JP7352014B2 - Map matching device, onboard device, map matching method, and program - Google Patents

Description

The present disclosure relates to a map matching device, an on-vehicle device, a map matching method, and a program.

It is known that an on-vehicle device mounted on a vehicle or the like receives a signal via an on-vehicle antenna and specifies the current driving route etc. from the actually measured positioning results.

For example, Patent Document 1 discloses an on-vehicle device that detects the traveling position of a host vehicle.

Japanese Patent Application Publication No. 2009-121847

By the way, some on-vehicle devices apply map matching processing to, for example, correct a driving route to roads on a map.
However, even if such a technique is applied to the vehicle-mounted device disclosed in Patent Document 1, the correct matching position may not be specified due to the influence of the surrounding environment.

The present disclosure aims to provide a map matching device, an on-vehicle device, a map matching method, and a program that can easily identify a correct matching position.

A map matching device according to the present disclosure includes a positioning result acquisition unit that acquires an actual positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information, and a positioning result acquisition unit that acquires an actual positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal. a candidate specifying unit that specifies a candidate position; a statistical data specifying unit that specifies statistical data of GNSS positioning results related to each of the candidate positions; A selection unit that selects a matching position from among the candidate positions.

A map matching method according to the present disclosure includes a step of acquiring an actual positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information, and a step of acquiring a plurality of candidate positions on a map related to the actual measured positioning result. a step of identifying statistical data of GNSS positioning results related to each of the candidate positions; and a matching position among the plurality of candidate positions based on the degree of coincidence between the statistical data and the measured positioning results. and selecting.

A program according to the present disclosure includes a step of causing a computer of a map matching device to acquire an actual positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information, and a step of acquiring an actual positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes a map that is related to the actually measured positioning result. a step of identifying a plurality of candidate positions; a step of identifying statistical data of GNSS positioning results related to each of the candidate positions; Of these, the step of selecting a matching position is executed.

According to the map matching device, in-vehicle device, map matching method, and program of the present disclosure, it is easy to specify a correct matching position.

FIG. 1 is a block diagram of a map matching device according to a first embodiment of the present disclosure. FIG. 2 is an explanatory diagram of a positioning result estimation model according to the first embodiment of the present disclosure. FIG. 3 is an explanatory diagram of position information according to the first embodiment of the present disclosure. 4 is an enlarged view of section IV in FIG. 3. FIG. It is a figure explaining the function of the candidate identification part concerning a first embodiment of this indication. FIG. 3 is a diagram showing a probability distribution according to the first embodiment of the present disclosure. FIG. 3 is a diagram showing a probability distribution according to the first embodiment of the present disclosure. It is a flowchart of map matching according to the first embodiment of the present disclosure. FIG. 7 is an explanatory diagram of a positioning result estimation model according to a second embodiment of the present disclosure. FIG. 7 is an explanatory diagram of a positioning result estimation model according to a third embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a hardware configuration of a computer included in a map matching device according to each embodiment of the present disclosure.

Embodiments according to the present disclosure will be described below with reference to the drawings. In all the drawings, the same or corresponding structures are given the same reference numerals, and common explanations are omitted.

<First embodiment>
A first embodiment of the map matching device will be described with reference to FIGS. 1 to 8.

(In-vehicle system configuration)
The in-vehicle system 1 is a system for specifying the current position, travel route, etc. of the vehicle.
As shown in FIG. 1, the on-vehicle system 1 includes an on-vehicle antenna 2 and an on-vehicle device 3.
The in-vehicle system 1 is mounted on a vehicle.
For example, the in-vehicle system 1 may acquire the actual positioning result PRO based on a GNSS (Global Navigation Satellite System) signal SG received via the in-vehicle antenna 2.
Here, the actually measured positioning result PRO is a GNSS positioning result actually measured by the in-vehicle system 1 based on the GNSS signal SG, and includes position information IP indicating the actually measured position.
For example, the position information IP may indicate the reception position of the GNSS signal at the vehicle-mounted antenna 2.
For example, the actually measured positioning result PRO may further include a position error actually measured by the in-vehicle system 1, an actually measured reception strength of the GNSS signal, an actually measured number of captured satellites, and the like.
Moreover, these pieces of information included in the measured positioning result PRO may be calculated from GNSS signals received from a plurality of satellites.
The acquired actual positioning result PRO is used in the on-vehicle device 3 to specify the driving route of the vehicle and the like.

