operation procedure.

[0042] (Configuration of the on-board device 200) Next, we will describe the details of the on-board equipment 200. Figure 7 is a block diagram showing an example of the functional configuration of the on-board device 200 according to the first embodiment. As shown in Figure 7, the on-board device 200 according to this embodiment mainly comprises an acquisition unit 201 and a driving control unit 202. The acquisition unit 201 accesses the map DB 311 of the recording device 310 in the central center 2 via the network, acquires track information of the track on which vehicle 1 travels from the track DB 3111, and further acquires the driving support data 3112 corresponding to the said track information.

[0043] The driving control unit 202 controls the driving unit (not shown) to perform automatic driving of the vehicle 1, while referring to the track information and driving support data acquired by the acquisition unit 201.

[0044] (Map information registration process) Next, the map information registration process by the map information registration system 10 configured according to this embodiment will be described.

[0045] First, let's explain the overall process for registering map information. Figure 8 is a flowchart showing an example of the overall processing procedure for registering map information according to the first embodiment. First, the measuring device 100 performs the measurement process (S11). Next, the registration device 300 performs the registration process (S12). Then, the process is completed.

[0046] (Measurement processing) Next, we will explain the details of the measurement process in S11. Figure 9 is a flowchart showing an example of the measurement process procedure according to the first embodiment. First, the position and time information acquisition unit 103 acquires position information by calculating the position of vehicle 1 based on the positioning result data from the GNSS positioning unit 101 and the autonomous positioning result data from the inertial sensor measurement unit 102 (S1101). Next, the position and time information acquisition unit 103 acquires the current time as time information (S1103).

[0047] Next, the recording processing unit 104 acquires the speed of vehicle 1 from the measuring instrument 120 (S1104). Then, the recording processing unit 104 acquires the operating procedure and acceleration / deceleration status from the operating instrument 130 (S1105). Next, the recording processing unit 104 compiles the speed of vehicle 1, the operating procedure, and the acceleration / deceleration status as driving / operation data and transmits it to the registration device 300 along with location information and time information (S1106). Then, the process returns to the caller. This measurement process is executed sequentially at predetermined time intervals while vehicle 1 is in motion.

[0048] (Registration process) Next, we will explain the details of the registration process in S12. Figure 10 is a flowchart showing an example of the registration process procedure according to the first embodiment. First, the position data processing unit 301 receives position information, time information, and driving / operation data sequentially from the measuring device 100 while the vehicle 1 is in motion (S1201). Next, the position data processing unit 301 obtains a sequence of points that represent the center of the track from the multiple position information received (S1202).

[0049] Next, the map data noise processing unit 302 determines straight sections and curved sections from a sequence of points (S1203). Next, the map data noise processing unit 302 removes noise from the sequence of points in the straight line section and generates a first pseudo-sequence of points as a result of regression analysis or moving average (S1204).

[0050] Figure 11 is a diagram illustrating an example of a method for generating a first pseudo-point sequence in a straight section according to the first embodiment. In Figures 11(a) and 11(b), the vertical axis represents latitude and the horizontal axis represents longitude. The point sequence 802 is a sequence of points resulting from one or more runs of vehicle 1. Here, reliability improves with increasing number of runs.

[0051] In the sequence of points 802 in the straight section, the symbol 805 is noise. In this embodiment, the map data noise processing unit 302 performs regression analysis or moving average on the sequence of points 802 in the straight section, and from the results, identifies points whose vertical distance from the regression line or moving average line (driving data for about 1 second) is greater than or equal to a predetermined arbitrary threshold as noise 805. The map data noise processing unit 302 then removes the noise 805 from the sequence of points 802 and generates a first pseudo-sequence of points 801 as a result of the regression analysis or moving average.

[0052] Next, as shown in Figure 11(b), the map data noise processing unit 302 corrects and aligns each point of the first pseudo-point sequence 801 so that they are equally spaced, thereby obtaining a point sequence 803. Here, the starting and ending points are determined by pre-set coordinate points. Note that a single section is set based on pre-set coordinate points, such as a turnout.

[0053] Returning to Figure 10, the map data noise processing unit 302 then removes noise from the sequence of points in the curved section and generates a second pseudo-sequence of points as a result of moving average and density measurement (S1205).

[0054] Figure 12 is a diagram illustrating an example of a method for generating a second pseudo-point sequence in a curved section according to the first embodiment. In Figures 12(a) and 12(b), the vertical axis represents latitude and the horizontal axis represents longitude. In Figure 12(a), the point sequence 902 is a point sequence resulting from one or more runs of vehicle 1. Here, reliability improves with increasing number of runs.

[0055] In the sequence of points 902 in the curved section, the symbol 905 is noise. In this embodiment, the map data noise processing unit 302 performs a moving average and density measurement on the sequence of points 902 in the curved section, and identifies points whose difference from other points is greater than or equal to a preset threshold as noise 905 based on the results of the moving average and density measurement. The map data noise processing unit 302 then removes the noise 905 from the sequence of points 902 and generates a second pseudo-sequence of points 901 as a result of the moving average and density measurement.

