JP7269162B2 - Information processing device, information processing method and information processing program - Google Patents

Description

The present invention relates to an information processing device, an information processing method, and an information processing program.

2. Description of the Related Art Conventionally, there are technologies for acquiring the conditions of roads on which vehicles travel (for example, lanes). The technique described in Patent Literature 1 acquires road conditions for automatic driving of a vehicle. Specifically, the technique described in Patent Literature 1 calculates the distance A traveled by a plurality of vehicles at a specific intersection with the blinkers of the vehicles turned on during the first period. At the same time, a distance B traveled by each of a plurality of vehicles during a second period past the first period while the blinkers of the vehicles are turned on is calculated, and the difference between the distance A and the distance B is a threshold value. In the above (or below) cases, it is assumed that a new lane (additional lane) for turning right or left (additional lane) has been newly established (or the lane has been removed) at the specific intersection.

JP 2018-163438 A

The technology described in Patent Literature 1 determines whether to newly establish or remove a lane (additional lane) in which the vehicle travels, based on the state of lighting of turn signals arranged on the vehicle. However, in order to determine the presence or absence of a new lane, it is better to not only focus on the lighting state of the turn signal as in the technology described in Patent Document 1, but also to determine by various methods. preferred for

An object of the present invention is to provide an information processing device, an information processing method, and an information processing program capable of determining that a lane on which a vehicle travels has been added.

An information processing device of one aspect includes position information regarding the position of a vehicle traveling in a predetermined area, time information regarding the time when the vehicle acquired the position information, and steering angle information regarding the steering angle of the vehicle. an acquisition unit that acquires a plurality of pieces of probe information of vehicles that differ in time; and an acquisition unit that acquires the first probe information of the vehicles in the first vehicle group consisting of the plurality of vehicles acquired by the acquisition unit. The steering angle of the vehicle according to the shape of the road based on the first position on the road where only the steering angle is recorded and the second probe information of the vehicle of the second vehicle group consisting of a plurality of vehicles acquired by the acquisition unit. In addition, a specifying unit that specifies a second position on the road where the steering angle of the vehicle that causes the vehicle to change lanes is recorded, and a second time based on the time information included in the second probe information is the first probe information a determination unit that determines that a lane of the road has been added when the first position and the second position match after a first time based on the included time information.

In the information processing device of one aspect, after the steering angle of the vehicle that causes the vehicle to change lanes is acquired based on the second probe information, the determination unit further determines that the steering angle of the vehicle that causes the vehicle to travel in the lateral direction is If acquired, it may be determined that a lane of the road has been added.

In the information processing device of one aspect, the probe information acquired by the acquiring unit includes traveling speed information related to the traveling speed of the vehicle, and the determining unit changes the lane of the vehicle based on the second probe information. After the steering angle is acquired, the length of the added lane may be determined based on the transition of the running speed of the vehicle acquired from the running speed information.

In one aspect of the information processing device, the determination unit determines, based on the second probe information, that the steering angle of the vehicle that causes the vehicle to change lanes is acquired, and the direction that causes the vehicle to change lanes is opposite to the direction that causes the lanes to change within a first distance in the vehicle traveling direction. A lane of road is added when a change in steering angle of the vehicle in a direction is obtained and then a change in steering angle is obtained that causes the vehicle to steer laterally within a second distance that is greater than the first distance. It may be determined that

In one aspect of the information processing method, the computer processes position information about the position of a vehicle traveling in a predetermined area, time information about the time when the vehicle acquired the position information, and steering angle information about the steering angle of the vehicle. Based on the first probe information of the vehicle of the first vehicle group consisting of a plurality of vehicles acquired by the acquisition step of acquiring a plurality of probe information of vehicles that differ in time, according to the shape of the road A vehicle corresponding to the shape of the road based on the first position on the road where only the steering angle of the vehicle is recorded and the second probe information of the vehicle of the second vehicle group consisting of the plurality of vehicles acquired by the acquisition step a second position on the road where the steering angle of the vehicle causing the vehicle to change lanes is recorded in addition to the steering angle of the second probe information; and a determining step of determining that the lane of the road has been added when the first time based on the time information included in the probe information is later than the first time and the first position and the second position match.

An information processing program of one aspect stores, in a computer, position information about the position of a vehicle traveling in a predetermined area, time information about the time when the vehicle acquired the position information, and steering angle information about the steering angle of the vehicle. According to the shape of the road, based on the acquisition function for acquiring a plurality of probe information of vehicles that differ in time, and the first probe information of the vehicle of the first vehicle group composed of a plurality of vehicles acquired by the acquisition function A vehicle according to the shape of the road based on the first position on the road where only the steering angle of the vehicle is recorded and the second probe information of the vehicle of the second vehicle group consisting of a plurality of vehicles acquired by the acquisition function. a second position on the road where the steering angle of the vehicle causing the vehicle to change lanes is recorded in addition to the steering angle of the second probe information; and a determination function for determining that a lane of a road has been added when the first time based on time information included in probe information is later than the first time and the first position and the second position match.

