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JP-7856076-B2 - Information processing device

JP7856076B2JP 7856076 B2JP7856076 B2JP 7856076B2JP-7856076-B2

Inventors

  • 根山 亮
  • 田口 勝也

Assignees

  • トヨタ自動車株式会社

Dates

Publication Date
20260511
Application Date
20230926

Claims (6)

  1. An information processing device for detecting the difference between a reference map and an input map, Obtain a reference map and an input map, each containing multiple nodes and multiple edges, The respective areas of the aforementioned reference map and the aforementioned input map are divided into branching areas where roads or lanes branch off and non-branching areas that are not part of the aforementioned branching areas. Based on the degree of overlap between the branching region of the reference map and the branching region of the input map, and the degree of overlap between the non-branching region of the reference map and the non-branching region of the input map, the branching region and non-branching region of the input map corresponding to the branching region and non-branching region of the reference map are determined. For each corresponding area, a graph editing path, which is a series of editing operations to match one of the graphs of the reference map and the input map to the other, is determined such that the editing cost is minimized according to a predetermined standard. Outputting the graph editing paths for multiple corresponding regions as the difference between the reference map and the input map, It has a control unit that performs the following: The aforementioned editing operations include adding, deleting, and replacing nodes, and adding, deleting, and replacing edges. An information processing device characterized by the following:
  2. The control unit outputs the sum of the editing costs for the plurality of corresponding regions as the distance or difference between the reference map and the input map. The information processing apparatus according to feature 1.
  3. The control unit divides the respective regions of the reference map and the input map into the branch region and the non-branch region based on the locations of branch nodes included in the reference map and the input map, or based on information that identifies the branch region assigned to the reference map and the input map. The information processing apparatus according to feature 1.
  4. The control unit deletes non-branch intermediate nodes that are not branch nodes, other than the entry and exit ends of the branch region or the non-branch region, and edits the nodes at both ends of the non-branch intermediate nodes to connect them with edges, and then determines the graph editing path. The information processing apparatus according to feature 1.
  5. The control unit assigns lane numbers to the lanes included in each road in a predetermined order. The editing cost of associating nodes with different lane numbers is greater than the editing cost of associating nodes with the same lane number. The information processing apparatus according to feature 1.
  6. The further away the corresponding node is, the greater the editing cost, and the editing cost is greater for positional deviations in a direction perpendicular to the direction of travel than for positional deviations with respect to the direction of travel of the road corresponding to the node. The information processing apparatus according to feature 1.

Description

This disclosure relates to an information processing device, and more particularly to an information processing device for extracting differences between two maps. This document discloses a method for extracting differences between two maps by dividing the map into meshes and extracting differences for each mesh. However, if there are errors in the map, the same node or edge may be included in different meshes, potentially leading to an inability to properly associate meshes or edges, or incorrect association, which could prevent proper difference extraction. Japanese Patent Publication No. 2017-223797 Zeina Abu-Aisheh, Romain Raveaux, Jean-Yves Ramel, Patrick Martineau. An Exact Graph Edit Distance Algorithm for Solving Pattern Recognition Problems. 4th International Conference on Pattern Recognition Applications and Methods 2015, Jan 2015, Lisbon, Portugal. 2015, <10.5220/0005209202710278>. <hal-01168816> This figure shows a functional block diagram and a flowchart of the map difference extraction process for a map difference evaluation device (information processing device) according to one embodiment.This figure illustrates the format of map data in one embodiment.This figure illustrates the region division of a map and the correspondence between the divided regions in one embodiment.This figure illustrates the simplification of the graph and the assignment of lane numbers in one embodiment.This figure illustrates an example of graph editing costs in one embodiment.This figure illustrates the difference extraction results in one embodiment. The embodiments of this disclosure will be described below with reference to the drawings. The configurations of the following embodiments are illustrative, and this disclosure is not limited to the configurations of these embodiments. (System configuration) Figure 1(A) shows the configuration of a map difference evaluation device 100 according to one embodiment. The map difference evaluation device 100 is an information processing device (computer) having a configuration in which a processor 110, memory 120, communication device 130, input device 140, and output device 150 are connected to each other via a bus so as to be able to communicate with each other. The processor 110 is an arithmetic unit such as a CPU, and operates according to the program stored in the memory 120. The processor 110 corresponds to the control unit in this disclosure. The memory 120 is the main memory, where the executable program is loaded, and is also used as temporary memory by the processor 110. The communication device 130 is a device for communicating with other information processing devices via wired or wireless communication. The input device 140 is a keyboard or mouse that receives input from the user. The output device 150 is a display device or audio playback device that outputs calculation results, etc., to the user. The executable program loaded into memory 120, when executed by the processor 110, causes the processor 110 to function as a map acquisition unit 121, a region division unit 122, a correspondence determination unit 123, a difference extraction unit 124, and a result output unit 128. The difference extraction unit 124 includes, as sub-function units, a simplification unit 125, a lane number assignment unit 126, and a graph editing path determination unit 127. Details of each function unit are described below with reference to the flowchart. (process) Figure 1(B) is a flowchart showing the flow of the map difference evaluation process performed by the map difference evaluation device 100. In step S10, the map acquisition unit 121 acquires a reference map and an input map. The reference map is the map used as the basis for difference evaluation, and the map difference evaluation device 100 evaluates how, or by how much, the input map differs from the reference map. For example, the reference map is a map generated at a certain time, and the input map is a map generated at a later time. In this case, the map difference evaluation device 100 is used, for example, to evaluate what kind of differences have occurred over time. In another example, the reference map is a high-precision map created using a costly but accurate method, and the input map is a map created using a low-cost automatic generation method. In this case, the map difference evaluation device 100 is used, for example, to evaluate the accuracy of the automatically generated map, and by extension, the accuracy of the automatic generation algorithm. The format of the reference map and the input map are identical, and both include multiple nodes and multiple edges (links). In this embodiment, the map includes at least nodes and edges on a lane-by-lane basis. The map may also include nodes and edges on a road-by-road basis. Furthermore, the map may include information for identifying the area in which roads exist (road area). The road area may be distinguished into intersection area (branching area) and non-in