[0056] Next, as shown in Figure 12(b), the map data noise processing unit 302 corrects and aligns each point of the second pseudo-point sequence 901 so that they are equally spaced, thereby obtaining the point sequence 903. Here, the starting and ending points are determined by pre-set coordinate points. These pre-set coordinate points, for example, are set as a single section based on switches, straight lines, etc.

[0057] Returning to Figure 10, the map data generation processing unit 303 then identifies the section containing the first pseudo-point sequence and the second pseudo-point sequence (S1206).

[0058] Figure 13 is a diagram illustrating an example of the interval identification method according to the first embodiment. In Figure 13, the vertical axis represents latitude and the horizontal axis represents longitude. In Figure 13, reference numeral 1001 indicates the starting point to be processed. Reference numeral 1004 indicates the ending point to be processed.

[0059] The latitude, longitude, and point names of the start and end points are predetermined, and the map data generation processing unit 303 extracts the specified latitude and longitude of the start and end points from the track database 3111, which records them. That is, the map data generation processing unit 303 sets the latitude and longitude of the extracted start point 1001 and end point 1004, and searches for and extracts the sequence of points to be processed that falls between the start point 1001 and end point 1004. In Figure 13, the pseudo-point sequence labeled 1003 is extracted as the pseudo-point sequence to be processed. Note that the pseudo-point sequence labeled 1005 is a pseudo-point sequence that is not to be processed.

[0060] However, in cases where the railway line forms an arc or loop, the latitude and longitude of the starting and ending points may be in close proximity. This also applies to cases like the omega loop in older curves. For this reason, in the map data generation processing unit 303 according to this embodiment, the rectangular area setting for the latitude and longitude of the starting and ending points is not set because they may fall outside the railway line's path.

[0061] Furthermore, to reduce search costs, the map data generation processing unit 303 determines the search direction from the start and end points and sequentially searches for pseudo-point sequences at point intervals (e.g., 0.1m) to be aligned. Note that the 0.1m point interval is just an example and is not limited to this; the initial search range can also be set to twice the desired point interval. The search range can also be changed arbitrarily.

[0062] Furthermore, if the distance between points in a sequence increases during the search, the map data generation processing unit 303 expands the search range and checks the continuity of the point sequence. If the distance between points increases, there is a possibility that these are error points, so the map data generation processing unit 303 may be configured to remove them as noise points.

[0063] Returning to Figure 10, the map data generation processing unit 303 then generates an aligned point sequence and generates track information (track map) (S1207).

[0064] Next, the driving data processing unit 304 identifies the driving change point from the driving and operation data received by the position data processing unit 301 (S1208).

[0065] Next, the operation data processing unit 304 determines whether or not the predetermined section has been completed (S1209). If the predetermined section has not been completed (S1209: No), the process returns to S1201, and the process from S1201 is repeatedly executed.

[0066] If the predetermined section is completed (S1209: Yes), the operation data processing unit 304 calculates the average of the positions of multiple operation change points obtained by repeated execution (S1210).

[0067] Next, the position data matching processing unit 305 determines in S1208 whether the average value of the operational change points identified by the operational data processing unit 304 and obtained in S1210 matches the position information of the track information generated by the map data generation processing unit 303 in S1207 (S1211). If the operational change points do not match the position information of the track information generated by the map data generation processing unit 303, as described above, the user uses the display device 322 and the input device 321 to correct the operational change points or position information so that the position information of the track information matches the operational change points.

[0068] Next, the registration processing unit 306 generates driving support data 3112 from location information (or corrected location information if the location information has been corrected), time information, driving / operation data, and the average value of driving change points (or corrected value if the information has been corrected). Then, the registration processing unit 306 registers the generated driving support data 3112 in the map DB 311, associating it with the location information of the average value of driving change points in the track information of the track DB 3111 (S1212).

[0069] (Driving process) Next, the vehicle 1 driving process by the on-board device 200 according to this embodiment will be described. Figure 14 is a flowchart showing an example of the procedure for the driving process according to the first embodiment.

[0070] First, the acquisition unit 201 accesses the recording device 310 and obtains track information for the section to be traveled from the track DB 3111 (S1801). Next, the acquisition unit 201 obtains driving support data corresponding to the track information of the traveled section from the map DB 1311 (S1802).

[0071] Next, the running control unit 202 executes the operation of vehicle 1 according to the driving support data based on the track information of the section (S1803). Next, the acquisition unit 201 determines whether or not the journey has been completed for all planned sections (S1804). If the journey has not yet been completed for all sections (S1804: No), the acquisition unit 201 selects the next section to travel (S1805). Then, the process returns to S1801, and the process from S1801 is repeatedly executed. On the other hand, if the journey through all sections is completed in S1804 (S1804:Yes), the process ends.

[0072] In the map information registration system 10 according to this embodiment, the measuring device 100 receives a positioning signal transmitted from an artificial satellite for measuring the position of the vehicle 1, acquires the position information of the vehicle 1 based on the received positioning signal and the time information of the current time, acquires and records the driving procedure and the acceleration / deceleration status of the vehicle 1 from the operating device 130 that can be operated by the driver of the vehicle 1, acquires and records the speed of the vehicle 1 from the measuring device 120, records the operating procedure, speed and acceleration / deceleration status as driving / operation data, and transmits the position information, time information and driving / operation data in association to the registration device 300. Furthermore, the registration device 300 is connected to a recording device that stores a map DB 311 containing track information in which the location information of the vehicle 1's travel route is registered. The registration device 300 receives location information, time information, and driving / operation data from the measurement device 100, generates track information that is centered on the track based on the location information, identifies driving change points that indicate the location information of operation points and acceleration / deceleration points from the location information, time information, and driving / operation data, and registers driving support data in the map DB 311 that associates the driving / operation data with the location information of the driving change points in the track information.