An information processing device according to one aspect includes a first position on a road where only a steering angle of a vehicle according to a shape of the road is recorded based on first probe information of vehicles in a first vehicle group consisting of a plurality of vehicles; Based on the second probe information of the vehicles of the second vehicle group consisting of a plurality of vehicles, in addition to the steering angle of the vehicle according to the shape of the road, the steering angle of the vehicle causing the vehicle to change lanes is recorded. a second time based on the time information included in the second probe information is later than the first time based on the time information included in the first probe information, and the first position and the second position are If they match, it is determined that the lane of the road has been added, so it can be determined that the lane on which the vehicle travels has been added.
Further, the information processing method and information processing program of one aspect can achieve the same effect as the information processing apparatus of one aspect described above.

1 is a diagram for explaining an information processing system according to an embodiment; FIG. It is a figure for demonstrating the travel locus|trajectory of a vehicle. 1 is a block diagram for explaining an information processing device according to an embodiment; FIG. 4 is a flowchart for explaining an information processing method according to one embodiment;

An embodiment of the present invention will be described below.
FIG. 1 is a diagram for explaining an information processing system 1 according to one embodiment.
FIG. 2 is a diagram for explaining the travel locus of the vehicle.

As shown in FIG. 1 , the information processing system 1 includes a vehicle 10 , an external server 20 and an information processing device 30 .
The vehicle 10 acquires probe information that records travel information about travel. Various types of information are recorded in the probe information (running information). For example, position information, time information, steering angle information, and the like are recorded. The position information is, for example, information about the position where the vehicle 10 has traveled. The time information is, for example, information about the time when the vehicle 10 acquires the position information. The vehicle 10 acquires position information at regular intervals, for example, using a position information acquisition system such as GNSS (Global Navigation Satellite System). In addition, the vehicle 10 acquires the position information based on the time information included in the position information signal of the position information acquisition system or the time clocked by a clock unit (not shown) mounted on the vehicle 10. Get the current time. The steering angle information is, for example, information about the angle (steering angle) at which the steering wheel for designating the traveling direction of the vehicle 10 is rotated and the angular velocity (speed of rotation when the steering wheel is rotated). Here, when the angular velocity is large, the information processing device 30 can estimate that there is a high possibility that the steering wheel operation is intended by the driver, such as changing lanes and avoiding obstacles. When the vehicle 10 acquires the position information, the time (time information), and the steering angle information, the vehicle 10 stores the information as probe information, and transmits the probe information to the external server 20 at a predetermined timing. Although only one vehicle 10 is illustrated in FIG. 1, a plurality of vehicles 10 may be provided.

The external server 20 stores multiple pieces of probe information transmitted from the vehicle 10 . The external server 20 transmits probe information to the information processing device 30 in response to a request from the information processing device 30 .

The information processing device 30 is realized by, for example, a server, a computer terminal, or the like. The information processing device 30 determines that a lane in which the vehicle 10 travels has been added to the predetermined area based on the probe information of the vehicle 10 traveling in the predetermined area of the road, for example. That is, as an example, when the steering angle for changing the lane in a predetermined area is not recorded based on the probe information that varies in time, the information processing apparatus 30 then changes the lane in the predetermined area. It is determined that the lane has been added when the steering angle for the vehicle is recorded.

As an example, as shown in FIG. 2, consider a case where a left-turn exclusive lane (left-turn lane) is added to a straight road (intersection). As shown in the left diagram of FIG. 2, when no left turn lane is added to the intersection C1, the information processing device 30 determines the shape of the road (Fig. 2 acquires a steering angle (the position (area) where this steering angle is acquired is indicated by symbol Z1) corresponding to a straight line), etc., and then acquires a steering angle corresponding to the left turn of the vehicle 10 at the intersection C1. do. After that, when a lane RL for turning left at the intersection C1 (left turn lane RL) is added before the intersection C1, the information processing device 30 determines the shape of the road (straight line in FIG. 2) based on the probe information. and the steering angle for advancing the vehicle to the left lane (the steering angle for entering the left turn lane RL (the position (area) where these steering angles are obtained is indicated by reference symbol Z2)). The information processing device 30 determines that the lane RL has been added when the position (region) Z1 and the position (region) Z2 match or substantially match.

Note that the information processing device 30 detects a position (region) in which a steering angle that causes the vehicle 10 to travel leftward (or rightward) was not detected in the past on the approach road to the intersection within a predetermined distance from the intersection. , it may be determined that a left turn lane (or right turn lane) has been added when a steering angle that causes the vehicle 10 to travel leftward (or rightward) is detected. In this case, the information processing device 30 adds a left-turn lane (or a right-turn lane) when a predetermined number or more of steering angles causing the vehicle 10 to travel leftward (or rightward) are detected. It may be determined that it has been done.

The information processing apparatus 30 of the present invention will be described in detail below.
FIG. 3 is a block diagram for explaining the information processing device 30 according to one embodiment.

As shown in FIG. 3 , the information processing device 30 includes an acquisition unit 32 , an identification unit 33 , a determination unit 34 , a communication unit 35 and a storage unit 36 . The acquisition unit 32 , the identification unit 33 and the determination unit 34 may be realized as one function of the control unit 31 of the information processing device 30 . Although the term "information" is used herein, the term "information" may be interchanged with "data" and the term "data" may be interchanged with "information." Sometimes we can.

The communication unit 35 transmits and receives information to and from the external server 20, for example. As an example, the communication unit 35 transmits a signal requesting probe information to the external server 20 under the control of the control unit 31 (acquisition unit 32 as an example), and receives the probe information transmitted from the external server 20. do.

