WO2002091587A1 - Digital map shape vector encoding method and position information transfer method - Google Patents
Digital map shape vector encoding method and position information transfer method Download PDFInfo
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- WO2002091587A1 WO2002091587A1 PCT/JP2002/004267 JP0204267W WO02091587A1 WO 2002091587 A1 WO2002091587 A1 WO 2002091587A1 JP 0204267 W JP0204267 W JP 0204267W WO 02091587 A1 WO02091587 A1 WO 02091587A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
- G06T9/008—Vector quantisation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
- G06T9/20—Contour coding, e.g. using detection of edges
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/40—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video transcoding, i.e. partial or full decoding of a coded input stream followed by re-encoding of the decoded output stream
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
- H04N19/51—Motion estimation or motion compensation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
- H04N19/59—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial sub-sampling or interpolation, e.g. alteration of picture size or resolution
Definitions
- the present invention relates to a method for transmitting digital map position information, an encoding method for compressing and encoding the amount of data to be transmitted, and an apparatus therefor.
- the amount of data is reduced by using a compression encoding technique.
- the location on the digital map can be determined even when the sender and the receiver hold digital maps of different origins.
- the road is identified by the link number and the node such as the intersection existing on the road is identified by the node number so that it can be accurately transmitted, and the point on the road is expressed in terms of how many meters from the node. .
- Node numbers and link numbers defined in the road network need to be replaced with new numbers when new or changed roads are created, and the digital map data of each manufacturer is updated accordingly. Therefore, the method using the node number divided by the link number requires a large social cost for its maintenance.
- the inventors of the present invention have proposed the following digital map in Japanese Patent Application Nos. 11-211406 / 11 and 11-242 / 166. It proposes a method for transmitting location information.
- the information providing side extracts the road shape of a road section of a predetermined length including the event location on the road and a node.
- “Road shape data” consisting of a coordinate sequence of intermediate points (vertices of a polygonal line approximating the curve of the road. In this specification, unless otherwise specified, these will be referred to as “nodes” including interpolation points).
- the event location data which represents the event location based on the relative position in the road section represented by the road shape data, is transmitted to the receiver, and the The side receiving the information performs map matching using the road shape data, specifies the road section on its own digital map, and specifies the event occurrence position in this road section using the event position data.
- Fig. 43 shows “Road shape data”
- Fig. 44 shows "Event location data”.
- the inventors of the present invention have proposed a method of approximating the road shape with a spline function in Japanese Patent Application No. 2001-127. In order to establish this position information transmission method, it is necessary to further reduce the amount of data.
- the present invention addresses these problems.
- the present invention provides a position information transmission method for transmitting digital map position information with a small amount of data using a compression coding technique, and an encoding method for reducing the data amount. And an apparatus for performing the method.
- an encoding method for encoding data representing a shape vector on a digital map arithmetic processing is performed on position information of each node of the node sequence representing the shape vector, and the position information is obtained.
- the data is converted into data having a statistical bias, and the data is encoded to reduce the amount of data.
- the transmitting side transmits shape data representing the shape vector on the digital map, and the receiving side performs map matching based on the received shape data to specify the shape vector on its own digital map.
- the transmitting side transmits the shape vector data encoded by the above-described encoding method, and the receiving side decodes the received data to reproduce the shape and reproduces the shape. It is configured to identify the shape beta corresponding to the shape that was set by map matching.
- the transmitting device that transmits the shape data representing the shape vector on the digital map to the receiving side performs arithmetic processing on the position information of each node of the node sequence representing the shape vector on the digital map, Code information calculating means for converting the position information into data having a statistical bias, generating a code table used for encoding the data based on the appearance distribution of the data, and each of the shape vectors transmitted to the receiving side Position information conversion means for encoding the position information of the node using the code table and generating shape data to be sent to the receiving side.
- the receiving device that receives encoded data representing the shape vector on the digital map from the transmitting side decodes the encoded received data and reproduces the shape data represented by the positional information on the digital map.
- a map matching means for performing map matching using the reproduced shape data and specifying the shape vector on its own digital map.
- the amount of data of the shape vector on the digital map can be efficiently compressed, and the amount of data transmitted when transmitting the shape vector of the digital map can be greatly reduced.
- the transmitted shape vector can be accurately specified by restoring the shape data from the received data and performing map matching.