[0073] Therefore, according to this embodiment, driving and operation data, which represents the driver's know-how, is collected semi-automatically from the vehicle 1's driving data, and a map DB311 for autonomous driving is generated in conjunction with the map. This makes it possible to realize autonomous driving of vehicle 1 more accurately and promote the introduction of autonomous driving.

[0074] Furthermore, in the map information registration system 10 according to this embodiment, the registration device 300 further calculates the average value of multiple driving change points identified from the location information, time information, and driving / operation data obtained when the vehicle 1 travels the same route multiple times, and registers driving support data in the map DB 311, which associates the driving / operation data with the location information of the average value of the driving change points in the track information.

[0075] Therefore, in this embodiment, even when different drivers travel the same route, the average of the driving change points is calculated, and driving support data is generated and registered in the map DB311. This eliminates differences in driving know-how due to differences in drivers, thereby enabling more accurate automated driving of vehicle 1 and further promoting the introduction of automated driving.

[0076] Furthermore, in the map information registration system 10 according to this embodiment, the registration device 300 removes noise from a sequence of points consisting of multiple received location information, and generates track information that represents the center of the track from the pseudo-sequence of points from which the noise has been removed.

[0077] Therefore, according to this embodiment, noise is removed from the sequence of location information before generating driving support data, which enables accurate autonomous driving of vehicle 1 and further promotes the introduction of autonomous driving.

[0078] Furthermore, in the map information registration system 10 according to this embodiment, the registration device 300 determines straight sections and curved sections from a plurality of received location information, removes noise from the sequence of points in the straight sections to generate a first pseudo-point sequence, removes noise from the sequence of points in the curved sections to generate a second pseudo-point sequence, identifies the section containing the first pseudo-point sequence and the second pseudo-point sequence from the location information of the start and end points of the section pre-set in the map DB 311, and generates track information that will be the center of the track based on the identified section.

[0079] Therefore, according to this embodiment, noise can be removed more accurately by processing straight sections and curved sections separately from multiple position information, thereby enabling more accurate autonomous driving of vehicle 1 and further promoting the introduction of autonomous driving.

[0080] [Second Embodiment] In the first embodiment, the measuring device 100 acquired the location information, time information, speed, acceleration / deceleration status, and operating procedure of the vehicle 1, and the registration device 300 generated driving support data based on this information and registered it in the map DB 311. In this second embodiment, the measuring device 1100 further acquires weather information, and the registration device 1300 generates driving support data including the weather information and registers it in the map DB 311.

[0081] The overall configuration of the map information registration system 10 according to the second embodiment is the same as that of the first embodiment.

[0082] (Configuration of measuring device 1100) Next, we will describe the details of the measuring device 100. Figure 15 is a block diagram showing an example of the functional configuration of the measuring device 1100 according to the second embodiment. Figure 15 also shows an antenna 150, an inertial sensor 140, a measuring instrument 120, an operating instrument 130, and a three-dimensional measuring instrument 1110.

[0083] The three-dimensional measuring instrument 1110 is installed on the vehicle 1 and is a device that detects and measures the environment around the vehicle 1. As shown in Figure 15, the three-dimensional measuring instrument 1110 is equipped with a camera 110 and a LiDAR (Light Detection And Ranging) 160.

[0084] Camera 110 has two or more lenses and captures images of the area around vehicle 1. The LiDAR160 is a device that measures distance by illuminating an object with near-infrared light, visible light, or ultraviolet light, and capturing the reflected light with an optical sensor. The LiDAR160 is an example of a distance sensor. In addition, the vehicle 1 may be further equipped with a raindrop sensor to detect raindrops, an illuminance sensor to detect ambient light, a millimeter-wave sensor as a distance sensor, etc., as part of the three-dimensional measuring instrument 1110.

[0085] As shown in Figure 15, the measuring device 1100 mainly comprises a GNSS positioning unit 101, an inertial sensor measuring unit 102, a position and time information acquisition unit 103, and a recording processing unit 1104. The functions and configurations of the GNSS positioning unit 101, the inertial sensor measuring unit 102, and the position and time information acquisition unit 103 are the same as in the first embodiment.

[0086] The recording processing unit 1104 according to this embodiment acquires the operation procedure (i.e., input stage number and brake operation) from the operating device 130, calculates (acquires) and records the acceleration / deceleration status based on the acquired change in the input stage number and the acceleration information acquired from the position time information acquisition unit 103, and acquires and records the speed of the vehicle 1 from the measuring device 120. The recording processing unit 1104 also generates driving / operation data from the acquired operation procedure, the speed of the vehicle 1 and the acceleration / deceleration status, and records the driving / operation data.

[0087] Furthermore, the recording processing unit 1104 acquires weather information based on detection information from the three-dimensional measuring instrument 1110. Weather information indicates the current weather conditions and includes information such as sunny, cloudy, rainy (including the intensity of the rain), snowy, and windy.