The storage unit 36 stores, for example, various information and programs. As an example, the storage unit 36 may store the determination regarding the addition of the lane by the determination unit 34 . The storage unit 36 may also store map information related to road maps.

The acquisition unit 32 acquires a plurality of pieces of probe information of the vehicle 10 that are temporally different. The probe information may include position information, time information and steering angle information. The position information is information regarding the position of the vehicle 10 traveling in a predetermined area. The time information is information about the time when the vehicle 10 acquired the position information. The steering angle information is information about the steering angle of the vehicle 10 . For example, when the user specifies a predetermined area to investigate whether or not a lane has been added to the road, the acquisition unit 32 acquires probe information of the vehicle 10 that has passed through the predetermined area based on the position information. do. The predetermined area is, for example, an arbitrary portion (section) of a road such as a road intersection. Various types of information regarding the running of the vehicle 10 are recorded in the probe information. The acquisition unit 32 acquires probe information including at least position information, time information, and steering angle information.
Also, the probe information may include traveling speed information. The travel speed information is information about the travel speed of the vehicle 10 . The acquisition unit 32 may acquire probe information including travel speed information in addition to position information, time information, and steering angle information.

The specifying unit 33 specifies the first position and the second position. The first position is a position on the road where only the steering angle of the vehicle according to the shape of the road is recorded, which is specified based on the first probe information of the vehicle 10 of the first vehicle group consisting of a plurality of vehicles 10. be. The second position is the steering angle of the vehicle 10 according to the shape of the road, which is specified based on the second probe information of the vehicle 10 of the second vehicle group consisting of a plurality of vehicles 10, and the vehicle causing the vehicle 10 to change lanes. 10 steering angles and the position on the road where two types are acquired.

The identifying unit 33 acquires the steering angle of the vehicle 10 traveling in a predetermined area based on the steering angle information recorded in the multiple pieces of probe information. As an example, the steering angle ranges from -150° to 150° when the vehicle 10 is traveling straight. As an example, the steering angle ranges from -150° to 525° when the vehicle 10 turns right. As an example, the steering angle ranges from -525° to 150° when the vehicle 10 turns left. Note that the relationship between the traveling direction of the vehicle 10 and the range of the steering angle is not limited to the above-described example, and the steering angle can be adjusted according to the traveling direction of the vehicle 10 (road shape (straight line, curve, etc.)). A range may be set as appropriate.

When a plurality of vehicles travel on a road, it is considered that the steering angle recorded in the probe information for each vehicle falls within a certain range when the vehicles follow the shape of the road. Based on the steering angle information included in each of the plurality of probe information (first probe information), the identifying unit 33 determines that only the steering angle corresponding to the shape of the road is acquired when only the steering angle within a certain range is acquired. A position where only a constant steering angle is acquired is identified as a first position, which is recorded.

As a specific example, when the road on which the vehicle 10 travels can only go straight (the road is straight), the steering angle recorded in the probe information generated by the vehicle 10 is -150 ° to 150 °. range. In this case, based on the steering angle information included in each of the plurality of pieces of probe information, the identifying unit 33 detects that the vehicle 10 is traveling on a straight road when a steering angle of only -150° to 150° is acquired. The travel position is specified as the first position. For example, when the vehicle 10 turns right (steering angle range -150° to 525°) and when the vehicle 10 turns left (steering angle range -525° to 150°), It is possible to identify the position in the same manner as in the case where the vehicle 10 is traveling straight ahead (steering angle range of -150° to 150°). The above-mentioned fixed range of steering angle is not limited to the steering angle range of -150° to 150°, -525° to 150° or -150° to 525°. It may be set.

Further, the specifying unit 33, based on the steering angle information included in each of the plurality of probe information (second probe information), when a steering angle in a wide range (a range wider than a certain range) is acquired, the shape of the road Assuming that the corresponding steering angle of the vehicle 10 and the steering angle of the vehicle 10 causing the vehicle 10 to change lanes are recorded, a position where a wide range of steering angles is acquired is specified as a second position. For example, the steering angle when the vehicle 10 changes lanes exceeds the range of the steering angle when the vehicle 10 goes straight. For this reason, for example, if the specifying unit 33 includes a steering angle range (fixed range) when the vehicle 10 is traveling straight ahead, and the steering angle range is wider than the fixed range, the wide range is specified as the second position.

As a specific example, when the road on which the vehicle 10 travels can go straight and turn left, the steering angle recorded in the probe information generated by the vehicle 10 is in the range of -525° to 150°. In this case, for example, when the steering angle of −525° to 150° is acquired based on the steering angle information included in each of the plurality of probe information, the identifying unit 33 makes the vehicle 10 go straight and turn left. The position is specified as the second position, assuming that the vehicle is traveling on a road where the vehicle can travel.
Note that even when the vehicle 10 is traveling on a road on which the vehicle 10 can go straight and turn right (steering angle range -150° to 525°), the identification unit 33 determines that the vehicle 10 can go straight and turn right. You can pinpoint your location as if you were driving on a road where you can
The wide range of steering angles described above is not limited to the steering angle range of -525° to 150° or -150° to 525°, and the range of numerical values may be appropriately set according to the shape of the road.
Note that the identifying unit 33 sets a threshold for the steering angle, and when a steering angle equal to or greater than the threshold is recorded in the probe information, the steering angle is regarded as a steering angle that causes the vehicle 10 to travel in the lateral direction, and the position may be specified as the second position. The threshold value is a value for determining the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes (travel in the lateral direction), and is set as appropriate.