(Configuration of onboard equipment)
The onboard device 3 includes a reception section 4 and a map matching device 5.
The receiving unit 4 receives GNSS signals SG received by the on-vehicle antenna 2 from a plurality of satellites.
For example, the onboard device 3 may be able to measure the current position of the vehicle and display the travel route of the vehicle through processing in the map matching device 5.

(Configuration of map matching device)
The map matching device 5 is a device that performs map matching processing on the current position of the vehicle acquired by the onboard device 3, and corrects the position of the vehicle on a road on the map as a matching position PM, for example.
The corrected vehicle position is displayed on the onboard device 3 or used for data processing within the onboard device 3.
The map matching device 5 includes a positioning result acquisition section 52, a candidate identification section 53, a statistical data identification section 54, and a selection section 55.
For example, the map matching device 5 may further include a statistical data acquisition section 51 and an output section 56.

The statistical data acquisition unit 51 acquires statistical data SDT of the GNSS positioning result PR1.
The statistical data SDT is associated with a position.
For example, the statistical data SDT may be associated with each of a plurality of locations.

For example, the statistical data SDT may be obtained in advance.
For example, the statistical data acquisition unit 51 may acquire the statistical data SDT in advance by storing the statistical data SDT in the map matching device 5 at the time of shipment of the onboard device 3.
For example, the statistical data acquisition unit 51 may acquire statistical data SDT stored inside the onboard device 3 in advance when the map matching device 5 is activated.
For example, the statistical data acquisition unit 51 may acquire the latest statistical data SDT from outside the vehicle-mounted device 3 via communication in advance when the map matching device 5 is activated.

For example, the GNSS positioning result PR1 indicated by the statistical data SDT may be the position, position error, reception strength of the GNSS signal, number of captured satellites, etc.
For example, the statistical data SDT may be a data set of probability distribution of the GNSS positioning result PR1.

For example, the statistical data SDT may be statistical data including a plurality of parameters.
Thereby, when each parameter is set, statistical data of the GNSS positioning result PR1 related to the set parameter is specified.
For example, the statistical data SDT may include 3D data, travel routes, camera images, satellite orbits, etc. as parameters.

For example, the statistical data SDT may be statistical data calculated in advance by a positioning result estimation model.
For example, when the statistical data SDT includes parameters such as 3D data, travel routes, camera images, and satellite orbits, as shown in Figure 2, the positioning result estimation model is used to automatically calculate the GNSS positioning results PR1 related to each parameter. The statistical data SDT may be calculated by learning.

Here, the 3D data is map data having three-dimensional information about roads on which vehicles can travel and their surroundings.
For example, the 3D data may include three-dimensional information of three-dimensional structures such as buildings, tunnels, walls, bridges, roads, mountains, trees, and signs around each location on the road.

Further, the travel route is a travel trajectory on a road on which the vehicle can travel, and includes position information IP1 at a position equivalent to the position indicated by the position information IP included in the measured positioning result PRO.
For example, as shown in FIGS. 3 and 4, the position indicated by the actually measured position information IP includes an error, whereas the position indicated by the position information IP1 does not need to include an error.

The positioning result acquisition unit 52 acquires the actually measured positioning result PRO.

The candidate specifying unit 53 specifies a plurality of candidate positions PC on the map MAP related to the measured positioning result PRO.

For example, as shown in FIG. 5, it is assumed that the map MAP includes 3D data TDD, a first road RD1, and a second road RD2 that branches off from the first road RD1. At this time, it is assumed that the positioning result acquisition unit 52 acquires a result including the actually measured position PO as the actually measured positioning result PRO at a position after the first road RD1 and the second road RD2 diverge.
In this case, for example, the candidate specifying unit 53 may acquire a plurality of positions on the map MAP within a predetermined range RG from the position PO as the plurality of candidate positions PC. In this case, the plurality of positions on the map MAP may be positions within the first road RD1 and within the second road RD2.

For example, the candidate specifying unit 53 may further narrow down the plurality of candidate positions PC based on the score calculated for each candidate position PC.
The score calculated by the candidate specifying unit 53 may include the distance between each candidate position PC and the position PO.
The score calculated by the candidate specifying unit 53 may further include the degree of coincidence between the traveling direction of the road to which each candidate position PC belongs and the direction of the speed of the vehicle on which the in-vehicle system 1 is mounted at the position PO.
The score calculated by the candidate specifying unit 53 may further include an evaluation value of map matching at a position before the position PO.

