Track information generating device, track information generating method, and computer-readable storage medium

摘要

Track information generating devices, methods, and programs acquire a self-contained navigation track of a vehicle indicated by time-series pieces of self-contained navigation information, and acquire a GPS track of the vehicle indicated by time-series pieces of GPS information. The devices, methods, and programs compare the self-contained navigation track with the GPS track to correct the self-contained navigation information so as to reduce a difference between the self-contained navigation track and the GPS track.

主权项

1. A track information generating device comprising:
a self-contained navigation track acquisition unit that acquires a self-contained navigation track that is a track of a vehicle indicated by a plurality of time-series pieces of self-contained navigation information obtained from a speed sensor and a direction sensor on the vehicle; a GPS track acquisition unit that acquires a GPS track that is a track of the vehicle indicated by a plurality of time-series pieces of GPS information obtained from a GPS sensor on the vehicle, each time-series pieces of GPS information including GPS accuracy information that indicates an accuracy of the piece of GPS information; and a self-contained navigation information correcting unit that:
rotates and translates the self-contained navigation track to a location and orientation having the highest degree of coincidence between the self-contained navigation track and the GPS track;determines a rotation angle for rotating the self-contained navigation track on the basis of a representative value of direction differences between directions of the vehicle, indicated by the pieces of self-contained navigation information at multiple time points, and directions of the vehicle, indicated by the pieces of GPS information at multiple time points;determines the representative value of the direction differences on the basis of a frequency distribution of the direction differences, which is generated so that a frequency increases with an increase in the accuracy of the GPS information, indicated by the corresponding GPS accuracy information, and determines a representative value of the position differences on the basis of a frequency distribution of the position differences, which is generated so that a frequency increases with an increase in the accuracy of the GPS information, indicated bathe corresponding GPS accuracy information;determines a translation amount for translating the self-contained navigation track on the basis of a representative value of position differences between positions of the vehicle, indicated by the pieces of self-contained navigation information at multiple time points, and positions of the vehicle, indicated by the pieces of GPS information at multiple time points;sets a correction target of the self-contained navigation information on the basis of the rotated and translated the self-contained navigation track;corrects the self-contained navigation information by reducing a difference between the correction target and the self-contained navigation information; andcompares the rotated and translated self-contained navigation track with the GPS track to correct the self-contained navigation information by reducing a difference between the self-contained navigation track and the GPS track.