The determination unit 34 determines that the second time based on the time information included in the second probe information is later than the first time based on the time information included in the first probe information, and the first position and the second position match. If so, it is determined that the lane of the road has been added.

The "first time" and "second time" may have time ranges. In this case, "when the second time is later than the first time" may be when the time range of the second time is later than the time range of the first time. That is, "when the second time is later than the first time" means that even if the earliest time in the time range of the second time is later than the latest time in the time range of the first time good. Specific examples of "when the second time is later than the first time" include 6 hours, 12 hours, 1 day, 3 days, 7 days, 10 days, 20 days, 30 days, 2 months, It may be a relatively long time interval, slower than a time interval such as seconds and minutes, such as 3 months, 6 months, 9 months, 1 year, 2 years and 3 years. It does not have to be a time interval.

"When the first position and the second position match" includes not only the case where the first position and the second position completely match, but also the case where the first position and the second position substantially match. be "When the first position and the second position substantially match" is when the first position and the second position are within a predetermined distance. The "predetermined distance" can be set as appropriate, and specific examples thereof include distances of 10m, 20m, 30m, 50m, 80m, 100m, 150m, 200m and 300m. Each of the "first position" and the "second position" may indicate not only a specific point, but also a "area" having a certain range (arbitrary range). Therefore, when the first position and the second position match, including the case where at least a part of the first region (corresponding to the first position) and the second region (corresponding to the second position) overlap. good too.

As an example, the determination unit 34 records only the steering angle (steering angle A) when the vehicle 10 is traveling straight in the first probe information, and records the vehicle in the second probe information acquired after the first probe information. When both steering angles (steering angles B) are recorded when the vehicle 10 goes straight ahead and when the vehicle 10 makes a right turn (left turn) (when the vehicle 10 changes lanes), the steering angle A and the steering angle B are recorded. are obtained match or substantially match, it is determined that the lane of the road has been added.

It should be noted that, for example, when the direction indication information indicating that the turn signal of the vehicle 10 is turned on is recorded in the probe information, the determination unit 34 determines that the first position and the second position match (substantially match), Further, it may be determined that a lane of the road has been added when the direction indication information is recorded in the probe information at least at the second position. In this case, for example, when the traveling direction of the vehicle 10 based on the steering angle information and the traveling direction of the vehicle 10 based on the direction indication information (the direction in which the direction indication was given), the determination unit 34 determines that the road lane has been added.

The lanes determined to be added by the determining unit 34 include, for example, lanes for turning left or right at intersections (left turn lanes or right turn lanes), climbing lanes, lanes for exiting from expressways to general roads, and general lanes. There may be different lanes, such as lanes for entering motorways from roads. The determination unit 34 can also determine, for example, that road construction and lane restrictions are being carried out by the same process as the lane addition determination.

The determination unit 34 may store the determination result in the storage unit 36 when determining that the lane has been added. For example, the determination unit 34 may also store position information regarding the position where the lane is added based on the probe information. Further, for example, the determining unit 34 estimates the type of lane such as a left-turn lane, a right-turn lane, and a hill-climbing lane, based on the steering angle information and the traveling direction (right direction or left direction) of the vehicle 10. , the estimation result may be stored in the storage unit 36 .
Further, when determining that a lane has been added, the determination unit 34 registers the position where the lane was added in the map information stored in the storage unit 36 if it is not already registered in the map information. may In this case, the determination unit 34 may also register the lane type estimated as described above in the map information.

Based on the second probe information, the determination unit 34 acquires the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes, and then acquires the steering angle of the vehicle 10 that causes the vehicle 10 to travel in the lateral direction. In this case, it may be determined that a lane has been added to the road. As an example, when a left-turn lane is added at an intersection for the vehicle 10 to turn left at the intersection, the steering angle is greater than when the vehicle 10 moves straight from the straight lane to the left-turn lane (steering angle When the vehicle 10 turns left at an intersection, a larger angle (steering angle D (steering angle D>steering angle C)) is obtained than when the vehicle 10 goes straight. The steering angle range CR for specifying the steering angle C and the steering angle range DR for specifying the steering angle D may be different.

As a specific example, the steering angle ranges CR may be −150° to 360° and −360° to 150°, or other angle ranges. As a specific example, the steering angle ranges DR may be −150° to 525° and −525° to 150°, or other angle ranges other than these angle ranges.
The identification unit 33 obtains, for example, the steering angle C in a series of steering angles recorded in one piece of probe information (recorded in one vehicle 10) of the second probe information (a plurality of pieces of probe information). After that, when the steering angle D is further acquired, it may be determined that the lane has been added.
Note that the identifying unit 33 sets a threshold for the steering angle, and determines that the steering angle is a steering angle that causes the vehicle 10 to turn left (or right) when a steering angle equal to or greater than the threshold is recorded in the probe information. You can do it. The threshold value is a value for determining a steering angle at which the vehicle turns left (or right), and is set as appropriate.