The statistical data specifying unit 54 specifies statistical data SDC of the GNSS positioning results related to each candidate position PC on the map MAP.
For example, the statistical data specifying unit 54 may specify statistical data of reception strength as each statistical data SDC.

For example, when a certain measured positioning result PRO is acquired, the statistical data specifying unit 54 sets each parameter based on each candidate position PC, and based on each parameter from the statistical data SDT acquired by the statistical data acquiring unit 51. , statistical data SDC associated with each candidate position PC may be specified.
At this time, the statistical data specifying unit 54 may set 3D data, travel route, camera image, satellite orbit, etc. at each candidate position PC as parameters.

The selection unit 55 selects a matching position PM from among the plurality of candidate positions PC based on the degree of coincidence between the statistical data SDC related to each candidate position PC and the measured positioning result PRO.
For example, the selection unit 55 may select the matching position PM for the reception strength RI from the actually measured positioning results PRO.
For example, the selection section 55 may include a comparison section 551.

The comparison unit 551 compares the actually measured positioning result PRO and the statistical data SDC related to each candidate position PC.

For example, a case will be described in which the selection unit 55 selects the matching position PM for the reception strength RI from the measured positioning results PRO.
In this case, the comparison unit 551 uses the statistical data SDC regarding the reception strength at each candidate position PC as a reference among the statistical data SDC. At this time, the statistical data SDC regarding the reception strength may be, for example, a probability distribution of the reception strength at each candidate position PC.
For example, the probability distribution of the received strength may exhibit a distribution that decreases from a peak between the upper and lower limits of the received strength toward the lower and upper limits.

A case will be described in which a first candidate position PC1 and a second candidate position PC2 are acquired as a plurality of candidate positions PC, and statistical data of reception strength is specified as each statistical data SDC.
It is assumed that the statistical data SDC regarding the reception strength at the first candidate position PC1 has a probability distribution regarding the reception strength as shown in FIG.
Further, it is assumed that the statistical data SDC regarding the reception strength at the second candidate position PC2 has a probability distribution regarding the reception strength as shown in FIG.
Comparing the probability distribution shown in FIG. 6 with the received intensity RI, the position of the received intensity RI in the probability distribution shown in FIG. 6 corresponds to the position of the peak of the profile of the probability distribution regarding the received intensity.
On the other hand, when comparing the probability distribution shown in FIG. 7 with the received strength RI, the position of the received strength RI in the probability distribution shown in FIG. 7 corresponds to a position near the tail of the profile of the probability distribution regarding the received strength.

In this case, the probability that the reception strength RI will appear is higher at the first candidate position PC1 than at the second candidate position PC2.
For this reason, the selection unit 55 may select, as the matching position PM, the first candidate position PC1 with a high probability of the reception strength RI appearing among the first candidate position PC1 and the second candidate position PC2.
For example, the selection unit 55 calculates the probability of appearance of the reception strength RI in the probability distribution (statistical data SDC) of each candidate position PC as the degree of coincidence, and selects the candidate position PC with the highest calculated degree of coincidence as the matching position PM. You may.

The output unit 56 outputs the matching position PM.
For example, the on-vehicle device 3 may accumulate the matching position PM output from the output unit 56 and display the travel route of the vehicle.

(motion)
The operation of the map matching device 5 of this embodiment will be explained.
The operation of the map matching device 5 corresponds to an embodiment of the map matching method.
The map matching device 5 implements each step shown in FIG.

First, the statistical data acquisition unit 51 acquires statistical data SDT associated with a position (ST01).
For example, the statistical data acquisition unit 51 may acquire the statistical data SDT in advance.

Following the implementation of ST01, the positioning result acquisition unit 52 acquires the actually measured positioning result PRO, which is a GNSS positioning result actually measured based on the GNSS signal SG and includes position information IP (ST02).

Following the implementation of ST02, the candidate specifying unit 53 specifies a plurality of candidate positions PC on the map MAP related to the actually measured positioning result PRO (ST03).

Following the implementation of ST03, the statistical data specifying unit 54 specifies statistical data SDC of the GNSS positioning results related to each candidate position PC on the map MAP (ST04).

