ENVIRONMENT MAP GENERATION APPARATUS, ENVIRONMENT MAP GENERATION METHOD AND PROGRAM
An environment map production device includes: a calculation unit that calculates an evaluation value of validity of a positioning solution based on data obtained by measurement by a vehicle traveling in a certain area in a plurality of time zones using GNSS for each of a plurality of segments that divides the area; and a sort out unit that sorts out, on a basis of the evaluation value, the positioning solution used for production of an environment map and the positioning solution not used for production of an environment map, thereby efficiently producing an environment map and improving the quality of the environment map.
1 . An environment map production device comprising a processor configured to execute operations comprising:
calculating an evaluation value of validity of a positioning solution based on data obtained by measurement by a vehicle traveling in an area in a plurality of timeframes using a global navigation satellite system (“GNSS”) for each of a plurality of segments that divides the area; and
generating, on a basis of the evaluation value of the validity of the positioning solution, an environment map, by classifying the positioning solution into either one of the positioning solution used for production of the environment map or the positioning solution not used for production of the environment map.
2 . The environment map production device according to claim 1 , wherein the calculating further comprises calculating an evaluation value of a distribution state of the positioning solution as the evaluation value of the validity of the positioning solution.
3 . The environment map production device according to claim 2 , wherein the classifying further comprising selecting a first segment in the area and a second segment in the area, the first segment comprises positioning solutions collected for the first segment are used to generate the environment map, and the second segment comprises a part of positioning solutions collected for the second segment are used to generate the environment map.
4 . The environment map production device according to claim 3 , the processor further configured to execute operations comprising:
selecting the part of positioning solutions among the positioning solutions collected for the second segment based on a height of a road surface at a position in a corresponding positioning solution and a reference value.
5 . The environment map production device according to claim 3 , the processor further configured to execute operations comprising:
selecting the part of positioning solutions among the positioning solutions collected for the second segment based on a position of a landmark obtained according to a corresponding positioning solution and a true value of the position of the landmark.
6 . The environment map production device according to claim 3 , the processor further configured to execute operations comprising
selecting a positioning solution in which a deviation from an estimated value of a movement route of the vehicle from the positioning solution collected for the first segment is within a threshold among the positioning solutions collected for the second segment.
7 . An environment map production method executed by a computer, comprising:
calculating an evaluation value of validity of a positioning solution based on data obtained by measurement by a vehicle traveling in an area in a plurality of timeframes using a global navigation satellite system (“GNSS”) for each of a plurality of segments that divides the area; and
generating, on a basis of the evaluation value of the validity of the positioning solution, an environment map, by classifying the positioning solution into either one of the positioning solution used for production of the environment map or the positioning solution not used for production of the environment map.
8 . A computer-readable non-transitory recording medium storing a computer-executable program instructions that when executed by a processor cause a computer to execute operations comprising:
calculating an evaluation value of validity of a positioning solution based on data obtained by measurement by a vehicle traveling in an area in a plurality of timeframes using a global navigation satellite system (“GNSS”) for each of a plurality of segments that divides the area; and
generating, on a basis of the evaluation value of the validity of the positioning solution, an environment map, by classifying the positioning solution into either one of the positioning solution used for production of the environment map or the positioning solution not used for production of the environment map.
9 . The environment map production device according to claim 3 , wherein the measurement comprises a vehicle position as measured by a navigation sensor of a mobile mapping system onboard the vehicle and a spatial information of a surrounding area of the vehicle as measured by an attribute sensor of the mobile mapping system onboard the vehicle.
10 . The environment map production device according to claim 3 , wherein the plurality of timeframes comprises a first timeframe within a predetermined period of time and a second timeframe with the predetermined period of time, the first timeframe is distinct from the second timeframe, and the first timeframe represents a time zone of a day.
11 . The environment map production device according to claim 3 , wherein the evaluation value of validity of the positioning solution is based on at least one of:
a contradiction between a GNSS positioning solution of a segment of a test target and a position estimated by integrating a relative displacement amount as measured by an inertial sensor,
an integrated value of vehicle speed data as measured by an odometry sensor, and
a steering angle based on event data as recorded by an event data recorder as an estimated value of a movement route of the vehicle.
12 . The environment map production device according to claim 5 , wherein the position of the landmark corresponds to a three-dimensional location information with accuracy that is higher than a predetermined threshold.