After the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes is acquired based on the second probe information, the determining unit 34 is added based on the transition of the running speed of the vehicle 10 acquired from the running speed information. It is also possible to determine (estimate) the length of the lane.
For example, when a lane for turning left (or right) at an intersection (left turn lane (or right turn lane)) is added, if the added lane is relatively short, the vehicle 10 may change lanes to that lane. decelerates in a relatively short time after On the other hand, if the added lane is relatively long, the vehicle 10 will decelerate after a relatively long period of time has passed after changing lanes into that lane.

For example, after the steering angle at which the vehicle 10 changes lanes (the steering angle corresponding to the second position) is generated, the determination unit 34 determines the traveling speed of the vehicle 10 and the traveling speed based on the second probe information. The travel distance of the vehicle 10 is calculated by acquiring the substantially constant time (the time until the vehicle 10 decelerates). The determination unit 34 determines (estimates) the calculated travel distance as the length of the added lane.
Further, for example, after the steering angle at which the vehicle 10 changes lanes (the steering angle corresponding to the second position) is generated, the determination unit 34 determines whether the traveling speed is increased based on the position information stored in the second probe information. A substantially constant distance (a distance until the vehicle 10 decelerates) may be acquired and determined (estimated) as the length of the lane.

Based on the second probe information, the determination unit 34 determines whether the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes is acquired, and then the vehicle 10 moves in the direction opposite to the lane change direction within a first distance in the vehicle traveling direction. 10 steering angle changes are obtained, and then determining that a road lane has been added if a steering angle change is obtained that causes the vehicle 10 to travel laterally within a second distance that is longer than the first distance. It is also possible to

As an example, when a lane for turning left (left turn lane) is added to a straight road, the determination unit 34 determines the steering angle E (steering angle for proceeding leftward) for the vehicle 10 to change lanes to the left turn lane. is acquired, the steering angle F (returning the steering angle to the base) for causing the vehicle 10 to go straight is acquired. It is considered that the distance (first distance) from the acquisition of the steering angle E to the acquisition of the steering angle F is relatively short. Further, after the steering angle E (steering angle F) is obtained, the distance (second distance) from when the steering angle G is obtained when the vehicle 10 traveling in the left turn lane turns left at the intersection is relatively It is considered long (longer than the first distance). The first distance is appropriately set in consideration of the distance that the vehicle 10 changes lanes. The second distance is appropriately set in consideration of the distance of the left turn lane (right turn lane). Therefore, based on the second probe information, the determination unit 34 obtains the steering angle F within the first distance after the steering angle E is obtained, and the steering angle E (or the steering angle F) is obtained. If the steering angle G is obtained within a second distance (the second distance>the first distance) after the addition, it is determined that the lane of the road has been added.

Note that, as described above, the determination unit 34 not only determines that a lane has been added to the road based on the steering angle and the distance (the first distance and the second distance), but also based on the steering angle and the time, It may be determined that a lane of the road has been added.
In other words, the determining unit 34, for example, considers that the time (first time) from when the steering angle E is obtained until when the steering angle F is obtained is relatively short. Also, for example, the time (second time) from the acquisition of the steering angle E (steering angle F) until the acquisition of the steering angle G is considered to be relatively long (longer than the first time). The first time is appropriately set in consideration of the time at which the vehicle 10 changes lanes. The second time is appropriately set in consideration of the time during which the vehicle 10 travels in the left turn lane (right turn lane). Therefore, based on the second probe information, for example, the determination unit 34 determines that the steering angle F is acquired within the first time after the steering angle E is acquired, and that the steering angle E (or the steering angle F) is If the steering angle G is acquired within a second time (second time>first time) after is acquired, it may be determined that a lane has been added to the road.

Next, an information processing method according to one embodiment will be described.
FIG. 4 is a flowchart for explaining an information processing method according to one embodiment.

In step ST101, the acquiring unit 32 acquires a plurality of pieces of probe information of the vehicle 10 that are temporally different. The probe information may include position information, time information and steering angle information. Also, the probe information may include traveling speed information.

In step ST102, the identifying unit 33 identifies the first position based on the first probe information. The first position is a position on the road where only the steering angle according to the shape of the road is recorded, specified based on the first probe information of the vehicles 10 of the first vehicle group consisting of a plurality of vehicles 10 . Based on the steering angle information included in each of the plurality of probe information (first probe information), the identifying unit 33 determines that only the steering angle corresponding to the shape of the road is acquired when only the steering angle within a certain range is acquired. A position where only a certain range of steering angles is acquired is specified as a first position, which is recorded. The “first position” may be a range (region (first region)) having a predetermined extent in the longitudinal direction (for example, the traveling direction of the vehicle) following the shape of the road.

In step ST103, the identifying unit 33 identifies the second position based on the second probe information. The second position is specified based on the second probe information of the vehicles 10 of the second vehicle group consisting of a plurality of vehicles 10, and in addition to the steering angle according to the shape of the road, the steering for advancing the vehicle 10 in the lateral direction. The position on the road where the corner is recorded. Based on the steering angle information included in each of the plurality of probe information (second probe information), the identifying unit 33 determines, when a wide range (a range wider than a certain range) of the steering angle is acquired, according to the shape of the road. Assuming that the steering angle and the steering angle for moving the vehicle 10 in the lateral direction are recorded, a position where a wide range of steering angles is obtained is specified as the second position. The “second position” may be a range (region (second region)) having a predetermined extent in the longitudinal direction (for example, the traveling direction of the vehicle) following the shape of the road.

