JP-2026076309-A - Feature point generation method

JP2026076309AJP 2026076309 AJP2026076309 AJP 2026076309AJP-2026076309-A

Abstract

[Problem] The present invention provides a feature point generation method, a feature point generation device, a feature point generation program, and a recording medium storing the feature point generation program, all of which are capable of generating feature points on a road. [Solution] The server acquires the driving trajectory from the in-vehicle device via the network. The server extracts linear components from the driving trajectory, finds the intersection point between the extension of the extracted linear component and the extension of other linear components adjacent to the linear component in the driving trajectory, and if the driving trajectory passes through a predetermined range from that intersection point, generates that intersection point as a feature point. [Selection Diagram] Figure 3

Inventors

藤原稔樹
塚田卓也

Assignees

パイオニア株式会社

Dates

Publication Date: 20260511
Application Date: 20260212

Claims (1)

A feature point generation device that generates feature points that are candidates for nodes on a travel path based on the travel trajectory of a moving object, The acquisition unit acquires the aforementioned driving trajectory, An extraction unit that extracts a linear component from the aforementioned travel trajectory, A feature point generation device comprising a first generation unit that generates feature points at the intersection of the extension of the extracted linear component and the extension of another linear component adjacent to the linear component in the travel trajectory.

Description

This invention relates to a method for generating feature points. A technique is known for updating map data by inferring the shape of a newly opened road (such as a newly opened road) from the vehicle's position information and direction of travel, when the vehicle travels on a new road that does not exist on the existing map data (Patent Document 1). When applying the above technology to roads with many intersections and corners, such as parking lot paths, generating feature points to identify intersections and corners, in addition to the shape, is essential for using map data in navigation and autonomous driving. However, one example of a problem with the technology described in Patent Document 1 is that it only infers the shape of the new road but does not generate new feature points. Japanese Patent Publication No. 2014-235510 This is a system configuration utilizing a feature point generation device and a link information generation device according to one embodiment of the present invention.Figure 1 is a flowchart illustrating the operation of the feature point generation device.This is an explanatory diagram showing a concrete example of feature point generation.This is an explanatory diagram showing a concrete example of feature point generation.This is an explanatory diagram showing a concrete example of feature point generation.This is an explanatory diagram showing a modified example of feature point generation.This is an explanatory diagram illustrating a specific example of feature point integration.Figure 1 is a flowchart illustrating the operation of the feature point generation device.(A) shows the combined result when there are few travel trajectories, and (B) shows the combined result when there are many travel trajectories.This is an explanatory diagram illustrating a specific example of link information generation.This is an explanatory diagram illustrating a specific example of link information generation.Figure 1 is a flowchart illustrating the operation of the link information generation device.This is an explanatory diagram illustrating a specific example of link information generation.This is an explanatory diagram illustrating a specific example of link information generation. A feature point generation method according to one embodiment of the present invention is a feature point generation method that generates feature points that are candidates for nodes of a travel path based on the travel trajectory of a moving object, and is characterized by including an acquisition step of acquiring the travel trajectory, an extraction step of extracting linear components from the travel trajectory, and a first generation step of generating feature points at the intersection of the extension of the extracted linear component and the extension of another linear component adjacent to the linear component in the travel trajectory. This makes it possible to generate feature points of a travel path suitable for use in navigation and autonomous driving. Furthermore, if the driving trajectory does not exist within a predetermined range centered on the intersection point, or if the intersection point does not exist, the process may include a second generation step in which the intersection points of the tangent line on the trajectory from a point where the driving trajectory deviates from the linear component to the other linear component, and the intersection points of the tangent line and the extension of the other linear component, are generated as feature points. This allows for the generation of feature points even more suitable for use in navigation and autonomous driving. Furthermore, the tangent line may also be the tangent line at the center of the trajectory. Furthermore, the process may include a third generation step in which points where the change in the inclination angle of the driving trajectory exceeds a predetermined angle are generated as feature points. This allows for the generation of feature points even more suitable for use in navigation and autonomous driving. Furthermore, a feature point generation device according to one embodiment of the present invention is a feature point generation device that generates feature points that are candidates for road nodes based on the travel trajectory of a moving object, and is characterized by including an acquisition unit that acquires the travel trajectory, an extraction unit that extracts linear components from the travel trajectory, and a first generation unit that generates the intersection points of the extension of the extracted linear components and the extensions of other linear components adjacent to the linear components in the travel trajectory as the feature points. This enables the generation of feature points for new roads. Furthermore, the feature point generation method described above may be implemented as a feature point generation program using a computer. Since this program is executed by a computer, dedicated hard