Map data management device, map data management method and program

Abstract

To select a captured image captured in an environment which can be used for updating map data.SOLUTION: A map data management device 2 includes: an acquisition unit 231 for acquiring the captured image captured by an imaging apparatus and the history of the operation state of a component which is a component possessed by a moving body and other than the imaging apparatus, from the moving body including the imaging apparatus; a condition acquisition unit 232 for acquiring an operation condition indicating the condition of the operation state of the component when the captured image is captured, as an environment condition relating to the imaging environment of the captured image; a determination unit 233 for determining whether or not the operation state of the component when an acquired image as the captured image acquired by the acquisition unit 231 in the history acquired by the acquisition unit 231 is captured satisfies the operation condition; and a data generation unit 235 for generating updating data for updating the map data on the basis of the acquired image determined to satisfy the operation condition by the determination unit 233.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a map data management device and a map data management method for managing map data. [Background technology]

[0002] Conventionally, there is known a technique for updating map data based on a captured image. Patent Document 1 discloses a technique for comparing map information (map data) having the same position as an image on a map with traffic information in the image recognized by analyzing the image, and updating the map information based on the comparison result. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-040175 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, even with the conventional technology, there were cases where it was not possible to update map data. For example, if an object present at an imaged location is blocked for some reason and does not appear in the image (hereinafter referred to as "occlusion"), the object cannot be recognized from the image. Therefore, when updating map data, it was necessary to select captured images captured in an environment where the probability of occlusion or the like occurring was low, that is, captured images captured in an environment that can be used to update map data.

[0005] Therefore, the present invention has been made in consideration of these points, and one of its objects is to provide a map data management device and a map data management method that are capable of selecting captured images that have been captured in an environment that can be used to update map data. [Means for solving the problem]

[0006] A map data management device according to a first aspect of the present invention is a map data management device that manages map data, and includes an image acquisition unit that acquires, from a mobile body equipped with an imaging device, an image captured by the imaging device and a history of the operating status of parts of the mobile body other than the imaging device, a condition acquisition unit that acquires operating conditions indicating the conditions of the operating status of the parts at the time the captured image was captured as environmental conditions related to the imaging environment of the captured image, a judgment unit that judges whether the operating status of the parts at the time an acquired image, which is the image acquired by the image acquisition unit, was captured satisfies the operating condition in the history acquired by the image acquisition unit, and a data generation unit that generates update data to update the map data, based on the acquired image that the judgment unit judges to satisfy the operating condition.

[0007] The condition acquisition unit may acquire environmental conditions related to an imaging environment of the captured image when a period from a last update date associated with a predetermined range in the map data corresponding to the acquired image to a present time exceeds a predetermined period threshold.

[0008] The map data management device may further have a route management unit that, when an update-requiring range exists in the map data and an update is required, notifies a mobile body of a route indicating the update-requiring range, and the image acquisition unit may acquire the captured image from the mobile body that has traveled along the notified route.

[0009] A map data management method according to a second aspect of the present invention is a map data management method executed by a computer for managing map data, and includes the steps of acquiring, from a mobile body equipped with an imaging device, an image captured by the imaging device and a history of operating statuses of parts of the mobile body other than the imaging device, acquiring operating conditions indicating the conditions of the operating statuses of the parts at the time the captured image was captured as environmental conditions related to the imaging environment of the captured image, determining whether the operating statuses of the parts at the time an acquired image, which is the image captured in the acquired history, was captured satisfies the operating conditions, and generating update data for updating the map data based on the acquired image determined to satisfy the operating conditions.

[0010] A program according to a third aspect of the present invention causes a computer that manages map data to function as an image acquisition unit that acquires, from a mobile body equipped with an imaging device, an image captured by the imaging device and a history of the operating status of parts of the mobile body other than the imaging device; a condition acquisition unit that acquires operating conditions indicating the conditions of the operating status of the parts at the time the image was captured as environmental conditions related to the imaging environment of the image; a judgment unit that judges whether the operating status of the parts at the time an acquired image, which is the image acquired by the image acquisition unit, was captured in the history acquired by the image acquisition unit satisfies the operating condition; and a data generation unit that generates update data that updates the map data, based on the acquired image that the judgment unit judges to satisfy the operating condition.