In step ST104, when the second time corresponding to the second probe information in step ST103 is later than the first time corresponding to the first probe information in step ST102, the determination unit 34 determines the first time specified in step ST102. It is determined whether the position matches or substantially matches the second position identified in step ST103. That is, the determination unit 34 determines whether or not there is a portion that overlaps the first area and the second area described above. If the first position and the second position match (substantially match) (Yes), the process proceeds to step ST105. If the first position and the second position do not match (substantially match) (No), the process ends.

In step ST105, the determination unit 34 determines whether the vehicle 10 has turned right or left based on the second probe information. As a specific example, when the vehicle 10 turns left or right at an intersection, the determination unit 34 acquires the steering angle (steering angle C) of the vehicle 10 that causes the vehicle 10 to travel in the lateral direction based on the second probe information. (After the steering angle C for changing lanes to the left-turn lane or the right-turn lane is acquired), is the steering angle (steering angle D) of the vehicle 10 that causes the vehicle 10 to travel in the lateral direction acquired ( (whether the steering angle D for turning left or right at the intersection has been acquired). The steering angle D when turning left (right) at an intersection is greater than the steering angle C when changing lanes to a left turn lane (right turn lane). If the vehicle 10 makes a right turn (left turn) (Yes), the process proceeds to step ST106. If the vehicle 10 has not turned right (left) (No), the process ends.

In step ST106, the determination unit 34 determines whether the steering angle has changed within the first distance and whether the steering angle has changed within the second distance. Based on the second probe information, the determination unit 34 determines whether to change the lane within the first distance in the vehicle traveling direction after the steering angle E of the vehicle 10 that causes the vehicle 10 to change lanes (to advance in the lateral direction) is acquired. A change in the steering angle F of the vehicle 10 in a direction opposite to the direction (the lateral direction described above) is obtained, and then a change in the steering angle G that causes the vehicle 10 to travel laterally within a second distance that is longer than the first distance. Determine if a change has been captured. The steering angle F is acquired within a first distance after the steering angle E is acquired, and within a second distance (second distance>first distance) after the steering angle E (or steering angle F) is acquired If the steering angle G is acquired in (Yes), the process proceeds to step ST107. When the steering angle F is not acquired within the first distance after the steering angle E is acquired, and when the steering angle E (or steering angle F) is acquired and the second distance (second distance > first If the steering angle G has not been acquired within the distance) (No), the process ends.

In step ST107, the determination unit 34 determines that a lane has been added.
When determining that the lane has been added, the determination unit 34 may reflect the addition of the lane in the road map stored in the storage unit 36 .

Next, the effects of this embodiment will be described.
The information processing device 30 includes an acquisition unit 32 that acquires a plurality of temporally different probe information of the vehicle 10 including position information and time information steering angle information, and a vehicle that corresponds to the shape of the road based on the first probe information. Based on the first position on the road where only the steering angle of 10 is recorded and the second probe information, the steering angle of the vehicle 10 according to the shape of the road as well as causing the vehicle 10 to change lanes (travel laterally). ) a specifying unit 33 that specifies a second position on the road where the steering angle of the vehicle 10 is recorded; and a determination unit 34 that determines that the lane of the road has been added when the first time is later than the first time and the first position and the second position match.
Thereby, the information processing device 30 can determine that a lane has been added (newly established) to a road that did not exist conventionally. Further, the information processing device 30 can also determine, for example, that road construction, lane regulation, and the like are being carried out as a determination that a lane has been added to the road.

In the information processing device 30, the determination unit 34 acquires the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes (to advance in the lateral direction) based on the second probe information, and then moves the vehicle 10 laterally. When the steering angle of the vehicle 10 traveling in the direction is acquired, it may be determined that the lane of the road has been added.
As a result, the information processing device 30 determines that a lane has been added when, for example, the steering angle corresponding to a left turn (right turn) at an intersection or the like is acquired in addition to the steering angle corresponding to the lane change. , the lane addition determination accuracy can be improved.
Further, the information processing device 30 determines that a lane has been added based on the steering angle. Even in the worst case, it can be determined that the lane has been added.

In the information processing device 30, the probe information acquired by the acquisition unit 32 includes traveling speed information related to the traveling speed of the vehicle 10, and the determination unit 34 causes the vehicle 10 to change lanes based on the second probe information. After the steering angle of the vehicle 10 (moving in the lateral direction) is acquired, the length of the added lane is determined (estimated) based on the transition of the running speed of the vehicle 10 acquired from the running speed information. You can do it.
As a result, the information processing device 30, for example, after the vehicle 10 changes lanes (after the steering angle for lane change is acquired), the distance traveled at a substantially constant speed (distance until deceleration) is relatively If so, it can be assumed that the added lane is relatively long. Similarly, the information processing device 30 can estimate that the added lane is relatively short if the distance traveled by the vehicle 10 at a substantially constant speed after the lane change is relatively short.

