Map data generation device, map data generation system, and storage medium

1 . A map data generation device that receives probe data including travel information obtained by a vehicle sensor of a vehicle and GNSS information received from a GNSS receiver of the vehicle, the map data generation device comprising:

a memory that stores a computer program; and

a processor that executes the computer program to:

calculate a correlation coefficient indicating a correlation between the travel information and the GNSS information included in probe data for each of a plurality of datasets with different shift time between the travel information and the GNSS information, wherein the probe data is received from an in-vehicle device of the vehicle;

calculate GNSS delay time based on the correlation coefficient of each of the plurality of datasets, wherein the GNSS delay time indicates the shift time between the travel information and the GNSS information;

perform delay time correction in a time direction for the GNSS information based on the GNSS delay time;

correct the probe data using the GNSS information that has been subjected to the delay time correction to generate map data using the corrected probe data; and

store the corrected probe data in a map storage.

2 . The map data generation device according to claim 1 , wherein

the processor uses, as the travel information, information indicating behavior of the vehicle, which is at least one of a three-dimensional position, a three-dimensional speed, a three-dimensional azimuth, a three-dimensional acceleration, and a three-axis rotation speed, and uses, as the GNSS information, information indicating behavior of the vehicle, which is at least one of a three-dimensional position, a three-dimensional speed, a three-dimensional azimuth, a three-dimensional acceleration, and a three-axis rotation speed.

3 . The map data generation device according to claim 1 , wherein the processor also executes the computer program to:

perform reception variation correction for the GNSS information based on positioning time information corresponding to the GNSS information; and

correct the probe data using the GNSS information that has been subjected to the reception variation correction and the delay time correction to generate the map data using the corrected probe data.

4 . The map data generation device according to claim 3 , wherein the processor also executes the computer program to:

correct the probe data using the GNSS information that has been subjected to the reception variation correction and thereafter subjected to the delay time correction to generate the map data using the corrected probe data.

5 . A map data generation system including an in-vehicle device of a vehicle that transmits probe data including travel information obtained by a vehicle sensor of the vehicle and GNSS information received from a GNSS receiver of the vehicle, and a map data generation device that receives the probe data from the in-vehicle device, the system comprising:

a memory that stores a computer program; and

a processor that executes the computer program to:

calculate a correlation coefficient indicating a correlation between the travel information and the GNSS information included in the probe data for each of a plurality of datasets with different shift time between the travel information and the GNSS information, wherein the probe data is received from the in-vehicle device;

calculate GNSS delay time based on the correlation coefficient of each of the plurality of datasets, wherein the GNSS delay time indicates the shift time between the travel information and the GNSS information;

perform delay time correction in a time direction for the GNSS information based on the GNSS delay time;

correct the probe data using the GNSS information that has been subjected to the delay time correction to generate map data using the corrected probe data; and

store the corrected probe data in a map storage.

6 . The map data generation system according to claim 5 , wherein

the processor uses, as the travel information, information indicating behavior of the vehicle, which is at least one of a three-dimensional position, a three-dimensional speed, a three-dimensional azimuth, a three-dimensional acceleration, and a three-axis rotation speed, and uses, as the GNSS information, information indicating behavior of the vehicle, which is at least one of a three-dimensional position, a three-dimensional speed, a three-dimensional azimuth, a three-dimensional acceleration, and a three-axis rotation speed.

7 . The map data generation system according to claim 5 , wherein the processor also executes the computer program to:

perform reception variation correction for the GNSS information based on positioning time information corresponding to the GNSS information; and

correct the probe data using the GNSS information that has been subjected to the reception variation correction and the delay time correction to generate the map data using the corrected probe data.

8 . The map data generation system according to claim 7 , wherein the processor also executes the computer program to:

correct the probe data using the GNSS information that has been subjected to the reception variation correction and thereafter subjected to the delay time correction to generate the map data using the corrected probe data.

9 . A non-transitory computer-readable storage medium in which a map data generation program is stored to cause a computer to execute processing, which receives probe data from an in-vehicle device of a vehicle, the probe data including travel information obtained by a vehicle sensor of the vehicle and GNSS information received from a GNSS receiver of the vehicle, the processing comprising:

calculating a correlation coefficient indicating a correlation between travel information and GNSS information included in probe data for each of a plurality of datasets with different shift time between the travel information and the GNSS information, wherein the probe data is received from the in-vehicle device;

calculating GNSS delay time based on the correlation coefficient of each of the plurality of datasets, wherein the GNSS delay time indicates the shift time between the travel information and the GNSS information;

performing delay time correction in a time direction for the GNSS information based on the GNSS delay time;

correcting the probe data using the GNSS information that has been subjected to the delay time correction to generate map data using the corrected probe data; and

storing the corrected probe data in a map storage unit.