[0011] Effect of the Invention

[0012] According to the present invention, for example, it is possible to select a captured image captured in an environment that can be used to update map data. [Brief description of the drawings]

[0013] [Figure 1]FIG. 1 is a diagram for explaining an overview of a map data management system that is the premise of an embodiment of the present invention. [Diagram 2] 1 is a diagram for explaining an overview of a map data management system according to an embodiment of the present invention; [Diagram 3] FIG. 2 is a diagram illustrating a configuration of a map data management device. [Figure 4] FIG. 4 is a diagram illustrating a schematic list of environmental conditions stored in a storage unit. [Diagram 5] FIG. 1 is a diagram illustrating occlusion. [Figure 6] 5 is a flowchart showing a flow of processing of the map data management device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] [Outline of the map data management system S that is the premise of this embodiment] 1 is a diagram for explaining an overview of a map data management system S that is the premise of this embodiment. The map data management system S is a system that generates update data for updating map data, using an image captured by an imaging device C provided in a mobile body V. The map data management system S has a mobile terminal 1 and a map data management device 2.

[0015] The mobile terminal 1 is a terminal equipped in the moving body V, and is, for example, a mobile terminal (such as a smartphone or a tablet) or a car navigation system. The mobile terminal 1 is equipped with a GPS receiver and measures its own position, i.e., the position of the moving body V, at predetermined intervals. For example, every time the mobile terminal 1 measures the position of the moving body V, it transmits position information including position coordinates indicating the position of the moving body V and the measurement date and time when the position was measured to the map data management device 2.

[0016] The moving body V is a vehicle, for example, a vehicle (e.g., a taxi or a delivery vehicle) used to provide a transportation service for transporting passengers or cargo. The moving body V is not limited to a vehicle, and may be, for example, a train, an airplane, a ship, a drone, a human, or an animal. As described above, the moving body V is equipped with an imaging device C. The imaging device C is, for example, a camera, a mobile terminal with a camera function, or a drive recorder. The imaging device C may be a device integrated with the moving body V, or may be a device that is added later.

[0017] The mobile terminal 1 is electrically connected to the imaging device C and acquires captured images captured by the imaging device C. The captured images are, for example, moving images. For example, when the mobile body V provides transportation services during the daytime, the mobile terminal 1 causes the imaging device C to capture captured images during the day and transmits the captured images to the map data management device 2 at night. Note that the mobile terminal 1 and the imaging device C may be the same device.

[0018] The map data management device 2 is a device that manages map data, and is, for example, a server. The map data is data for presenting a map of the surroundings of the mobile body V in a car navigation system and guiding a route to a destination, and includes the type, shape, and position of an object. Objects managed as map data include, for example, roads, road markings, road signs, and buildings. The map data management device 2 manages a plurality of pieces of position information acquired from the mobile terminal 1 as a travel route of the mobile body V.

[0019] In the example shown in Fig. 1, first, the mobile terminal 1 transmits a captured image captured by the imaging device C to the map data management device 2 (Fig. 1 (1)). The map data management device 2 executes an object recognition process on the captured image acquired from the mobile terminal 1 (Fig. 1 (2)). Specifically, the map data management device 2 recognizes objects present in the captured image acquired from the mobile terminal 1.

[0020] Next, the map data management device 2 executes a spatial data generation process ((3) in FIG. 1). Specifically, the map data management device 2 generates three-dimensional spatial data based on information about objects recognized from the captured image. Next, the map data management device 2 executes a map matching process ((4) in FIG. 1). Specifically, the map data management device 2 identifies the position in the map data of the object included in the spatial data generated by executing the spatial data generation process based on the travel route of the moving body V and the capture date and time of the captured image.

[0021] Next, the map data management device 2 executes a difference determination process ((5) in FIG. 1). Specifically, the map data management device 2 determines whether or not there is a difference between the spatial data and the map data at the position in the map data identified by executing the map matching process.

[0022] Then, the map data management device 2 executes an update data generation process ((6) in FIG. 1). Specifically, the map data management device 2 generates update data for updating the map data based on the result of the determination made by executing the difference determination process. The update data is data for adding a new object, changing the position of an object whose position has changed, or deleting an object that no longer exists, for example.

[0023] In this way, the map data management device 2 generates update data based on the captured image, and then updates the map data using the update data.

[0024] [Outline of the map data management system S1 according to the present embodiment] 2 is a diagram for explaining an overview of a map data management system S1 according to the present embodiment. The map data management system S1 is a system that generates update data based on captured images that can be used to update map data.

[0025] 2, first, the mobile terminal 1 transmits a captured image captured by the imaging device C to the map data management device 2 ((1) in FIG. 2). The map data management device 2 acquires the captured image from the mobile terminal 1.

[0026] The map data management device 2 acquires environmental conditions related to the imaging environment of the captured image ((2) in FIG. 2). The environmental conditions are conditions for selecting captured images captured in an environment that can be used to update the map data, that is, captured images that are highly likely to include objects to be managed as map data.