Following the implementation of ST04, the selection unit 55 selects a matching position PM from among the plurality of candidate positions PC based on the degree of coincidence between the statistical data SDC related to each candidate position PC and the actual positioning result PRO (ST05 ).

Following the implementation of ST05, the output unit 56 outputs the matching position PM (ST06).

(action and effect)
According to this embodiment, the map matching device 5 selects the matching position PM based on the degree of coincidence between the statistical data SDC and the actually measured positioning result.
Since the statistical data SDC of each candidate position PC includes the influence of the surrounding environment, the map matching device 5 can select the matching position PM while suppressing the influence of the surrounding environment at each position.
Therefore, according to the map matching device 5, it is easy to specify the correct matching position.

For example, the radio wave communication status may vary depending on the influence of three-dimensional structures such as buildings, tunnels, walls, bridges, roads, mountains, trees, and signs around each location on the road.
On the other hand, since the statistical data SDC is specified from the statistical data SDT acquired from the GNSS positioning results related to each position, it is statistical data that includes, for example, the influence of three-dimensional structures related to each position.
Therefore, the map matching device 5 can specify the matching position PM based on each statistical data SDC including the influence of the three-dimensional structure, so the map matching device 5 can suppress the influence of the three-dimensional structure, and the presence or absence of the three-dimensional structure. The matching position PM can be specified regardless of the situation.

Further, according to an example of the present embodiment, since the statistical data SDC and the actually measured positioning result PRO are compared, it is easy to evaluate the degree of coincidence between the statistical data SDC and the actually measured positioning result PRO.

Further, according to an example of the present embodiment, the selection unit 55 selects the matching position PM based on the reception strength RI including the influence of the surrounding environment and the statistical data SDC of the reception strength including the influence of the surrounding environment. I can do it.
Therefore, the map matching device 5 can specify the matching position PM where the influence of the surrounding environment on the reception intensity RI is suppressed.

According to the present embodiment, a plurality of candidate positions PC can be narrowed down based on the score calculated for each candidate position PC, so the selection unit 55 can specify the matching position PM from among the narrowed down candidates.
Therefore, the map matching device 5 can easily specify the matching position PM.

<Second embodiment>
A second embodiment of the map matching device will be described with reference to FIGS. 1, 8, and 9.

(composition)
The map matching device 5 is configured as shown in FIG. 1 similarly to the first embodiment.

In this embodiment, for example, in the statistical data acquisition unit 51, the statistical data SDT associated with a position may be further associated with a time.
For example, the statistical data SDT may include time in addition to 3D data, travel routes, camera images, satellite orbits, etc. as parameters.

For example, if the statistical data SDT includes time as a parameter in addition to 3D data, travel routes, camera images, satellite orbits, etc., as shown in FIG. The statistical data SDT may be calculated by machine learning the result PR1.

For example, the positioning result acquisition unit 52 may include in the actual positioning result PRO the time at which the actual positioning result PRO was actually measured.

For example, the statistical data specifying unit 54 may specify, as the statistical data SDC of the GNSS positioning results related to each candidate position, statistical data related to the time when the actual positioning result PRO was actually measured.

(motion)
The operation of the map matching device 5 of this embodiment will be explained.
The operation of the map matching device 5 corresponds to an embodiment of the map matching method.
The map matching device 5 performs each step shown in FIG. 8 similarly to the first embodiment.

First, the statistical data acquisition unit 51 acquires statistical data SDT associated with a position (ST01). At that time, for example, the statistical data SDT may be further associated with time.

Following the implementation of ST01, the positioning result acquisition unit 52 acquires the actually measured positioning result PRO, which is a GNSS positioning result actually measured based on the GNSS signal SG and includes position information IP (ST02). At that time, for example, the positioning result acquisition unit 52 may include in the actual positioning result PRO the time at which the actual positioning result PRO was actually measured.

Following the implementation of ST02, the candidate specifying unit 53 specifies a plurality of candidate positions on the map related to the actual positioning result PRO (ST03).

Following the implementation of ST03, the statistical data specifying unit 54 specifies statistical data SDC of the GNSS positioning results related to each candidate position PC on the map MAP (ST04). At that time, for example, in ST03, the statistical data specifying unit 54 may specify statistical data related to the time when the actual positioning result PRO was actually measured, as the statistical data SDC.

The subsequent operations are similar to those in the first embodiment.