[0088] Furthermore, the recording processing unit 1104 associates the location information obtained from the location and time information acquisition unit 103, the time information obtained from the location and time information acquisition unit 103, the acquired weather information, and the above-mentioned driving and operation data, and transmits them to the registration device 300 via the network.

[0089] (Configuration of registration device 1300 and recording device 310) Next, the details of the registration device 1300 and the recording device 310 will be described. Figure 16 is a block diagram showing an example of the functional configuration of the registration device 1300 and recording device 310 according to the second embodiment.

[0090] As shown in Figure 16, the recording device 310 according to this embodiment stores a map DB 1311. The map DB 1311 contains the track DB 3111 and the driving support data 13112. Here, the track DB 3111 is the same as in the first embodiment.

[0091] The driver assistance data 13112 includes weather information in addition to the same data structure as in the first embodiment. Figure 17 shows an example of the data structure of the driver assistance data 13112 according to the second embodiment.

[0092] As shown in Figure 17, the driver assistance data 13112 according to this embodiment consists of location information, weather information, and driving / operation data. The location information and driving / operation data are the same as in the first embodiment.

[0093] Returning to Figure 16, the registration device 1300 according to this embodiment mainly comprises a position data processing unit 1301, a map data noise processing unit 302, a map data generation processing unit 303, a driving data processing unit 304, a position data alignment processing unit 305, a registration processing unit 1306, an input device 321, and a display device 322, as shown in Figure 16. The map data noise processing unit 302, the map data generation processing unit 303, the driving data processing unit 304, the position data alignment processing unit 305, the input device 321, and the display device 322 are the same as in the first embodiment.

[0094] The location data processing unit 1301 receives location information, time information, weather information, and driving / operation data from the measuring device 1100. The registration processing unit 1306 generates driver support data 3112 from location information (or corrected location information if the location information has been corrected), time information, driving / operation data, average value of driving change points (or corrected value if the information has been corrected), and weather information, and registers the generated driver support data 3112 in the map DB 1311. The configuration of the on-board device 200 is the same as in the first embodiment.

[0095] (Map information registration process) Next, the map information registration process by the map information registration system 10 configured according to this embodiment will be described. The overall process for registering map information is carried out in the same manner as in the first embodiment.

[0096] (Measurement processing) Next, we will explain the details of the measurement process in S11. Figure 18 is a flowchart showing an example of the measurement process procedure according to the second embodiment. The processes from S1101 to S1105 are carried out in the same manner as in the first embodiment.

[0097] After processing in S1105, the recording processing unit 1104 acquires detection information from the three-dimensional measuring instrument 1110 and obtains weather information based on the acquired detection information (S1301).

[0098] Next, the recording processing unit 1104 compiles the vehicle 1's speed, operating procedure, and acceleration / deceleration status as driving / operation data and transmits it to the registration device 1300 along with location information, time information, and weather information (S1302). Then, the process returns to the caller. This measurement process is executed sequentially at predetermined time intervals while the vehicle 1 is in motion.

[0099] (Registration process) Next, we will explain the details of the registration process in S12. Figure 19 is a flowchart showing an example of the registration process procedure according to the second embodiment. First, the location data processing unit 1301 receives location information, time information, weather information, and driving / operation data sequentially from the measuring device 1100 while the vehicle 1 is in motion (S1501). The processing from S1202 to S1211 is carried out in the same manner as in the first embodiment.

[0100] After processing in S1211, the registration processing unit 1306 generates driving support data 13112 from location information (or corrected location information if the location information has been corrected), time information, weather information, driving / operation data, and the average value of driving change points (or corrected value if the information has been corrected). Then, the registration processing unit 306 registers the generated driving support data 13112 in the map DB 1311 by associating it with the location information of the average value of driving change points in the track information of the track DB 3111 (S1502). This completes the registration process. The driving process performed by the on-board device 200 is carried out in the same manner as in the first embodiment.

[0101] In the map information registration system 10 according to this embodiment, the measuring device 1100 acquires weather information based on detection information from the three-dimensional measuring instrument 1110 that detects the area around the vehicle, and transmits the location information, time information, driving / operation data, and weather information to the registration device 1300 in association with each other. The registration device 1300 receives the location information, time information, driving / operation data, and weather information from the measuring device 1100, and registers driving support data in the map DB 1311, which associates the driving / operation data and weather information with the location information of the driving change point in the track information.

[0102] The driver's operation of vehicle 1 may vary depending on the weather conditions during its operation, and this becomes part of the driver's expertise. Therefore, according to this embodiment, driving support data is generated taking weather information into account and registered in the map DB1311, so that the automated driving of vehicle 1 can be realized more accurately by taking weather conditions into account, and the introduction of automated driving can be further promoted.

[0103] Furthermore, in the map information registration system 10 according to this embodiment, the three-dimensional measuring instrument 1110 includes at least one of a multi-lens camera 110, a distance sensor such as a LiDAR 160, an illuminance sensor, and a raindrop sensor.

[0104] Therefore, according to this embodiment, detection information that forms the basis of weather information can be acquired more accurately, so that the automated driving of vehicle 1 can be realized more accurately by taking the weather into account, and the introduction of automated driving can be further promoted.