[0027] The map data management device 2 determines whether the imaging environment of the captured image acquired from the mobile terminal 1 satisfies the environmental conditions ((3) in FIG. 2). Then, the map data management device 2 generates update data based on the captured image whose imaging environment has been determined to satisfy the environmental conditions ((4) in FIG. 2). In this manner, the map data management system S1 can select captured images captured in an environment that can be used to update the map data. The configuration of the map data management device 2 will be described below.

[0028] [Configuration of map data management device 2] 3 is a diagram showing the configuration of the map data management device 2. The map data management device 2 has a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is an interface for connecting to a network, and is configured to include, for example, a LAN (Local Area Network) controller.

[0029] The storage unit 22 is a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a hard disk. The storage unit 22 stores a program executed by the control unit 23. The storage unit 22 stores map data. The storage unit 22 also stores environmental conditions.

[0030] Fig. 4 is a diagram showing a schematic list of environmental conditions stored in the storage unit 22. As shown in Fig. 4, the environmental conditions have condition contents set for each condition type. The condition type indicates the type of environmental condition. The condition contents indicate, for example, contents set for determining whether or not a captured image has a high probability of including an object managed as map data.

[0031] As shown in Fig. 4, the condition types include an occlusion condition, a traffic condition, a weather condition, an operation condition, and a reliability condition. The occlusion condition indicates a condition of a ratio of the size of an occluding object to the size of the entire captured image. The occluding object is, for example, a dynamic object (moving body) such as a human being or a vehicle. The storage unit 22 stores, for example, as the condition content of the occlusion condition, a ratio of an allowable size of an occluding object to the size of the entire captured screen.

[0032] The traffic conditions indicate conditions of traffic conditions in the imaging environment of the captured image. For example, the presence or absence of congestion is stored in the storage unit 22 as the condition contents of the traffic conditions. The traffic conditions may be, for example, a limit value of the length of congestion.

[0033] The weather conditions indicate the conditions of the weather conditions in the imaging environment of the captured image. For example, the storage unit 22 stores, as the condition contents of the weather conditions, whether or not the weather is bad (whether or not there is rain or snow) and whether or not there is backlight. The weather conditions may be, for example, the limit value of the amount of rainfall per hour or the amount of snowfall per hour.

[0034] The operating conditions indicate the conditions of the operating state of the moving object V at the time of imaging. In the storage unit 22, for example, as the condition contents of the operating conditions, whether or not the wipers are operating and whether or not the headlights are on are stored.

[0035] The reliability condition indicates a condition of the reliability of an object when the object is recognized from a captured image. For example, the storage unit 22 stores a limit value of the reliability of an object output as a result of the object recognition process as the condition content of the reliability condition.

[0036] 3, the control unit 23 is, for example, a CPU (Central Processing Unit). The control unit 23 executes a program stored in the storage unit 22 to function as an acquisition unit 231, a condition acquisition unit 232, a determination unit 233, an image processing unit 234, and a data generation unit 235.

[0037] The acquisition unit 231 functions as an image acquisition unit that acquires an image captured by the imaging device C from a moving body V equipped with the imaging device C via the communication unit 21. Specifically, the acquisition unit 231 acquires an image captured by the imaging device C equipped in the moving body V from the mobile terminal 1 equipped in the moving body V via the communication unit 21.

[0038] The condition acquisition unit 232 acquires the environmental conditions stored in the storage unit 22. The condition acquisition unit 232 may acquire some of the multiple environmental conditions stored in the storage unit 22, or may acquire all of the multiple environmental conditions stored in the storage unit 22. The condition acquisition unit 232 acquires information indicating the environmental conditions when the acquisition unit 231 acquires a captured image, for example.

[0039] The determination unit 233 determines whether or not the captured image acquired by the acquisition unit 231 is an image captured in an environment that can be used for updating map data. Specifically, the determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the environmental conditions acquired by the condition acquisition unit 232. More specifically, the determination unit 233 determines whether or not the imaging environment of the acquired image satisfies the condition contents included in the environmental conditions acquired by the condition acquisition unit 232. Details of the determination process performed by the determination unit 233 will be described later.

[0040] The determination unit 233 causes the image processing unit 234 to execute image processing based on the acquired image determined to satisfy the environmental conditions of the imaging environment. Specifically, the image processing unit 234 functions as a recognition unit that executes object recognition processing, a spatial data generation unit that executes spatial data generation processing, a correspondence unit that executes map matching processing, and a difference determination unit that executes difference determination processing, and executes each process to execute image processing. The image processing unit 234 can execute image processing using, for example, known technology.