(action and effect)
According to an example of this embodiment, the selection unit 55 can select the matching position PM based on the statistical data SDC related to each time.
Since the statistical data SDC includes the influence of the surrounding environment at each time, the selection unit 55 selects the actual positioning result PRO that includes the influence of the surrounding environment at each time and the actual positioning result PRO that includes the influence of the surrounding environment at each time. The matching position PM can be selected based on the statistical data SDC.
Therefore, the selection unit 55 can select the matching position PM while suppressing the influence of the surrounding environment at each time.
Therefore, the map matching device 5 can specify the matching position PM in which the influence of the surrounding environment at each time is suppressed.

For example, radio wave communication conditions may differ between night and day even at the same location. On the other hand, according to an example of the present embodiment, the map matching device 5 can suppress differences in radio communication conditions due to differences in time, so that, for example, the matching position PM can be adjusted regardless of the difference in time between night and day. can be identified.

<Third embodiment>
A third embodiment of the map matching device will be described with reference to FIGS. 1, 8, and 10.

(composition)
The map matching device 5 is configured as shown in FIG. 1 similarly to the first embodiment.

In this embodiment, for example, in the statistical data acquisition unit 51, the statistical data SDT associated with a position may be further associated with a vehicle.
For example, the statistical data SDT may include vehicles in addition to 3D data, travel routes, camera images, satellite orbits, etc. as parameters.

For example, if the statistical data SDT includes a vehicle as a parameter in addition to 3D data, travel routes, camera images, satellite orbits, etc., as shown in Figure 10, the positioning result estimation model is used to calculate the GNSS positioning related to each parameter. The statistical data SDT may be calculated by machine learning the result PR1.

For example, the positioning result acquisition unit 52 may include, in the actual positioning result PRO, vehicle type information that is preset and indicates the type of vehicle in which the vehicle is mounted.

For example, the statistical data specifying unit 54 may specify, as the statistical data SDC of the GNSS positioning results related to each candidate position, statistical data related to the vehicle type of the vehicle in which the measured positioning result PRO was actually measured.

(motion)
The operation of the map matching device 5 of this embodiment will be explained.
The operation of the map matching device 5 corresponds to an embodiment of the map matching method.
The map matching device 5 performs each step shown in FIG. 8 similarly to the first embodiment.

First, the statistical data acquisition unit 51 acquires statistical data SDT associated with a position (ST01). At that time, for example, the statistical data SDT may be further associated with the vehicle type.

Following the implementation of ST01, the positioning result acquisition unit 52 acquires the actually measured positioning result PRO, which is a GNSS positioning result actually measured based on the GNSS signal SG and includes position information IP (ST02). At this time, for example, the positioning result acquisition unit 52 may include, in the actual positioning result PRO, vehicle type information that is preset and indicates the type of vehicle in which the vehicle is mounted.

Following the implementation of ST02, the candidate specifying unit 53 specifies a plurality of candidate positions on the map related to the actual positioning result PRO (ST03).

Following the implementation of ST03, the statistical data specifying unit 54 specifies statistical data SDC of the GNSS positioning results related to each candidate position PC on the map MAP (ST04). At this time, for example, in ST03, the statistical data specifying unit 54 may specify, as the statistical data SDC, statistical data related to the vehicle type of the vehicle for which the measured positioning result PRO was actually measured.

The subsequent operations are similar to those in the first embodiment.

(action and effect)
According to this embodiment, the selection unit 55 can select the matching position PM based on the statistical data SDC related to each vehicle type.
Since the statistical data SDC includes the influence of the surrounding environment for each vehicle type, the selection unit 55 selects the actual positioning result PRO that includes the influence of the surrounding environment for each vehicle type and the actual positioning result PRO that includes the influence of the surrounding environment for each vehicle type. The matching position PM can be selected based on the statistical data SDC.
Therefore, the selection unit 55 can select the matching position PM while suppressing the influence of the surrounding environment for each vehicle type.
Therefore, the map matching device 5 can identify matching positions PM for each vehicle type in which the influence of the surrounding environment is suppressed.

For example, the radio wave communication conditions may differ between a truck and a light vehicle, which have significantly different vehicle heights, even if they are in the same location. On the other hand, according to an example of the present embodiment, the map matching device 5 can suppress the difference in the radio wave communication status due to the difference in vehicle type, so the map matching device 5 can determine the matching position PM regardless of the difference in the vehicle type between a truck and a light vehicle. Can be identified.