- FIG. 1 is a diagram showing resampled nodes when the encoding method of the first embodiment is applied
- FIG. 2 is a diagram showing a code table in the encoding method of the first embodiment
- FIG. 3 is a diagram showing a run-length code table used in the encoding method of the second embodiment
- FIG. 4 is a diagram showing a code table of ⁇ ⁇ ⁇ ⁇ used in the encoding method of the second embodiment
- FIG. 5 is a diagram showing a code table of ⁇ 0 considering run length used in the encoding method of the second embodiment
- FIG. 6 is a block diagram showing a configuration of an apparatus for implementing the position information transmission method of the third embodiment
- FIG. 7 is a flowchart showing a code table creation procedure in the encoding method according to the third embodiment.
- FIG. 8 is a flowchart showing a shape data creation processing procedure in the encoding method according to the third embodiment.
- FIG. 9 is a diagram showing the configuration of road section identification shape vector data string information as transmission data in the position information transmission method of the third embodiment
- FIG. 10 is a diagram showing a configuration of various road information represented by a relative distance from each node on shape vector data as transmission data in the position information transmission method of the third embodiment
- FIG. 11 is a flowchart showing a processing procedure on the receiving side in the position information transmission method according to the third embodiment.
- FIG. 12 is a diagram showing the relationship between the sample section length and the curvature of the shape data in the encoding method of the fourth embodiment
- FIG. 13 is a diagram illustrating arc / straight line approximation in the encoding method according to the fourth embodiment.
- FIG. 14 is a diagram illustrating divided sections in the encoding method according to the fourth embodiment.
- (a) is a flowchart showing a method of determining a resample section length in the encoding method of the fourth embodiment
- (b) of FIG. 15 is a diagram showing a table referred to in (a) of FIG.
- FIG. 16 is a diagram illustrating quantization resampling in the encoding method according to the fourth embodiment.
- FIG. 17 is a diagram illustrating candidate points of the next node in the encoding method according to the fourth embodiment.
- 18 is a flowchart showing a next node determination procedure in the encoding method of the fourth embodiment,
- FIG. 19 is a diagram showing a code table in the encoding method of the fourth embodiment,
- FIG. 20 is a flowchart showing a code table creation procedure in the encoding method of the fourth embodiment.
- FIG. 21 is a flowchart showing a shape data creation processing procedure in the encoding method of the fourth embodiment.
- FIG. 22 is a diagram showing the configuration of transmission data in the position information transmission method of the fourth embodiment.
- FIGS. 23 (a), (b), and (c) are diagrams of the encoding method of the fourth embodiment. A diagram schematically showing data transmission,
- FIG. 24 is a flowchart showing a processing procedure on the receiving side in the position information transmitting method of the fourth embodiment.
- FIG. 25 is a diagram showing node position, distance and angle information when the encoding method of the fifth embodiment is applied,
- FIGS. 26 (a) and (b) show a code table used in the encoding method of the fifth embodiment
- FIG. 27 shows a code table creation procedure in the encoding method of the fifth embodiment
- FIG. 28 is a flow chart showing a shape data creation processing procedure in the encoding method according to the fifth embodiment.
- FIG. 29 is a diagram showing a configuration of road Z section identification shape vector data string information of transmission data in the position information transmission method of the fifth embodiment
- FIG. 30 shows various types of traffic information represented by a relative distance from each node on the shape vector data of transmission data in the position information transmission method of the fifth embodiment.
- FIG. 31 is a diagram showing node position, distance and angle information when the encoding method of the sixth embodiment is applied.
- FIG. 32 is a diagram showing a code table used in the encoding method of the sixth embodiment.
- FIG. 33 is a flowchart showing a procedure for creating a code table in the encoding method according to the sixth embodiment.
- FIG. 34 is a flowchart showing a procedure for forming shape data in the encoding method according to the sixth embodiment.
- FIG. 35 is a diagram showing the configuration of road section identification shape vector data string information of transmission data in the position information transmission method of the sixth embodiment.
- FIG. 36 is a diagram showing a road shape suitable for applying the encoding method of the seventh embodiment
- FIG. 37 is a flowchart showing a procedure for creating a code table in the encoding method of the seventh embodiment.
- FIG. 38 is a flowchart showing a procedure for creating a ⁇ code table in the encoding method according to the seventh embodiment.
- FIG. 39 is a flowchart showing a shape data creation processing procedure in the encoding method according to the seventh embodiment.