[0041] The data generation unit 235 generates update data for updating the map data based on an acquired image that the determination unit 233 has determined to satisfy the environmental condition. Specifically, the data generation unit 235 generates update data for updating the map data based on a result of image processing performed by the image processing unit 234. More specifically, the data generation unit 235 generates update data for updating the map data based on an acquired image that the image processing unit 234 has determined to have a difference between the map data and the spatial data generated by executing the spatial data generation process.

[0042] [Judgment process] As described above, the determination unit 233 determines whether or not the acquired image is a captured image captured in an environment that can be used for updating map data, based on at least some of the multiple environmental conditions (obstruction conditions, traffic conditions, weather conditions, and operating conditions) stored in the storage unit 22 shown in Fig. 4. The determination process for each environmental condition will be described below.

[0043] (shielding condition) FIG. 5 is a diagram showing a schematic representation of occlusion. FIGS. 5(a) and 5(b) are captured images captured at the same location. In the captured image shown in FIG. 5(a), a traffic light T1, a crosswalk T2, and a stop line T3 are captured as objects to be managed by the map data. In the captured image shown in FIG. 5(b), a truck M is captured in the foreground, and the traffic light T1, the crosswalk T2, and the stop line T3 are hidden. When the image processing unit 234 executes an object recognition process using a captured image as shown in FIG. 5(b), there is a possibility that the object to be managed by the map data (the traffic light T1, the crosswalk T2, and the stop line T3) cannot be recognized. Therefore, the determination unit 233 may determine whether or not the acquired image is a captured image captured in an environment that can be used for updating the map data, based on a blocking condition indicating a condition of a ratio of the size of a blocking object to the size of the entire captured image.

[0044] Specifically, first, the condition acquisition unit 232 acquires, as the environmental condition, the occlusion condition stored in the storage unit 22. Then, the determination unit 233 determines whether or not the ratio of the size of the occlusion object present in the acquired image to the size of the entire acquired image satisfies the occlusion condition.

[0045] For example, when the ratio of the size of the obscuring object present in the acquired image to the size of the entire acquired image is equal to or smaller than the value indicated by the condition content of the obscuring condition (equal to or smaller than the limit value), the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental condition. On the other hand, when the ratio of the size of the obscuring object present in the acquired image to the size of the entire acquired image exceeds the value indicated by the condition content of the obscuring condition, the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental condition.

[0046] The determination unit 233 may calculate the ratio of the size of the obstructing object present in the captured image to the size of the entire captured image, for example, by using the result of the object recognition by the imaging device C (for example, the dynamic size of the object in the captured image). For example, the imaging device C may be provided with an object recognition function that recognizes the object while capturing the captured image, and the acquisition unit 231 may acquire information about the object that is the result of the object recognition (for example, the type of object, the size of the object in the captured image, etc.) from the mobile terminal 1 together with the captured image.

[0047] Furthermore, the determination unit 233 may calculate the ratio of the size of an obscuring object present in an acquired image to the size of the entire acquired image, for example, by using a result (for example, the size of a dynamic object in an acquired image) recognized by the image processing unit 234 executing an object recognition process. In this way, the map data management device 2 can select an acquired image in which the probability of occlusion occurring with respect to an object that is the management target of the map data is low.

[0048] (Traffic conditions) For example, when a traffic jam occurs on a route traveled by a moving body V, the distance between the moving body V and another moving body V traveling ahead may become shorter. In such an image capturing environment, the other moving body V appears large in the captured image, increasing the probability of occlusion occurring. Therefore, the determination unit 233 may determine whether or not the environment is one in which the probability of occlusion occurring for an object that is the management target of the map data is high, based on traffic conditions indicating the conditions of the traffic situation in the image capturing environment of the captured image.

[0049] In this case, the acquisition unit 231 may further function as a traffic information acquisition unit that acquires traffic information indicating traffic conditions. The traffic information includes, for example, information indicating the presence or absence of congestion. The acquisition unit 231 may acquire traffic information from, for example, an external service that provides traffic information (for example, a VICS (registered trademark) center).

[0050] In this case, first, the condition acquisition unit 232 acquires the traffic conditions stored in the storage unit 22 as the environmental conditions. Then, the determination unit 233 determines whether or not the traffic conditions in the imaging environment of the acquired image satisfy the traffic conditions in the traffic information acquired by the acquisition unit 231. Note that the determination unit 233 may calculate the moving speed of the moving body V based on the position coordinates and the measurement date and time included in each of the multiple pieces of position information corresponding to the moving body V from which the acquired image was acquired, and determine whether or not the traffic conditions in the imaging environment of the acquired image satisfy the traffic conditions based on the calculated moving speed of the moving body V.