In the information processing device 30, the determining unit 34 determines, based on the second probe information, the first distance in the traveling direction of the vehicle 10 after the steering angle of the vehicle 10 that causes the vehicle 10 to change lanes (to advance in the lateral direction) is acquired. , a change in the steering angle of the vehicle 10 in a direction opposite to the direction of the lane change (the lateral direction described above) is obtained, and then the vehicle 10 is laterally advanced within a second distance that is longer than the first distance. It may be determined that a lane of the road has been added when a change in the steering angle that causes the vehicle to move is acquired.
For example, it is considered that a relatively long distance is not set for left-turn lanes (right-turn lanes) arranged at intersections. That is, it is considered that there is an upper limit to the distance of the left turn lane (right turn lane). Therefore, for example, when the vehicle 10 changes lanes within the first distance and turns left (right) within the second distance, the information processing device 30 determines that a lane has been added to the road. It is possible to improve the accuracy of lane addition determination.

In the information processing method, the computer acquires a plurality of temporally different probe information of the vehicle 10 including position information, time information, and steering angle information, and based on the first probe information, depending on the shape of the road Based on the first position on the road where only the steering angle of the vehicle 10 is recorded and the second probe information, in addition to the steering angle of the vehicle 10 according to the shape of the road, the vehicle 10 is caused to change lanes (laterally a second position on the road where the steering angle of the vehicle 10 is recorded; and a second time based on the time information included in the second probe information is included in the first probe information. and determining that the lane of the road has been added if the first location and the second location coincide with each other later than a first time based on .
Thereby, the information processing method can determine that a lane has been added (newly established) on a road that did not exist conventionally. In addition, the information processing method can also determine, for example, that road construction and lane restrictions on the road are being carried out as a determination that a lane has been added to the road.
In addition, since the information processing method determines that a lane has been added based on the steering angle, for example, the accuracy of the position information included in the probe information when the vehicle 10 travels in urban areas, mountainous areas, etc. is poor. Even in this case, it can be determined that the lane has been added.

The information processing program provides the computer with an acquisition function for acquiring a plurality of temporally different probe information of the vehicle 10 including position information, time information, and steering angle information, and according to the shape of the road based on the first probe information. Based on the first position on the road where only the steering angle of the vehicle 10 is recorded and the second probe information, in addition to the steering angle of the vehicle 10 according to the shape of the road, the vehicle 10 is caused to change lanes (laterally a second position on the road where the steering angle of the vehicle 10 is recorded; and a second time based on the time information included in the second probe information. and a determination function of determining that a lane of the road has been added when the first position and the second position match later than a first time based on .
Thereby, the information processing program can determine that a lane has been added (newly established) to a road that did not exist conventionally. In addition, the information processing program can also determine, for example, that road construction and lane restrictions are being carried out as a determination that a lane has been added to the road.
In addition, since the information processing program determines that a lane has been added based on the steering angle, for example, the accuracy of the position information included in the probe information when the vehicle 10 travels in urban areas, mountainous areas, etc. is poor. Even in this case, it can be determined that the lane has been added.

Each part of the information processing device 30 described above may be implemented as a function of an arithmetic processing device of a computer or the like. That is, the acquisition unit 32, the identification unit 33, and the determination unit 34 of the information processing device 30 may be implemented as an acquisition function, a specification function, and a determination function, respectively, by an arithmetic processing unit of a computer or the like.
The information processing program can cause the computer to implement each function described above. The information processing program may be recorded in a non-temporary computer-readable recording medium such as an external memory or an optical disc.
Further, as described above, each part of the information processing device 30 may be realized by an arithmetic processing device or the like of a computer. The arithmetic processing unit or the like is configured by an integrated circuit or the like, for example. Therefore, each part of the information processing device 30 may be implemented as a circuit that constitutes an arithmetic processing device or the like. That is, the acquisition unit 32, the identification unit 33, and the determination unit 34 of the information processing device 30 may be implemented as an acquisition circuit, a identification circuit, and a determination circuit, which constitute an arithmetic processing unit of a computer.
Also, the communication unit 35 and the storage unit 36 of the information processing device 30 may be realized as a communication circuit and a storage circuit by being configured by an integrated circuit or the like, for example. Also, the communication unit 35 and the storage unit 36 of the information processing device 30 may be implemented as a communication function and a storage function, for example. Also, the communication unit 35 and the storage unit 36 of the information processing device 30 may be configured as a communication device and a storage device, for example, by being configured by a plurality of devices.

1 information processing system 10 vehicle 20 external server 30 information processing device 31 control unit 32 acquisition unit 33 identification unit 34 determination unit 35 communication unit 36 storage unit

Claims (9)