As a modification, in the statistical data acquisition unit 51, the statistical data SDT associated with the position may be associated with the time and the vehicle type.
For example, the statistical data SDT may include time and vehicle type in addition to 3D data, travel routes, camera images, satellite orbits, etc. as parameters.
At this time, the statistical data specifying unit 54 may specify statistical data related to the time and vehicle type at which the measured positioning result PRO was actually measured, as the statistical data SDC of the GNSS positioning result related to each candidate position.

<Other variations>
In each of the embodiments described above, the statistical data SDT is calculated using the positioning result estimation model, but the statistical data SDT may be calculated in any manner as long as it is calculated.
For example, various parameters acquired from test vehicles and actual driving vehicles and actually measured GNSS positioning results are accumulated, and statistical data SDT is calculated by a positioning result estimation model from the various accumulated parameters and actually measured GNSS positioning results. may be done.

In each of the embodiments described above, ST02 is performed following the implementation of ST01, but as a modification, ST01 may be performed after performing ST02.

In each of the embodiments described above, programs for realizing various functions of the map matching device 5 are recorded on a computer-readable recording medium, and the programs recorded on the recording medium are loaded into a computer system such as a microcomputer. Various processes are performed by loading and executing the program. Here, various processes of the CPU of the computer system are stored in a computer-readable recording medium in the form of a program, and the various processes described above are performed by reading and executing this program by the computer. Further, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. Alternatively, this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program.

In each of the embodiments described above, an example of the hardware configuration of a computer that executes programs for realizing various functions of the map matching device 5 will be described.

As shown in FIG. 11, the computer 59 included in the map matching device 5 communicates with a CPU 591, a memory 592, a storage/playback device 593, and an Input Output Interface (hereinafter referred to as "IO I/F") 594. Interface (hereinafter referred to as "communication I/F") 595.

The memory 592 is a medium such as a random access memory (hereinafter referred to as "RAM") that temporarily stores data used in a program executed by the map matching device 5.
For example, the memory 592 may store statistical data SDT, actual positioning results PRO, candidate positions PC, statistical data SDC, matching positions PM, and the like.

The storage/playback device 593 is a device for storing data and the like in external media such as CD-ROM, DVD, and flash memory, and for playing back data and the like from the external media.

The IO I/F 594 is an interface for inputting and outputting information between the map matching device 5 and other devices.

The communication I/F 595 is an interface for communicating with other devices via a communication line such as the Internet or a dedicated communication line.

<Other embodiments>
Although the embodiments of the present disclosure have been described above, these embodiments are presented as examples and are not intended to limit the scope of the disclosure. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the disclosure. These embodiments and variations thereof are included within the scope and gist of the disclosure.

<Additional notes>
The map matching device, in-vehicle device, map matching method, and program described in the above-described embodiments can be understood, for example, as follows.

(1) The map matching device 5 according to the first aspect includes a positioning result acquisition unit 52 that acquires a measured positioning result PRO which is a GNSS positioning result actually measured based on a GNSS signal SG and includes position information IP; A candidate specifying unit 53 that specifies a plurality of candidate positions PC on the map MAP related to the result PRO, a statistical data specifying unit 54 that specifies statistical data SDC of GNSS positioning results related to each candidate position PC, and a statistical data SDC. and a selection unit 55 that selects a matching position PM from among the plurality of candidate positions PC based on the degree of coincidence between the position measurement result PRO and the actually measured positioning result PRO.

According to this aspect, the map matching device 5 selects the matching position PM based on the degree of coincidence between the statistical data SDC and the actually measured positioning result PRO.
Since the statistical data SDC of each candidate position PC includes the influence of the surrounding environment, the map matching device 5 can select the matching position PM while suppressing the influence of the surrounding environment at each position.
Therefore, according to the map matching device 5, it is easy to specify the correct matching position.

(2) The map matching device 5 according to the second aspect is the map matching device 5 of (1) in which the selection unit 55 includes a comparison unit 551 that compares the statistical data SDC and the measured positioning result PRO.

According to this aspect, since the statistical data SDC and the actually measured positioning result PRO are compared, it is easy to evaluate the degree of coincidence between the statistical data SDC and the actually measured positioning result PRO.

(3) In the map matching device 5 according to the third aspect, the measured positioning result PRO includes the reception strength RI, and the statistical data specifying unit 54 specifies the statistical data of the reception strength as the statistical data SDC (1) Or it is the map matching device 5 of (2).