[0051] For example, when the condition content of the occlusion condition (for example, the traffic situation is no congestion) is satisfied, that is, when the traffic information acquired by the acquisition unit 231 indicates that no congestion has occurred in the imaging environment of the acquired image, the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental condition. On the other hand, when the condition content of the occlusion condition is not satisfied, that is, when the traffic information acquired by the acquisition unit 231 indicates that congestion has occurred in the imaging environment of the acquired image, the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental condition. In this way, the map data management device 2 can select an acquired image in which the probability of occlusion occurring is low.

[0052] (Weather conditions) For example, if the weather conditions at the time of capturing an image are bad, such as rain or snow, the accuracy of recognizing the object in the object recognition process may be low. Therefore, the determination unit 233 may determine whether or not the captured image is captured in an environment that can be used for updating map data, based on weather conditions indicating the weather conditions in the capturing environment of the captured image. In this case, the acquisition unit 231 may further function as a weather information acquisition unit that acquires weather information indicating the weather conditions from an external service that provides past weather conditions.

[0053] In this case, first, the condition acquisition unit 232 acquires, as the environmental conditions, the weather conditions stored in the storage unit 22. Then, the determination unit 233 may determine whether or not the weather conditions in the imaging environment of the acquired image in the weather information acquired by the acquisition unit 231 satisfy the weather conditions.

[0054] The determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental conditions, for example, when the condition contents of the weather conditions (for example, the weather situation is sunny or cloudy), i.e., when the weather information acquired by the acquisition unit 231 indicates that the weather situation at the time the acquired image was acquired was sunny or cloudy. On the other hand, the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental conditions, when the condition contents of the weather conditions are not satisfied, i.e., when the weather information acquired by the acquisition unit 231 indicates that the weather situation at the time the acquired image was acquired was rainy or snowy.

[0055] The weather conditions are not limited to bad weather such as rain or snow. For example, even if the weather conditions are fine, if the imaging device C captures an image in a backlit condition, the captured image may be blown out or the entire captured image may be dark, which may reduce the accuracy of recognizing an object in the object recognition process. Therefore, the determination unit 233 may determine whether the acquired image is an image captured in an environment that can be used for updating the map data, based on weather conditions that indicate that the weather conditions when the acquired image was captured were not backlit.

[0056] The determination unit 233 may determine whether the weather conditions when the acquired image was acquired are backlit or not based on, for example, the traveling direction of the moving body V (the orientation of the imaging device C) specified by the travel route of the moving body V and the inclination of the sun at the date and time when the acquired image was captured. In this way, the map data management device 2 can improve the accuracy of recognizing objects in the object recognition process by selecting an acquired image captured in an imaging environment that satisfies the weather conditions.

[0057] (Operating conditions) For example, if an image is captured with the wipers of the moving object V in operation, the wipers are more likely to block the object. Also, if an image is captured with the headlights of the moving object V turned on, the entire captured image may be dark. If the image processing unit 234 executes object recognition processing using an acquired image captured in such an operating condition of the moving object V, the accuracy of object recognition may be low. Therefore, the determination unit 233 may determine whether or not the acquired image is an image captured in an environment that can be used for updating map data, based on an operating condition indicating the operating condition of the moving object V at the time of capturing the image. In this case, the acquisition unit 231 may acquire information indicating the history of the operating condition of the moving object V (for example, CAN (Controller Area Network) data) from the mobile terminal 1 together with the captured image.

[0058] In this case, first, the condition acquisition unit 232 acquires, as the environmental conditions, the operating conditions stored in the storage unit 22. Then, the determination unit 233 determines whether or not the operating conditions of the moving object V when the acquired image was captured in the CAN data acquired by the acquisition unit 231 satisfy the operating conditions.

[0059] For example, when the condition contents of the operating conditions (for example, the wipers are not operating and the headlights are not on) are satisfied, that is, when the CAN data acquired by the acquisition unit 231 indicates that the headlights of the moving body V were not on and the wipers were not operating when the acquired image was captured, the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental conditions. On the other hand, when the condition contents of the operating conditions are not satisfied, that is, when the CAN data acquired by the acquisition unit 231 indicates that the headlights of the moving body V were on or the wipers were operating when the acquired image was captured, the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental conditions. In this way, the map data management device 2 can improve the accuracy of recognizing objects in the object recognition process by selecting an acquired image captured in an imaging environment that satisfies the operating conditions.