- FIG. 40 is a diagram showing a configuration of road Z section identification shape vector data string information of transmission data in the position information transmission method according to the seventh embodiment
- FIG. 41 is a diagram for explaining a distance and an angle for specifying a coordinate point
- Fig. 42 (a) (a ') shows the total curvature function expression of the shape data.
- Fig. 42 (b) (b ') shows the declination expression of the shape data.
- FIG. 42 (c) and (c ') are diagrams showing the predicted value difference expression of the argument of the shape data
- FIG. 43 is a diagram showing the data configuration of the shape vector data string information in the conventional position information transmission method.
- FIG. 44 is a diagram showing a data configuration of traffic information in a conventional position information transmission method. Symbols in the figure, 10 and 30, online processing section, 11 event information input section, 12 digital map display section, 13 and 22 digital map database, 14 map matching section, 15 position information conversion , 16 is a position information transmission unit, 17 is a position information reception unit, 18 is a code data decompression unit, 20 is an offline processing unit, 21 is past traffic information, 23 is a code table calculation unit, 24 is code table data, 40 Is a road.
- a road shape is represented by shape data having a statistical bias. This is to increase the compression ratio when the shape data is compressed and encoded.
- each coordinate point (Pj) is determined by two dimensions, the distance and angle from the adjacent coordinate point (PjJ).
- the azimuth of true north is 0 degree
- the angle is specified in the range of 0 to 360 degrees clockwise.
- the angle @j is shown as above.
- the representation of the coordinate point using the distance and the absolute azimuth is called a full curvature function expression.
- ⁇ j tan-l ⁇ (x jn — xj) / (y j + 1 ⁇ yj) ⁇
- the receiver can specify the position of the coordinate point only by transmitting the information of the angle)) j (that is, information of one dimension), and the transmission data amount can be specified. Reduction can be achieved.
- each coordinate point is represented by an absolute azimuth ⁇ ”′, no statistical bias appears in the frequency of occurrence of angle information indicating each coordinate point, as shown in FIG. 42 (a ′).
- the angle of each coordinate point can also be represented by a displacement difference in absolute azimuth, that is, “declination” 0j.
- This declination 0j is
- the angle of each coordinate point can be represented by a difference ⁇ 0j between the argument 0j and the argument statistical predicted value Sj (predicted value expressed in argument) as shown in FIG. 42 (c).
- the declination statistical prediction value Sj is a value obtained by estimating the declination 0 j of the coordinate point of interest using the declination of the coordinate point up to that point.
- the declination statistical prediction value Sj is defined as
- the weighted average of the argument of the past n coordinate points may be defined as Sj.
- the predicted value difference ⁇ 0j of the argument is
- the road shape (original shape) is sampled at regular intervals with a resample section length L having a certain distance
- the distance mentioned here may be an actual distance when deployed in the real world or a length expressed in a unit of predetermined normalized coordinates.
- ⁇ 0 j is distributed in a very narrow range centered on 0.
- This ⁇ ⁇ j can theoretically take a value between 360 ° and + 360 °. Therefore, to express ⁇ 0 j with 1 ° resolution, it is necessary to add 10 bits, which are 1 bit representing positive and negative and 9 bits representing the numerical value of 360, but the angle around ⁇ 0 ° must be 10 bits. By encoding with a smaller value and assigning a value greater than 10 bits to angles away from ⁇ 0 °, the average number of bits used for encoding A 6j can be reduced to less than 10 bits, and It is possible to represent data with a short data amount as a totale.
- variable length coding will be described with reference to FIG.
- 5 X 10 bits 50 in addition to the initial angle (10 bits) in normal coding
- a fixed length data amount of bits is required.
- the receiving side can obtain each value of ⁇ 0j by referring to the code table sent together with the shape data (or stored in advance) and applying the values of ⁇ 0 in order. Then, by sequentially accumulating the values from the initial value, the value of the argument 0 j at each coordinate point can be uniquely determined.
- This code table is created by calculating the angle of ⁇ 0j at each coordinate point Pj, examining the frequency of occurrence of the angle, and constructing the code table using a well-known Huffman tree or the like according to the frequency of occurrence. As described above, after performing arithmetic processing on the shape data to give a statistical bias, and then performing variable-length encoding, the data amount of the shape data can be reduced.
- the resampled node position is represented by the distance and the declination of an adjacent node, and the node positions sampled at equal intervals with the resample section length L are represented by relative latitude and longitude coordinates ( ⁇ ⁇ _ ⁇ , ⁇ yj) can also be used.