According to this aspect, the selection unit 55 can select the matching position PM based on the reception strength RI including the influence of the surrounding environment and the statistical data SDC of the reception strength including the influence of the surrounding environment.
Therefore, the map matching device 5 can specify the matching position PM where the influence of the surrounding environment on the reception intensity RI is suppressed.

(4) In the map matching device 5 according to the fourth aspect, the statistical data specifying unit 54 specifies, as statistical data SDC, statistical data related to the time when the actual positioning result PRO was actually measured (1) to (3) ) is any one of the map matching devices 5.

According to this aspect, the selection unit 55 can select the matching position PM based on the statistical data SDC related to each time.
Since the statistical data SDC includes the influence of the surrounding environment at each time, the selection unit 55 selects the actual positioning result PRO that includes the influence of the surrounding environment at each time and the actual positioning result PRO that includes the influence of the surrounding environment at each time. The matching position PM can be selected based on the statistical data SDC.
Therefore, the selection unit 55 can select the matching position PM while suppressing the influence of the surrounding environment at each time.
Therefore, the map matching device 5 can specify the matching position PM in which the influence of the surrounding environment at each time is suppressed.

(5) The map matching device 5 according to the fifth aspect is based on (1) in which the statistical data specifying unit 54 specifies, as statistical data SDC, statistical data related to the vehicle type of the vehicle for which the measured positioning result PRO is actually measured. The map matching device 5 is any one of (4).

According to this aspect, the selection unit 55 can select the matching position PM based on the statistical data SDC related to each vehicle type.
Since the statistical data SDC includes the influence of the surrounding environment on each vehicle type, the selection unit 55 selects the actual positioning result PRO that includes the influence of the surrounding environment on each vehicle type and the actual positioning result PRO that includes the influence of the surrounding environment on each vehicle. The matching position PM can be selected based on the statistical data SDC.
Therefore, the selection unit 55 can select the matching position PM while suppressing the influence of the surrounding environment for each vehicle type.
Therefore, the map matching device 5 can identify matching positions PM for each vehicle type in which the influence of the surrounding environment is suppressed.

(6) The map matching device 5 according to the sixth aspect performs any of (1) to (5) in which the candidate specifying unit 53 further narrows down the plurality of candidate positions PC based on the score calculated for each candidate position PC. This is the map matching device 5.

According to this aspect, since the plurality of candidate positions PC can be narrowed down, the selection unit 55 can specify the matching position PM from among the narrowed down candidates.
Therefore, the map matching device 5 can easily specify the matching position PM.

(7) The onboard device 3 according to the seventh aspect includes the map matching device 5 according to any one of (1) to (6), and the reception unit 4 that receives the GNSS signal SG received by the onboard antenna 2 from a plurality of satellites. , is provided.

According to this aspect, the onboard device 3 selects the matching position PM based on the degree of coincidence between the statistical data SDC and the actually measured positioning result.
Since the statistical data SDC of each candidate position PC includes the influence of the surrounding environment, the onboard device 3 can select the matching position PM while suppressing the influence of the surrounding environment at each position.
Therefore, according to the onboard device 3, it is easy to specify the correct matching position.

(8) The map matching method according to the eighth aspect includes the step of acquiring the actually measured positioning result PRO, which is the actually measured GNSS positioning result based on the GNSS signal SG and includes position information IP, and the step of acquiring the actually measured positioning result PRO that is related to the actually measured positioning result PRO. A step of identifying a plurality of candidate positions PC on the map MAP, a step of identifying statistical data SDC of GNSS positioning results related to each candidate position PC, and based on the degree of coincidence between the statistical data SDC and the measured positioning result PRO, The method includes a step of selecting a matching position PM from among the plurality of candidate positions PC.

According to this aspect, the map matching method selects the matching position PM based on the degree of coincidence between the statistical data SDC and the actually measured positioning result.
Since the statistical data SDC of each candidate position PC includes the influence of the surrounding environment, the map matching method can select the matching position PM while suppressing the influence of the surrounding environment at each position.
Therefore, according to the map matching method, it is easy to identify the correct matching position.