[0060] (Processing result conditions) The determination unit 233 may determine whether or not the imaging environment of the acquired image satisfies the environmental condition based on a processing result condition indicating the condition of the result of each process included in the image processing executed by the image processing unit 234. For example, the determination unit 233 may determine whether or not the acquired image is an acquired image captured in an environment in which the acquired image can be used for updating the map data, using a reliability condition indicating the condition of the reliability of an object when the object is recognized from the captured image as the processing result condition. In this case, the image processing unit 234 may output a reliability (e.g., a numerical value on a scale of 100) when the object present in the acquired image is recognized as a result of recognizing the object present in the acquired image.

[0061] In this case, first, the condition acquisition unit 232 acquires, as an environmental condition, a processing result condition stored in the storage unit 22. Then, the determination unit 233 determines whether or not the reliability of an object when the image processing unit 234 recognizes the object from the acquired image satisfies the processing result condition (reliability condition).

[0062] For example, the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental condition if the reliability when the image processing unit 234 recognizes an object from the acquired image exceeds a value (limit value) indicated by the condition content of the processing result condition stored in the storage unit 22. On the other hand, the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental condition if the reliability when the image processing unit 234 recognizes an object from the acquired image is equal to or lower than the value indicated by the condition content of the processing result condition stored in the storage unit 22. In this way, the map data management device 2 can improve the accuracy of each process including the spatial data generation process executed after the object recognition process.

[0063] (others) For a route with low traffic volume, the map data management device 2 may acquire captured images of the route less frequently. For example, when the map data management device 2 acquires a captured image of a route with low traffic volume, if the captured image does not satisfy the above-mentioned traffic conditions and other environmental conditions, the map data management device 2 cannot generate update data for updating the range of the route in the map data. As a result, the difference in update frequency between the range of map data corresponding to a passage with high traffic volume and the range of map data corresponding to a passage with low traffic volume may become large. Therefore, the condition acquisition unit 232 may acquire the environmental conditions based on the update status of a predetermined range in the map data.

[0064] For example, the map data is associated with date data indicating the update status of a predetermined range (for example, a section from a first intersection to a second intersection that is the next intersection after the first intersection) in the predetermined range. The date data includes an update date that is the date on which image processing including object recognition processing was performed, and includes, for example, update dates for the number of times image processing was performed in the past. In this case, after the image processing unit 234 performs map matching processing based on the captured image acquired by the acquisition unit 231, the condition acquisition unit 232 may acquire environmental conditions based on the date data associated with the predetermined range in the map data corresponding to the captured image.

[0065] For example, the condition acquisition unit 232 may acquire the environmental conditions stored in the storage unit 22 when the period from the last update date included in the date data associated with a predetermined range in the map data corresponding to the captured image to the present exceeds a predetermined period threshold. Also, the condition acquisition unit 232 may acquire the environmental conditions stored in the storage unit 22 when the number of updates indicated by the number of update dates included in the date data associated with a predetermined range in the map data corresponding to the captured image is equal to or less than a predetermined number threshold. In this way, the map data management device 2 can reduce the difference in update frequency between the range of map data corresponding to a passage with high traffic volume and the range of map data corresponding to a passage with low traffic volume.

[0066] When an update-required range exists that is a predetermined range in the map data that requires updating (for example, a predetermined range in which the period from the last update date to the present exceeds a predetermined period threshold, or a predetermined range in which the number of updates is equal to or less than a predetermined number threshold), the map data management device 2 may cause the mobile body V to pass through the update-required range. In this case, the control unit 23 may further include a route management unit (not shown) that notifies the mobile terminal 1 of a route indicating the update-required range.

[0067] For example, first, when the driver of the mobile body V performs an operation to search for a route to a destination on the mobile terminal 1, the route management unit acquires location information indicating the current location of the mobile body V and information indicating the destination input by the driver from the mobile terminal 1 via the communication unit 21. Then, the route management unit notifies the mobile terminal 1 of the route from the current location of the mobile body V to the destination, which includes the update required range, thereby presenting the mobile body V with a route that passes through the update required range.

[0068] The route management unit may, for example, request the mobile body V to pass through the update range by notifying the mobile terminal 1 of a route indicating the update range. When the mobile terminal 1, which has been notified of the route indicating the update range, passes through the route, it may transmit, together with a captured image, response information indicating that the captured image is the requested captured image to the map data management device 2. Thereafter, the data generation unit 235 may generate update data based on the captured image acquired by the acquisition unit 231 together with the response information. In this way, by having the mobile body V pass through the update range, the map data management device 2 can update the map data, that is, shorten the period during which a discrepancy may occur between the virtual space managed as map data and the real space.

[0069] [Processing of map data management device 2] Next, a description will be given of the process flow of the map data management device 2. Fig. 6 is a flowchart showing the process flow of the map data management device 2. This flowchart starts when the acquisition unit 231 acquires, via the communication unit 21, a captured image captured by the imaging device C included in the mobile object V from the mobile terminal 1 included in the mobile object V (S1).