[0105] [Third Embodiment] In the first and second embodiments, driving support data 3112 and 13112 were generated and registered in the map DB 311 and 1311, but in this third embodiment, a learning function is also included.

[0106] The overall configuration of the map information registration system 10 according to the third embodiment is the same as that of the first embodiment. Furthermore, the configuration of the measuring device 1100 according to the third embodiment is the same as that of the second embodiment.

[0107] (Configuration of registration device 1500) Next, the details of the registration device 1500 according to this embodiment will be described. Figure 20 is a block diagram showing an example of the functional configuration of the registration device 1500 and recording device 310 according to the third embodiment. The configuration of the recording device 310 according to this embodiment is the same as that of the second embodiment.

[0108] As shown in Figure 20, the registration device 1500 according to this embodiment mainly comprises a location data processing unit 1301, a map data noise processing unit 302, a map data generation processing unit 303, a driving data processing unit 304, a location data alignment processing unit 305, a registration processing unit 1306, a learning unit 1501, an input device 321, and a display device 322. The location data processing unit 1301, map data noise processing unit 302, map data generation processing unit 303, driving data processing unit 304, location data alignment processing unit 305, registration processing unit 1306, input device 321, and display device 322 are the same as in the second embodiment.

[0109] The learning unit 1501 learns the location information of acceleration and deceleration points from the average location information of driving change points and driving / operation data. Furthermore, the learning unit 1501 learns the location information of acceleration and deceleration points from information related to noise reduction of location information. The learning results can be generated as a trained model and stored in the recording device 310. The configuration of the on-board device 200 is the same as in the first embodiment.

[0110] (Map information registration process) Next, the map information registration process by the map information registration system 10 configured according to this embodiment will be described. The overall processing for registering map information is carried out in the same manner as in the first embodiment, and the measurement processing is carried out in the same manner as in the second embodiment.

[0111] (Registration process) Next, we will explain the details of the registration process in S12. Figure 21 is a flowchart showing an example of the registration process procedure according to the third embodiment. The processes in S1501, S1202-S1211, and S1502 are carried out in the same manner as in the second embodiment.

[0112] After processing in S1502, the learning unit 1501 learns the location information of acceleration and deceleration points from the average location information of the driving change points, weather information, driving and operation data, and information related to noise reduction of the location information (S1601). This completes the registration process.

[0113] The driving process performed by the on-board device 200 is carried out in the same manner as in the first and second embodiments. Here, the on-board device 200 may be configured to input location information, weather information, driving / operation data, etc., into the trained model obtained as a result of learning by the learning unit 1501, and to refer to the output results from the trained model.

[0114] In the map information registration system 10 according to this embodiment, the registration device 1500 learns the location information of acceleration and deceleration points from information related to noise reduction of location information, location information of driving change points, and driving / operation data.

[0115] Therefore, according to this embodiment, by using the learned location information of acceleration and deceleration points during driving, the autonomous driving of vehicle 1 can be realized more accurately, and the introduction of autonomous driving can be further promoted.

[0116] In this embodiment, the configuration other than the learning unit 1501 was the same as in the second embodiment, but it is not limited to this. For example, even if the learning unit 1501 is added to the configuration of the first embodiment, the same effects and advantages as in the third embodiment can be obtained.

[0117] [Fourth Embodiment] In the first to third embodiments, driver support data 3112 and 13112 were generated from location information, weather information, and driving / operation data and registered in map DB 311 and 1311. In this fourth embodiment, however, the location information, weather information, and driving / operation data are further classified according to predetermined criteria, attributes are assigned, and driver support data is generated.

[0118] The overall configuration of the map information registration system 10 according to the fourth embodiment is the same as that of the second embodiment. Furthermore, the configuration of the measuring device 1100 according to the fourth embodiment is the same as that of the second embodiment.

[0119] (Configuration of registration device 1700 and recording device 310) Next, the details of the registration device 1700 and the recording device 310 will be described. Figure 22 is a block diagram showing an example of the functional configuration of the registration device 1700 and recording device 310 according to the fourth embodiment.

[0120] As shown in Figure 22, the recording device 310 according to this embodiment stores a map DB 2311. The map DB 2311 contains the track DB 3111 and the driving support data 23112. Here, the track DB 3111 is the same as in the first and second embodiments.

[0121] The driver assistance data 23112 includes attributes in addition to a data structure similar to that of the second embodiment. Figure 23 shows an example of the data structure of the driver assistance data 23112 according to the fourth embodiment.

[0122] As shown in Figure 23, the driver assistance data 23112 according to this embodiment consists of location information, attributes, weather information, and driving / operation data. The location information, weather information, and driving / operation data are the same as in the second embodiment.

[0123] Attributes are the categories for each classification when the average of driving change points and driving / operation data are classified according to predetermined criteria.

[0124] Figure 24 shows an example of classification and attributes according to the fourth embodiment. There are four classifications, from Classification 1 to Classification 4.