- ⁇ xj and ⁇ yj are variable-length coded and transmitted as shape data.
- the average of the data is determined, for example, as run length ⁇ ⁇ 0 ⁇ run length ⁇ ⁇ 6 ⁇ .
- FIG. 6 shows a position information transmitting / receiving device that exchanges event occurrence information on a road with another device 30 as an example of this device.
- This apparatus includes an offline processing unit 20 that generates a code table used for compression coding of road shape data offline, and an online processing unit 10 that transmits traffic information using the code table data generated by the offline processing unit 20.
- the offline processing unit 20 includes a digital map database 22, a storage unit 21 for storing past traffic information, a code table calculation unit 23 for generating code table data used for compression coding, and a generated code. And a code table database 24 for accumulating table data.
- the online processing unit 10 includes a position information receiving unit 17 that receives the compression-encoded “road shape data” and “event position data” from the position information transmission unit 16 of the other device 30, and a compression-encoded
- a code data decompression unit 18 that decompresses (decodes) existing data
- a digital map database 13 that stores digital map data
- map matching is performed using the decompressed road shape data and event position data.
- a map matching unit 14 for specifying an event position on a digital map, a digital map display unit 12 for superimposing and displaying the event position on a map, and an event information input unit 11 for inputting event information that has occurred.
- Position information conversion unit 15 that generates “road shape data” by compression encoding using data 24, and receives the position information of other devices 30 using the generated “road shape data” and “event position data”. And a position information transmitting unit 16 for transmitting to the unit 17.
- the node position data is converted into a total curvature function expression, and Step 5 calculates ⁇ for each section / each node according to the statistical value calculation formula. Next, the appearance distribution of ⁇ is calculated.
- a code table is created based on the appearance distribution of ⁇ ⁇ and the continuous distribution of the same value, and the completed code table is stored in the code table database 24.
- This processing procedure is defined by a program for causing the computer of the offline processing unit 20 to function as the code table calculation unit 23.
- the position information conversion unit 15 as shown in FIG.
- Step 11 Select the target road section including the location where the traffic event occurred.
- Step 12 Resample the shape data of the target road section with fixed length L and set nodes.
- Step 13 Convert node position data to full curvature function representation
- Step 16 Transmit the encoded shape data of the target road section together with the event position data represented by the relative information of the target road section.
- This processing procedure is defined by a program for causing the computer of the online processing unit 10 to function as the position information conversion unit 15.
- FIGS. 9 and 10 show the transmitted road shape data (FIG. 9) and event position data (FIG. 10), respectively.
- the road shape data includes code table data, resampled section length L data, and compression-encoded shape data.
- FIG. 11 shows a processing procedure on the receiving side that has received this data.
- the code data decompression unit 18 restores the code-represented data with reference to the code table included in the received data, and converts the shape data into a full curvature function.
- Step 22 Next, reproduce the shape data represented by latitude and longitude coordinates.
- Step 23 The map matching unit 14 specifies a target road section by performing a map matching between the reproduced shape and the road shape of the digital map of the own device, and also determines the target road section from the target position data. The traffic event occurrence position is specified.
- Step 24 The digital map display section 12 superimposes the traffic information on the map.
- This processing procedure is defined by a program for causing the computer of the online processing unit 10 to function as the code data decompression unit 18 and the map matching unit 14.
- the code table used for compression encoding is included in the transmission data and transmitted.However, since the transmitting and receiving sides have the same code table in advance, it is not necessary to include the code table in the transmission data. .
- the online processing unit 10 uses the code table data 24 created by the offline processing unit 20 to obtain the compression-encoded shape data.
- Each road shape in the area is compression-encoded and the encoded shape data of each road section is stored in advance, and the online processing unit 10 acquires the traffic event occurrence information and acquires the shape data stored in the offline processing unit 20 From the data, the coded road shape data of the road section including the traffic event occurrence position was selected, and the traffic information in which the traffic event occurrence position was represented by the relative position of the road section was generated and selected.
- the encoded road shape data and the generated traffic information may be transmitted to the receiving side.
- the off-line processing unit 20 resamples the shape data of the road section to be encoded with a fixed length L according to the procedure of Steps 2 to 9 and calculates at each node. Create a code table based on the occurrence distribution. Next, using the created code table, ⁇ 0 of each resampled coordinate point is converted into a code representation, and compression-encoded shape data is created and stored in a database. By repeating this process for each road section in the target area, it is possible to retain the compression-encoded shape data of each road section included in the target area.