[0070] The condition acquisition unit 232 acquires environmental conditions related to the imaging environment of the captured image (S2). The condition acquisition unit 232 acquires, for example, information indicating the environmental conditions stored in the storage unit 22. The determination unit 233 determines whether the imaging environment of the captured image satisfies the environmental conditions acquired by the condition acquisition unit 232 (S3).

[0071] When the determination unit 233 determines that the imaging environment of the acquired image does not satisfy the environmental conditions acquired by the condition acquisition unit 232 (NO in S3), the process ends. On the other hand, when the determination unit 233 determines that the imaging environment of the acquired image satisfies the environmental conditions acquired by the condition acquisition unit 232 (YES in S3), the image processing unit 234 executes image processing based on the acquired image that the determination unit 233 determines to satisfy the environmental conditions (S4).

[0072] Then, the data generation unit 235 generates update data for updating the map data based on the acquired image that the determination unit 233 has determined to satisfy the environmental condition (S5). Specifically, the data generation unit 235 generates update data for updating the map data based on the result of image processing performed by the image processing unit 234.

[0073] [Effects of this embodiment] As described above, the map data management system S1 determines whether the imaging environment of the captured image captured by the imaging device C included in the moving body V satisfies the environmental conditions, and generates update data based on the captured image whose imaging environment is determined to satisfy the environmental conditions. In this way, the map data management system S1 can select a captured image captured in an environment that can be used to update the map data.

[0074] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0075] 1 Mobile terminals 2. Map data management device 21 Communications Department 22 Memory section 23 Control Unit 231 Acquisition Department 232 Condition Acquisition Section 233 Judgment section 234 Image Processing Unit 235 Data Generation Department C. Imaging device S Map Data Management System V Mobile

Claims

1. A map data management device for managing map data, an image acquisition unit that acquires, from a moving object having an imaging device, an image captured by the imaging device and a history of operation statuses of parts of the moving object other than the imaging device; A traffic information acquisition unit that acquires traffic information indicating traffic conditions; a condition acquisition unit that, when a period from a last update date associated with a predetermined range in the map data corresponding to an acquired image that is the captured image acquired by the image acquisition unit to a present time exceeds a predetermined period threshold, acquires, as environmental conditions related to an imaging environment of the acquired image, an operating condition indicating a condition of an operating state of the part at the time the acquired image was captured and a traffic condition indicating that no congestion is occurring as a traffic condition in the imaging environment of the acquired image; a determination unit which determines whether an imaging environment of the acquired image satisfies the environmental condition by determining whether an operating condition of the part at the time when the acquired image was captured in the history acquired by the image acquisition unit satisfies the operating condition, and determines whether a traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, when the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image, and determines that the traffic condition in the imaging environment of the acquired image satisfies the traffic condition; a data generating unit that generates update data for updating the map data based on the acquired image that is determined by the determining unit to satisfy the operating condition; A map data management device having the above configuration.

2. A map data management device for managing map data, comprising: a route management unit that, when there is an update-requiring range in the map data, in which a period from a last update date associated with a predetermined range in the map data to the present exceeds a predetermined period threshold, or in which a number of updates associated with the predetermined range in the map data is equal to or less than a predetermined number threshold, notifies a moving body having an imaging device of a route indicating the update-requiring range; an image acquisition unit that acquires, from the moving object that has traveled along the notified route, an image captured by the imaging device and a history of operation statuses of the parts of the moving object other than the imaging device; A traffic information acquisition unit that acquires traffic information indicating traffic conditions; a condition acquisition unit that acquires, as environmental conditions related to an image capturing environment of the captured image, an operating condition indicating a condition of an operating state of the part when the captured image was captured and a traffic condition indicating that no congestion is occurring as a traffic state in an image capturing environment of the captured image; a determination unit which determines whether an imaging environment of the captured image satisfies the environmental condition by determining whether an operating condition of the part at the time when an acquired image, which is the captured image acquired by the image acquisition unit in the history acquired by the image acquisition unit, was captured, satisfies the operating condition, and when determining whether a traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, determines that the traffic condition is satisfied by the traffic condition when the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image; a data generating unit that generates update data for updating the map data based on the acquired image that is determined by the determining unit to satisfy the operating condition; A map data management device having the above configuration.