[0125] Classification 1 is a classification based on time information according to predetermined criteria. In the case of Classification 1, each of the four seasons—spring, summer, autumn, and winter—is assigned attributes 1 to 4. Classification 2 is a classification based on weather information according to predetermined criteria. In the case of Classification 2, each weather condition such as sunny or cloudy is assigned an attribute from Attribute 1 to Attribute 7. Classification 3 is a classification based on continuous gradient sections according to predetermined criteria. In the case of Classification 3, attribute 1 and attribute 2 are assigned to the uphill and downhill sections, respectively, which are continuous gradient sections. Classification 4 is based on information that does not include season or weather, according to predetermined criteria. In the case of Classification 4, attribute 1 and attribute 2 are assigned to the underground section and the temporary construction axis, respectively. Please note that the above classifications and attributes are merely examples, and other criteria and attributes may be established.

[0126] Returning to Figure 22, the registration device 1700 according to this embodiment mainly comprises a location data processing unit 1301, a map data noise processing unit 302, a map data generation processing unit 303, a driving data processing unit 304, a location data alignment processing unit 305, a classification unit 1701, a registration processing unit 1306, an input device 321, and a display device 322, as shown in Figure 22. The location data processing unit 1301, map data noise processing unit 302, map data generation processing unit 303, driving data processing unit 304, location data alignment processing unit 305, registration processing unit 1306, input device 321, and display device 322 are the same as in the second embodiment.

[0127] The classification unit 1701 classifies the average location information of operational change points in the track information and the operational data based on predetermined criteria. In this embodiment, the registration processing unit 1306 generates driving support data for each classification attribute from location information (or corrected location information if the location information has been corrected), time information, driving / operation data, and the average value of driving change points (or corrected value if the information has been corrected), and registers the generated driving support data 23112 in the map DB 2311. Therefore, for the track information of a single section, driving support data 23112 is generated for each attribute and registered in the map DB 2311.

[0128] (Map information registration process) Next, the map information registration process by the map information registration system 10 configured according to this embodiment will be described. The overall processing for registering map information is carried out in the same manner as in the first embodiment, and the measurement processing is carried out in the same manner as in the second embodiment.

[0129] (Registration process) Next, we will explain the details of the registration process in S12. Figure 25 is a flowchart showing an example of the registration process procedure according to the fourth embodiment. The processes in S1501 and S1202-S1211 are carried out in the same manner as in the second embodiment. After processing in S1211, the classification unit 1701 classifies the average position information of operational change points in the track information and the operation / training data based on predetermined criteria (S1701).

[0130] The registration processing unit 1306 registers the driving / operation data and weather information in the map DB 2311, along with the attributes for each classification, and the average location information of driving change points in the track information.

[0131] The registration processing unit 1306 generates driver support data 13112 from location information (or corrected location information if the location information has been corrected), time information, weather information, driving / operation data, the average value of driving change points (or corrected value if the information has been corrected), and classification attributes. Then, the registration processing unit 306 registers the generated driver support data 13112 in the map DB 1311 by associating it with the location information of the average value of driving change points in the track information of the track DB 3111 (S1702). This completes the registration process.

[0132] (Driving process) Next, the vehicle 1 driving process by the on-board device 200 according to this embodiment will be described. Figure 26 is a flowchart showing an example of the procedure for the driving process according to the fourth embodiment.

[0133] First, the acquisition unit 201 acquires the location information, current time information, and current weather information of the vehicle 1, and determines attributes as shown in Figure 24 based on predetermined criteria from each of the acquired pieces of information (S1901).

[0134] Next, the acquisition unit 201 accesses the recording device 310 and acquires track information for the section to be traveled from the track DB 3111 (S1801). Then, the acquisition unit 201 acquires the driver support data 23112 for the attribute determined in S1801 from among the multiple driver support data 23112 registered in the map DB 1311, each corresponding to the number of attributes of the track information for the traveled section (S1902).

[0135] Next, the running control unit 202 operates the vehicle 1 according to the driving support data based on the track information corresponding to the attributes of the section (S1803). The processes in S1804 and S1805 are carried out in the same manner as in the first embodiment.

[0136] In the map information registration system 10 according to this embodiment, the registration device 1700 classifies the location information of operational change points in the track information and the operation / training data based on predetermined criteria, and registers the operation / training data and weather information in the map DB 2311 along with the attributes for each classification, associating them with the location information of operational change points in the track information.

[0137] The driver's operation of vehicle 1 may vary depending on the weather, time of day, and other various conditions during operation, and this becomes part of the driver's know-how. According to this embodiment, driving support data is classified according to the weather, time of day, season, and other various conditions, and attributes corresponding to the classification are assigned and registered in the map DB2311. Therefore, when vehicle 1 is driven autonomously, driving support data corresponding to the attributes according to the weather, time of day, season, and other various conditions can be used to realize autonomous driving more accurately and the introduction of autonomous driving can be further promoted.

[0138] In the embodiments described above, an example using a railway vehicle 1 as the vehicle was given, but the embodiment is not limited to this. For example, this embodiment can also be applied to automated means of transportation that operate on predetermined routes, such as buses, and to the automated movement of aircraft on boarding bridges, aprons, and runways within airports. However, in the case of means of transportation such as buses, it is assumed that road construction and the like are not carried out frequently.