- the receiving side since the receiving side performs map matching to specify the road shape, the shape is accurately transmitted at the start point and the end point of the target road section and at locations where erroneous matching is likely to occur. It is necessary, but in other places, the receiving side can specify the original position even if the shape of the message is somewhat ambiguous. Therefore, also in the position information transmission method of the present invention, it is possible to increase the compression ratio of transmission data by introducing an irreversible compression technique.
- the data compression ratio is increased by the following method.
- sampling points are reduced to the extent that erroneous matching does not occur. On roads with large curvatures and strong power, matching points may be off the road and erroneous matching may occur. Therefore, as shown in Fig. 12, the sampling section length L is set based on the magnitude of the curvature.
- the methods (1), (2) and (3) may be performed alone or in combination.
- the arc and straight line approximation of the road shape can be performed by linearly approximating the road shape expressed by the total curvature function.
- the allowable error is determined along the road section by a method separately proposed by the present inventors (Japanese Patent Application No. 2001-129665, Japanese Patent Application No. 2001-132611).
- the permissible errors the permissible amount of permissible error (distance error) related to distance (permissible distance error) and the permissible amount of permissible error (azimuth error) (permissible position error) are included in the road shape.
- the following conditions are set for each node or link.
- Allowable distance error should be set small around intersections where there is a connection road with a shallow intersection angle, such as an ingress / exit road.
- the allowable azimuth error is set smaller as the distance from the surrounding road is shorter. (4) Since there is a high possibility that the deviation of the azimuth error is large in a road with a large curvature, the allowable azimuth error is set small.
- the size of the permissible error at each node is set separately for the left and right sides of the target road section.
- a calculation method for quantitatively calculating the permissible error for each node is specifically shown.
- the road shape is approximated by an arc and a straight line so as to fall within the permissible error range. Divide into sections.
- the resample section length is determined by the following formula for each section according to the curvature a j of each section j.
- the value of Lj may be quantized. If the value that Lj can take due to quantization is, for example, one of eight values of 40/80/1 60/320/640/1 280/25 60/5 1 20 meters, the value of Lj is 3 It can be transmitted after being encoded into bits.
- Figure 15 (a) shows the procedure for determining the section length so that the section lengths are continuous when the curvature does not change much to suppress fluctuations in the resample section length.
- the rate of change Hj of the resampled section length calculation value is compared with a predetermined constant Ha, and the ratio lj of the adjacent section to the resampled section length is compared with the predetermined values Ial and Ia2.
- the ratio Hj is equal to or less than Ha and is between the Ij force S Ial and Ia2
- the resample section length Lj is set to the resample of the adjacent section. Set it to the same length as the file section length (step 35).
- the reason why the resampled section length calculation value Dj is compared with the resampled section length of the adjacent section is that the resampled section length is set to the same value because the change rate Hj of the resampled section length calculated value Dj is small. This is to prevent a divergence between the resampled section length calculation value Dj and the resampled section length Lj from occurring by continuing to do so.
- step 34 the section length Lj is determined from the value of Dj based on the lower table in FIG. 13 in which the relationship between the range of Dj and the section length is set (step 36). This is performed for all sections (steps 37 and 38).
- Ha is set to about 0.2
- 1 & 1 is set to about 0.7
- Ia2 is set to about 2.0.
- each section n is sampled at equal intervals with the resample section length Ln to obtain a node, and the difference between the predicted value of the ⁇ angle ⁇ j of Pj and the argument statistical predicted value Sj is calculated. Calculate the quantized value of the minute ⁇ 0 ”'(- ⁇ j-Sj).
- the node P J + 1 reproduced based on the distance Ln and the angle information A 6j from the preceding node Pj is the original road shape (or a similar shape). It is not always located above.
- the next node PJ + 1 is obtained from Pj, several candidate points of the node PJ + 1 appear depending on how to obtain the quantization value of ⁇ ⁇ j. From these candidate points, the next node P J + 1 is selected so that the value of ⁇ ⁇ is continuously 0 as much as possible within the range of the allowable error.
- nodes must be selected. In this case as well, nodes are selected so that ⁇ 6 is continuously zero.