3. The computer executes A map data management method for managing map data, comprising: acquiring, from a moving object including an imaging device, an image captured by the imaging device and a history of operation statuses of parts of the moving object other than the imaging device; obtaining traffic information indicating a traffic situation; acquiring, when a period from a last update date associated with a predetermined range in the map data corresponding to the acquired image that is the captured image to a present time exceeds a predetermined period threshold, an operating condition indicating a condition of an operating state of the part when the acquired image was captured, and a traffic condition indicating that no congestion is occurring as a traffic state in the imaging environment of the acquired image, as environmental conditions related to the imaging environment of the acquired image; a step of determining whether or not the imaging environment of the acquired image satisfies the environmental condition by determining whether or not the operating status of the part at the time when the acquired image was captured in the acquired history satisfies the operating condition, and when determining whether or not the traffic status in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, determining that the traffic status in the imaging environment of the acquired image satisfies the traffic condition if the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image; generating update data for updating the map data based on the acquired image that is determined to satisfy the operating condition; A map data management method comprising the steps of:

4. The computer that manages the map data is an image acquisition unit that acquires, from a moving body equipped with an imaging device, an image captured by the imaging device and a history of operation statuses of parts of the moving body other than the imaging device; A traffic information acquisition unit that acquires traffic information indicating traffic conditions; a condition acquisition unit that, when a period from a last update date associated with a predetermined range in the map data corresponding to an acquired image that is the captured image acquired by the image acquisition unit to a present time exceeds a predetermined period threshold, acquires, as environmental conditions related to an imaging environment of the acquired image, an operating condition indicating a condition of an operating state of the part at the time the acquired image was captured and a traffic condition indicating that no congestion is occurring as a traffic condition in an imaging environment of the acquired image; a determination unit that, as a determination as to whether or not an imaging environment of the acquired image satisfies the environmental condition, determines whether or not an operating condition of the part at the time when the acquired image was captured in the history acquired by the image acquisition unit satisfies the operating condition, and, in a case where a determination is made as to whether or not a traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, determines that the traffic condition in the imaging environment of the acquired image satisfies the traffic condition when the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image; a data generating unit that generates update data for updating the map data based on the acquired image that is determined by the determining unit to satisfy the operating condition; A program to function as a

5. A computer-implemented method for detecting a plurality of A map data management method for managing map data, comprising: when there is an update-required range in the map data, in which a period from a last update date associated with a predetermined range in the map data to the present exceeds a predetermined period threshold, or in which a number of updates associated with the predetermined range in the map data is equal to or smaller than a predetermined number threshold, notifying a moving body having an imaging device of a route indicating the update-required range; acquiring, from the moving object that has traveled along the notified route, an image captured by the imaging device and a history of operation statuses of the parts of the moving object other than the imaging device; obtaining traffic information indicating a traffic situation; acquiring, as environmental conditions relating to an imaging environment of the captured image, an operating condition indicating a condition of an operating state of the part when the captured image was captured and a traffic condition indicating that no congestion is occurring as a traffic state in an imaging environment of the captured image; a step of determining whether or not the imaging environment of the captured image satisfies the environmental condition by determining whether or not an operating condition of the part at the time when an acquired image, which is the captured image acquired in the acquired history, was captured, satisfies the operating condition, and when determining whether or not a traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, determining that the traffic condition is satisfied by the traffic condition when the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image; generating update data for updating the map data based on the acquired image that is determined to satisfy the operating condition; A map data management device having the above configuration.

6. A computer for managing map data, a route management unit that, when there is an update-requiring range in the map data, in which a period from a last update date associated with a predetermined range in the map data to the present exceeds a predetermined period threshold, or in which a number of updates associated with the predetermined range in the map data is equal to or less than a predetermined number threshold, notifies a moving body having an imaging device of a route indicating the update-requiring range; an image acquisition unit that acquires, from the moving object that has traveled along the notified route, an image captured by the imaging device and a history of operation statuses of the parts of the moving object other than the imaging device; A traffic information acquisition unit that acquires traffic information indicating traffic conditions; a condition acquisition unit that acquires, as environmental conditions related to an imaging environment of the captured image, an operating condition indicating a condition of an operating state of the part when the captured image was captured and a traffic condition indicating that no congestion is occurring as a traffic state in an imaging environment of the captured image; a determination unit that determines whether an imaging environment of the captured image satisfies the environmental condition by determining whether an operating condition of the part at the time when an acquired image, which is the captured image acquired by the image acquisition unit in the history acquired by the image acquisition unit, was captured, satisfies the operating condition, and, in a case where it is determined whether a traffic condition in the imaging environment of the acquired image satisfies the traffic condition in the traffic information, determines that the traffic condition is satisfied by the traffic condition when the traffic information indicates that no congestion is occurring in the imaging environment of the acquired image; a data generating unit that generates update data for updating the map data based on the acquired image that is determined by the determining unit to satisfy the operating condition; A program to function as a

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