[0139] The measuring devices 100, 1100, registration devices 300, 1300, 1500, 1700, and on-board devices 200 of the above-described embodiments and modifications are equipped with a control device such as a CPU, a storage device such as ROM (Read Only Memory) or RAM, an external storage device such as an HDD, SSD, or CD drive, a display device such as a display device, and an input device such as a keyboard or mouse, and thus have a hardware configuration that utilizes a normal computer.

[0140] The measurement programs executed by the measurement devices 100 and 1100 of the above-described embodiments and modified examples are provided pre-loaded into a ROM or the like. The measurement programs executed by the measurement devices 100 and 1100 of the above-described embodiments and modifications may be configured to be provided as files in an installable or executable format, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disk).

[0141] Furthermore, the measurement programs executed by the measurement devices 100 and 1100 of the above-described embodiments and modifications may be stored on a computer connected to a network such as the Internet and provided by downloading them via the network. Alternatively, the measurement programs executed by the measurement devices 100 and 1100 of the above-described embodiments and modifications may be provided or distributed via a network such as the Internet.

[0142] The measurement programs executed by the measurement devices 100 and 1100 of the above-described embodiments and modifications are configured as modules including the above-described functional units. In actual hardware, the CPU (processor) reads the measurement program from the ROM and executes it, thereby loading the above-described units onto the main memory and generating each functional unit on the main memory.

[0143] The registration programs executed by the registration devices 300, 1300, 1500, and 1700 of the above-described embodiments and modifications are provided pre-installed in ROM or the like. The registration programs executed by the registration devices 300, 1300, 1500, and 1700 of the above-described embodiments and modifications may be configured to be provided as files in an installable or executable format, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk, CD-R, or DVD.

[0144] Furthermore, the registration programs executed by the registration devices 300, 1300, 1500, and 1700 of the above-described embodiments and modifications may be configured to be stored on a computer connected to a network such as the Internet and provided by downloading them via the network. Alternatively, the registration programs executed by the registration devices 300, 1300, 1500, and 1700 of the above-described embodiments and modifications may be provided or distributed via a network such as the Internet.

[0145] The registration programs executed by the registration devices 300, 1300, 1500, and 1700 of the above-described embodiments and modifications are configured as modules including the functional units described above. In actual hardware, the CPU reads the registration program from the ROM and executes it, thereby loading the respective units into the main memory and generating each functional unit in the main memory.

[0146] The driving program executed by the on-board device 200 of the above-described embodiment and modified version is provided pre-loaded into a ROM or the like. The driving program executed by the on-board device 200 of the above-described embodiments and modifications may be configured to be provided as a file in an installable or executable format, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk, CD-R, or DVD.

[0147] Furthermore, the driving program executed by the on-board device 200 of the above-described embodiments and modifications may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Alternatively, the driving program executed by the on-board device 200 of the above-described embodiments and modifications may be provided or distributed via a network such as the Internet.

[0148] The driving program executed by the on-board device 200 of the above-described embodiment and modified version has a modular configuration including the above-described functional units. In actual hardware, the CPU reads the driving program from the ROM and executes it, thereby loading the above-described units into the main memory and generating each functional unit in the main memory.

[0149] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0150] 1. Vehicle, railway vehicle 2 Central Center 10. Map Information Registration System 100,1100 measuring devices 101 GNSS Positioning Unit 102 Inertial Sensor Measurement Unit 103 Location and time information acquisition unit 104,1104 Recording Processing Unit 110 Camera 120 Measuring equipment 130 Operating equipment 140 Inertial Sensors 150 antennas 160 LiDAR 1701 Classification Department 200 Onboard equipment 201 Acquisition Department 202 Driving Control Unit 300, 1300, 1500, 1700 Registered devices 301,1301 Position data processing unit 302 Map data noise processing unit 303 Map Data Generation Processing Unit 304 Operation Data Processing Unit 305 Location Data Alignment Processing Unit 306,1306 Registration Processing Unit 310 Recording device 311,1311,2311 Map Database 321 Input device 322 Display device 3111 Track DB 1110 Three-dimensional measuring instrument 1501 Learning Department 3112,13112,23112 Driving support data

Claims

1. A map information registration system comprising a measuring device installed on a vehicle, and a registration device installed in a central center that manages the vehicle's operation and is connected to the measuring device via a network, The aforementioned measuring device is A positioning unit that receives a positioning signal transmitted from an artificial satellite for measuring the position of the vehicle, An information acquisition unit that acquires the vehicle's location information based on the positioning signal received by the positioning unit, and the current time information. The system includes a recording processing unit that acquires and records the driving procedure and the acceleration / deceleration status of the vehicle from an operating device that can be operated by the driver of the vehicle, acquires and records the speed of the vehicle from a measuring device, records the operating procedure, the speed, and the acceleration / deceleration status as driving / operation data, and transmits the location information, the time information, and the driving / operation data in association with the registration device. The registration device is connected to a recording device that stores a map database containing track information in which the location information of the vehicle's travel route is registered. The registration device is A data receiving unit that receives the position information, time information, and operation / driving data from the aforementioned measuring device, A generation processing unit that generates track information that forms the center of the track based on the aforementioned position information, A driving data processing unit identifies driving change points indicating the location information of the operation point and the acceleration / deceleration point from the aforementioned location information, time information, and driving / operation data, A registration processing unit registers driver support data, which associates the driving and operation data with the location information of the driving change point in the aforementioned track information, into the map database. A map information registration system equipped with the following features.