(9) The program according to the ninth aspect includes a step of causing the computer 59 of the map matching device 5 to acquire the actually measured positioning result PRO, which is the GNSS positioning result actually measured based on the GNSS signal SG and includes position information IP; A step of identifying a plurality of candidate positions PC on the map MAP related to the actual measured positioning result PRO, a step of identifying statistical data SDC of the GNSS positioning result related to each candidate position PC, and a step of identifying the statistical data SDC and the actual measured positioning result PRO. A step of selecting a matching position PM from among the plurality of candidate positions PC based on the degree of matching with the candidate positions PC is executed.

According to this aspect, the map matching device 5 selects the matching position PM based on the degree of coincidence between the statistical data SDC and the actually measured positioning result.
Since the statistical data SDC of each candidate position PC includes the influence of the surrounding environment, the map matching device 5 can select the matching position PM while suppressing the influence of the surrounding environment at each position.
Therefore, according to the program, it is easy to identify the correct matching position.

According to the map matching device, in-vehicle device, map matching method, and program of the present disclosure, it is easy to specify a correct matching position.

1 Vehicle-mounted system 2 Vehicle-mounted antenna 3 Vehicle-mounted device 4 Reception unit 5 Map matching device 51 Statistical data acquisition unit 52 Positioning result acquisition unit 53 Candidate identification unit 54 Statistical data identification unit 55 Selection unit 56 Output unit 59 Computer 551 Comparison unit 591 CPU
592 Memory 593 Storage/playback device 594 IO I/F
595 Communication I/F
IP Location information IP1 Location information MAP Map PC Candidate position PC1 First candidate position PC2 Second candidate position PM Matching position PO Position PR1 GNSS positioning result PRO Actual positioning result RD1 First road RD2 Second road RG Predetermined range RI Reception strength SDC Statistics Data SDT Statistical data SG GNSS signal TDD 3D data

Claims (8)

a positioning result acquisition unit that acquires an actual measured positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information;
a candidate identification unit that identifies a plurality of candidate positions on a map related to the measured positioning results;
a statistical data specifying unit that specifies statistical data of GNSS positioning results related to each candidate position;
a selection unit that selects a matching position from among the plurality of candidate positions based on the degree of coincidence between the statistical data and the measured positioning results;
Equipped with
The statistical data specifying unit specifies, as the statistical data, the statistical data related to the vehicle type of the vehicle in which the measured positioning result was actually measured,
The above statistical data includes the influence of the surrounding environment on each vehicle type,
The selection unit selects the matching position while suppressing the influence of the surrounding environment for each vehicle type.
Map matching device. The map matching device according to claim 1, wherein the selection section includes a comparison section that compares the statistical data and the actually measured positioning results. The measured positioning result includes reception strength,
The map matching device according to claim 1 or 2, wherein the statistical data specifying unit specifies statistical data of reception strength as the statistical data. The map matching device according to any one of claims 1 to 3, wherein the statistical data specifying unit specifies, as the statistical data, the statistical data related to a time when the actual positioning result was actually measured. The map matching device according to any one of claims 1 to 4, wherein the candidate specifying unit further narrows down the plurality of candidate positions based on the score calculated for each of the candidate positions. A map matching device according to any one of claims 1 to 5,
An on-vehicle device comprising: a reception unit that receives the GNSS signals received by an on-vehicle antenna from a plurality of satellites. a step of obtaining an actual measured positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information;
identifying a plurality of candidate positions on a map related to the measured positioning results;
identifying statistical data of GNSS positioning results associated with each candidate location;
selecting a matching position from among the plurality of candidate positions based on the degree of coincidence between the statistical data and the measured positioning results;
including;
As the statistical data, specify the statistical data related to the vehicle type of the vehicle in which the actual positioning result was actually measured,
The above statistical data includes the influence of the surrounding environment on each vehicle type,
The matching position is selected while suppressing the influence of the surrounding environment for each vehicle type.
Map matching method. In the map matching device computer,
a step of obtaining an actual measured positioning result that is a GNSS positioning result that is actually measured based on a GNSS signal and includes position information;
identifying a plurality of candidate positions on a map related to the measured positioning results;
identifying statistical data of GNSS positioning results associated with each candidate location;
selecting a matching position from among the plurality of candidate positions based on the degree of coincidence between the statistical data and the measured positioning results;
run the
As the statistical data, specify the statistical data related to the vehicle type of the vehicle in which the actual positioning result was actually measured,
The above statistical data includes the influence of the surrounding environment on each vehicle type,
The matching position is selected while suppressing the influence of the surrounding environment for each vehicle type.
program.

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