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EP-4318439-B1 - INFORMATION PROCESSING DEVICE AND INFORMATION PROCESSING METHOD

EP4318439B1EP 4318439 B1EP4318439 B1EP 4318439B1EP-4318439-B1

Inventors

  • KIDO HIDEAKI
  • MORI NAOKI
  • NOMURA TAKASHI

Dates

Publication Date
20260506
Application Date
20220304

Claims (7)

  1. An information processing device, comprising: a first information conversion unit (15) including a first road region estimation unit (151) that estimates a first road region from an image obtained by imaging a road, wherein the image is a satellite image or an aerial image acquired from an image acquisition unit (12); a second information conversion unit (17) including a second road region estimation unit (171) that estimates a second road region from map information stored in a map information storage unit (11); and a difference extraction unit (16) that extracts difference information indicating a difference between the first road region and the second road region, a difference reliability output unit (30) that determines reliability of the difference information; and a map information update unit (31) that determines whether to update the map information based on the difference information, wherein the information processing device is characterized in that : when a road exists in the second road region and when a road corresponding to the first road region does not exist, the map information update unit (31) determines not to update the map information when it is determined that the difference information is generated by shielding of the road, and determines to update the map information when it is not determined that the difference information is generated by the shielding of the road.
  2. The information processing device according to claim 1, wherein the difference information includes difference presence-absence information indicating presence or absence of the difference and difference amount information indicating an difference amount, the difference reliability output unit (30) outputs reliability for each of the difference presence-absence information and the difference amount information, and the map information update unit (31) determines whether to update the map information based on the reliability of the difference presence-absence information and the reliability of the difference amount information.
  3. The information processing device according to claim 1, wherein the map information update unit (31) determines reliability of the map information when the map information is updated.
  4. The information processing device according to claim 3, wherein the map information update unit (31) determines the reliability of the map information based on the reliability of the map information determined when the map information is updated last time.
  5. The information processing device according to claim 1, wherein the map information update unit (31) determines to update the map information when a road exists in the first road region and when a road corresponding to the second road region does not exist.
  6. The information processing device according to claim 1, wherein the map information update unit (31) determines whether to update the map information further based on a width of a road in the first road region and a width of a road in the second road region when a road corresponding to both the first road region and the second road region exists.
  7. An information processing method in which a computer: estimates a first road region from an image obtained by imaging a road, wherein the image is a satellite image or an aerial image; estimates a second road region from map information; and extracts difference information indicating a difference between the first road region and the second road region; determines reliability of the difference information; and determines whether to update the map information based on the difference information, wherein the method is characterized in that the step of determining whether to update the map information comprises: when a road exists in the second road region and when a road corresponding to the first road region does not exist, determining not to update the map information when it is determined that the difference information is generated by shielding of the road, and determining to update the map information when it is not determined that the difference information is generated by the shielding of the road.

Description

Technical Field The present invention relates to an information processing device and an information processing method. For example, the present disclosure relates to the information processing device and the information processing method that handle map data for automatic driving and an advanced safety driving system. Background Art A method for collecting road information by a map generation vehicle or manpower and constructing a highly accurate map for a map that holds road or lane information in a network shape is known for the automatic driving and driving assistance. In this method, because a considerable amount of human labor is generated, only information about a part of the road such as an expressway can be constructed, and there are problems that completeness of the constructed map information is reduced and that a range in which the map can be provided for automatic driving and driving assistance is narrowed. For this problem, for example, PTL 1 discloses a method for updating the map using data collected from an imaging device mounted on a general vehicle. PTL 2 discloses a technique for enhancing the accuracy of the map using an aerial photograph and navigation map data. Furthermore, PTL 3 discloses a map correction method using aerial photograph data and substrate road map data. Citation List Patent Literatures PTL 1: Japanese Patent No. 6197393PTL 2: Japanese Patent No. 4799709PTL 3: JP 2019-101256 A Summary of Invention Technical Problem However, the conventional technique has a problem that a shielding region that does not appear in the image because the road is shielded cannot be appropriately handled. The shielded region where the road is shielded by a tunnel, an overhead crossing, high-rise buildings, and the like exists in the aerial photograph, a satellite image, and the image captured by the imaging device mounted on the general vehicle. For this reason, when road information extracted based on the captured image is reflected on the map, there is a problem that wrong information is reflected. The present invention has been made to solve such a problem, and an object of the present invention is to provide an information processing device and an information processing method capable of appropriately handling the shielding region of the road. Solution to Problem The invention is set out in the appended set of claims. Preferable embodiments are defined in the dependent claims. Advantageous Effects of Invention The information processing device and the information processing method according to the present invention can appropriately handle the shielding region of the road. Brief Description of Drawings [FIG. 1] FIG. 1 is a view illustrating a basic configuration of an information processing device.[FIG. 2] FIG. 2 is a view illustrating an information conversion unit.[FIG. 3] FIG. 3 is a view illustrating the information conversion unit including a shielding region estimation unit.[FIG. 4] FIG. 4 is a view illustrating a difference extraction unit.[FIG. 5] FIG. 5 is a view illustrating a map information verification unit.[FIG. 6] FIG. 6 is a view illustrating a relationship between difference information and reliability according to a configuration in FIG. 5.[FIG. 7] FIG. 7 is a view illustrating an information processing device including a map information update unit.[FIG. 8] FIG. 8 is a view illustrating a mutual shielding information verification unit.[FIG. 9] FIG. 9 is a view illustrating a relationship between difference information and reliability according to a configuration in FIG. 8.[FIG. 10] FIG. 10 is a view illustrating a configuration including a difference reliability output unit.[FIG. 11] FIG. 11 is a view illustrating an example in which an output is different between map information and image information.[FIG. 12] FIG. 12 is a view illustrating an example of a method for determining the reliability of the map information. Description of Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. First Embodiment FIG. 1 illustrates a configuration of an information processing device according to a first embodiment. The information processing device executes an information processing method described in the present specification. An image acquisition unit 12 acquires a satellite image or an aerial image belonging to a range designated by a latitude-longitude designation unit 13 from an image information storage unit 10 that stores the satellite image or an aerial photograph. At this point, for example, the satellite image is obtained by capturing an image of a ground from a camera mounted on a satellite, acquiring the image, and restoring data of the ground as if overlooking the data. In addition, for example, the aerial image is the image of the ground captured by the camera mounted on an aircraft, acquired, and restored as if the data of the ground is overlooked. The latitude-longitude designation unit 13 ma