Time-varying vehicle probes containing position information about the position of a vehicle traveling in a predetermined area, time information about the time when the vehicle acquired the position information, and steering angle information about the steering angle of the vehicle. an acquisition unit that acquires a plurality of pieces of information;
a first position on the road where only the steering angle of the vehicle according to the shape of the road is recorded based on the first probe information of the vehicles of the first vehicle group consisting of a plurality of vehicles acquired by the acquisition unit; Based on the second probe information of the vehicles in the second vehicle group consisting of a plurality of vehicles acquired by the acquisition unit, the steering angle of the vehicle that causes the vehicle to change lanes is recorded in addition to the steering angle of the vehicle according to the shape of the road. a specifying unit for specifying a second position on the road where the
When the second time based on the time information included in the second probe information is later than the first time based on the time information included in the first probe information, and the first position and the second position match, the road A determination unit that determines that a lane has been added ,
The probe information acquired by the acquisition unit includes traveling speed information about the traveling speed of the vehicle,
After the steering angle of the vehicle that causes the vehicle to change lanes is acquired based on the second probe information, the determination unit determines the added lane based on the transition of the running speed of the vehicle acquired from the running speed information. determine the length
Information processing equipment. After a first steering angle as a steering angle of the vehicle in a first direction for causing the vehicle to change lanes is acquired, the determination unit performs a second steering angle in a direction opposite to the first direction , based on the second probe information. If a steering angle in a direction is obtained and a steering angle of the vehicle is obtained that is greater than a first steering angle that causes the vehicle to travel in a lateral direction that is the first direction , it is determined that a lane has been added to the road. The information processing apparatus according to claim 1. Based on the second probe information, the determination unit changes the lane within a first distance in the vehicle travel direction after a first steering angle as a steering angle of the vehicle in the first direction for causing the vehicle to change lanes is acquired. A change in the steering angle of the vehicle in a second direction opposite to the first direction is obtained, and then the vehicle is laterally moved in the first direction within a second distance that is longer than the first distance. Determining that a lane has been added to the road when a change in the steering angle greater than the first steering angle for advancing is obtained.
The information processing apparatus according to claim 1 or 2 . the computer
Time-varying vehicle probes containing position information about the position of a vehicle traveling in a predetermined area, time information about the time when the vehicle acquired the position information, and steering angle information about the steering angle of the vehicle. an obtaining step for obtaining multiple pieces of information;
a first position on the road where only the steering angle of the vehicle according to the shape of the road is recorded based on the first probe information of the vehicles of the first vehicle group consisting of a plurality of vehicles acquired in the acquiring step; Based on the second probe information of the vehicles of the second vehicle group consisting of a plurality of vehicles acquired in the acquisition step, the steering angle of the vehicle that causes the vehicle to change lanes is recorded in addition to the steering angle of the vehicle according to the shape of the road. identifying a second location on the road where the
When the second time based on the time information included in the second probe information is later than the first time based on the time information included in the first probe information, and the first position and the second position match, the road Execute a determination step of determining that the lane has been added,
The probe information acquired by the acquiring step includes traveling speed information about the traveling speed of the vehicle,
In the determining step, after the steering angle of the vehicle that causes the vehicle to change lanes is acquired based on the second probe information, the added lane is determined based on the transition of the running speed of the vehicle acquired from the running speed information. determine the length
Information processing methods. In the determining step, after a first steering angle as a steering angle of the vehicle in a first direction for causing the vehicle to change lanes is obtained based on the second probe information, a second steering angle in a direction opposite to the first direction is acquired. If a steering angle in a direction is obtained and a steering angle of the vehicle is obtained that is greater than a first steering angle that causes the vehicle to travel in a lateral direction that is the first direction , it is determined that a lane has been added to the road. do
The information processing method according to claim 4 . In the determining step, the lane change is performed within a first distance in the vehicle traveling direction after a first steering angle as a steering angle of the vehicle in the first direction for causing the vehicle to change lanes is acquired based on the second probe information. A change in the steering angle of the vehicle in a second direction opposite to the first direction is obtained, and then the vehicle is laterally moved in the first direction within a second distance that is longer than the first distance. Determining that a lane has been added to the road when a change in the steering angle greater than the first steering angle for advancing is obtained.
The information processing method according to claim 4 or 5 . to the computer,
Time-varying vehicle probes containing position information about the position of a vehicle traveling in a predetermined area, time information about the time when the vehicle acquired the position information, and steering angle information about the steering angle of the vehicle. an acquisition function that acquires multiple pieces of information;
a first position on the road where only the steering angle of the vehicle according to the shape of the road is recorded based on the first probe information of the vehicles of the first vehicle group consisting of a plurality of vehicles acquired by the acquisition function; Based on the second probe information of the vehicles of the second vehicle group consisting of a plurality of vehicles acquired by the acquisition function, the steering angle of the vehicle that causes the vehicle to change lanes is recorded in addition to the steering angle of the vehicle according to the shape of the road. a specific function for identifying a second location on the road where the
When the second time based on the time information included in the second probe information is later than the first time based on the time information included in the first probe information, and the first position and the second position match, the road Realize a determination function that determines that a lane has been added ,
The probe information acquired by the acquisition function includes traveling speed information about the traveling speed of the vehicle,
After the steering angle of the vehicle that causes the vehicle to change lanes is acquired based on the second probe information, the determination function determines the added lane based on the transition of the running speed of the vehicle acquired from the running speed information. determine the length
Information processing program. The determining function is configured to, based on the second probe information, obtain a first steering angle as a steering angle in the vehicle first direction for changing the lane of the vehicle, and then move the vehicle laterally in the first direction. If a steering angle of the vehicle is obtained that is greater than the first steering angle that causes the vehicle to travel in the direction , it is determined that a lane of the road has been added.
The information processing program according to claim 7 . The determination function is, based on the second probe information, the lane change within a first distance in the vehicle traveling direction after a first steering angle as a steering angle of the vehicle in the first direction for causing the vehicle to change lanes is acquired. A change in the steering angle of the vehicle in a second direction opposite to the first direction is obtained, and then the vehicle is laterally moved in the first direction within a second distance that is longer than the first distance. Determining that a lane has been added to the road when a change in the steering angle greater than the first steering angle for advancing is obtained.
The information processing program according to claim 7 or 8 .

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