2. The aforementioned driving data processing unit further calculates the average value of a plurality of driving change points identified from the location information, time information, and driving / operation data obtained by the vehicle traveling the same route multiple times. The registration processing unit registers the operation support data, which associates the operation and service data with the location information of the average value of the operation change points in the track information, into the map database. The map information registration system according to claim 1.

3. The system further includes a noise processing unit that removes noise from a sequence of points consisting of multiple received positional information, The generation processing unit generates the track information that will be the center of the track from a pseudo-sequence of points, which is a sequence of points from which noise has been removed. The map information registration system according to claim 1.

4. The noise processing unit determines straight sections and curved sections from the received plurality of position information, removes noise from the sequence of points in the straight sections to generate a first pseudo-sequence of points, and removes noise from the sequence of points in the curved sections to generate a second pseudo-sequence of points. The generation processing unit identifies the section containing the first pseudo-point sequence and the second pseudo-point sequence from the position information of the start and end points of the section set in advance in the map database, and generates the track information that will be the center of the track based on the identified section. The map information registration system according to claim 3.

5. The aforementioned measuring device is The recording processing unit further acquires weather information based on detection information from a three-dimensional measuring device that detects the surroundings of the vehicle, and transmits the location information, time information, driving / operation data, and weather information in association with the registration device. The data receiving unit receives the location information, the time information, the operation / driving data, and the weather information from the measuring device. The registration processing unit registers the operation support data, which associates the operation / training data and the weather information with the location information of the operational change point in the track information, into the map database. The map information registration system according to claim 1.

6. The measuring instrument includes at least one of a multi-lens imaging device, a distance sensor, an illuminance sensor, and a raindrop sensor. The map information registration system according to claim 5.

7. The registration device is A learning unit learns the location information of acceleration and deceleration points from the location information of the aforementioned driving change points and the aforementioned driving and operation data. The map information registration system according to claim 1, further comprising:

8. The learning unit further learns the location information of acceleration and deceleration points from the information regarding noise reduction of the location information. The map information registration system according to claim 7.

9. The registration device is The system further comprises a classification unit that classifies the location information of the operational change point in the track information and the operational data based on predetermined criteria, The registration processing unit registers the driving / operation data and weather information in the map database, along with the attributes for each classification, and the location information of the operational change point in the track information. The map information registration system according to claim 5.

10. A registration device located in a central center that manages the vehicle's operation and is connected via a network to a measuring device installed in the vehicle, The registration device is connected to a recording device that stores a map database containing track information in which the location information of the vehicle's travel route is registered. The registration device is A data receiving unit receives from the measuring device the position information of the vehicle, time information, and driving / operation data including driving operation procedures and the acceleration / deceleration status of the vehicle obtained from operating devices that can be operated by the driver of the vehicle. A generation processing unit that generates track information that forms the center of the track based on the aforementioned position information, A driving data processing unit identifies driving change points indicating the location information of the operation point and the acceleration / deceleration point from the aforementioned location information, time information, and driving / operation data, A registration processing unit registers driver support data, which associates the driving and operation data with the location information of the driving change point in the aforementioned track information, into the map database. A registration device equipped with the following features.

11. A map information registration method performed in a map information registration system comprising a measuring device installed in a vehicle and a registration device installed in a central center that manages the vehicle's operation and is connected to the measuring device via a network, wherein The registration device is connected to a recording device that stores a map database containing track information in which the location information of the vehicle's travel route is registered. The measuring device receives a positioning signal transmitted from a satellite for measuring the position of the vehicle, The measuring device obtains the vehicle's location information based on the received positioning signal and the current time information. The measuring device acquires and records the driving procedure and the acceleration / deceleration status of the vehicle from an operating device that can be operated by the driver of the vehicle, acquires and records the speed of the vehicle from the measuring device, records the driving procedure, the speed and the acceleration / deceleration status as driving / operation data, and transmits the location information, the time information and the driving / operation data in association with the registration device. The registration device receives the location information, the time information, and the operation / running data from the measuring device. The registration device performs the step of generating track information that will be the center of the track based on the position information, The registration device performs the step of identifying driving change points that indicate the location information of the operation point and the acceleration / deceleration point from the location information, time information and driving / operation data, The registration device registers in the map database the driving support data, which associates the driving and operation data with the location information of the driving change point in the track information. A method for registering map information, including the method described above.

12. A program to be executed by a computer in a registration device located in a central center that manages the vehicle's operation and is connected via a network to a measuring device installed in the vehicle, The registration device is connected to a recording device that stores a map database containing track information in which the location information of the vehicle's travel route is registered. The step of receiving from the measuring device the position information of the vehicle, time information, and driving / operation data including driving operation procedures and the acceleration / deceleration status of the vehicle obtained from operating equipment that can be operated by the driver of the vehicle, The steps include generating track information that will be the center of the track based on the aforementioned location information, A step of identifying driving change points that indicate the location information of the operation point and the acceleration / deceleration point from the aforementioned location information, time information and driving / operation data, The step of registering driver support data, which associates the driving and operation data with the location information of the driving change point in the aforementioned track information, into the map database, A program to cause the aforementioned computer to execute.

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