- Figure 18 shows one of multiple candidate points P J + 1 (i) for one node P J + 1 . The procedure for selecting candidate points is shown.
- i is the quantized value of ⁇ , and is 2m + 1 positive and negative integers centered on 0, consisting of _m, ⁇ , -1, 0, 1, ⁇ , m.
- Step 41 Distance D i from each candidate point P J + 1 (i) force to the closest point of the original road shape, and the intercept direction of the closest point and the intercept direction of the candidate point P J + 1 (i) Calculate the error @ 1 .
- Step 42 The evaluation value for each candidate point P J + 1 (i) is calculated by the following equation.
- Step 43 The candidate point P J + 1 (i) having the smallest ⁇ is adopted as the node P J + 1 .
- the processing is performed as follows.
- Section n is resampled at distance Ln. If the remainder (fraction) of section n is shorter than Ln, the distance of this fraction plus part of section n + 1 Is resampled in Ln up to and including section n + 1 so that Ln becomes Ln.
- Section n is resampled at distance Ln, and if the fraction of section n is shorter than Ln, then from this point of section n to section n + 1, Ln + 1 Resample.
- section length change code that indicates the change in the resample section length.
- a special code is assigned to this section length change code, and the section length is defined by fixed bits (about 3 bits) immediately after this special code.
- a reference point setting code indicating the identification code of the reference point node in each section is set.
- a special code is assigned to the reference point setting field, the fixed bits (6 bits, etc.) immediately after this special code are used as the reference node number, and the coordinates that appear after this reference node number are defined as the reference node (no additional bits) Then, the node number initial value is determined in advance, and every time this code is found, the node number system that increments by 1 may be used.
- EOD End of Data
- FIG. 19 illustrates a code table used for this encoding.
- FIG. 20 shows the procedure up to creating this code table off-line
- FIG. 21 shows the procedure up to transmitting traffic information online using the code table.
- Step 50 Refer to the past traffic information
- Step 51 Select target road section for traffic information.
- Step 54 Approximate the shape vector of the target road section to an arc and a straight line.
- Step 56 Quantize and resample the shape data of the target road section with L n and set nodes.
- Step 60 Create a code table based on the appearance distribution of ⁇ 0 and the continuous distribution of the same value.
- Step 61 Store the completed code table in the code table database 24.
- Step 64 Select the target road section including the location where the traffic event occurred. Step 64 Calculate the allowable error range along the target road section.
- Step 66 Approximate the shape vector of the target road section to an arc and a straight line.
- Step 67 Determine the resample length L n of each section n approximated to an arc or straight line.
- Step 68 Quantize and resample the shape data of the target road section with L n and set nodes.
- Step 69 Calculate ⁇ for each node in each section according to the statistical value calculation formula.
- Step 70 Referring to the code table, convert the shape data into a code representation.
- Step 71 Transmit the encoded shape data of the target road section together with the traffic information.
- each road shape in the target area is encoded by the offline processing as described in the third embodiment.
- the shape data of each road section including the traffic event occurrence position is extracted from the shape data generated in the offline processing.
- Select the encoded road shape data, and specify the position where the traffic event occurred The traffic information represented by the relative position of the road section may be generated, and the selected encoded road shape data and the generated traffic information may be transmitted to the receiving side. In this way, the results of resampling with a fixed length L for road shapes that were performed offline can be used in online processing.
- FIG. 22 shows the transmitted road shape data.
- This data includes code table data and encoded shape data, and includes encoded shape data such as ⁇ 0, reference node of each section, and sample section length.
- Figures 23 (a), (b), and (c) schematically show data exchanged between transmission and reception.
- the transmitting side calculates the node position after quantization resampling to represent the road shape as shown in Fig. 23 (a), and the data representing this node position as shown in Fig. 23 (b). Is transmitted to the receiving side.
- the received data is smoothed and the shape is reproduced, as shown in Fig. 23 (c).
- smoothing is performed by using a B-spline (a Bezier spline or a Bezier curve or other interpolating curve) or by using a smoothing function.
- the intercept direction of each generated interpolation point is also distributed on average.
- Figure 24 shows the procedure on the receiving side.
- Step 80 Upon receiving the location information,
- Step 81 Referring to the code table, the shape data of the code expression is converted into a total curvature function.
- Step 83 Obtain the reference node position
- Step 84 Perform map matching to identify the target road section
- Step 85 Reproduce traffic information.
- the amount of transmission data can be significantly reduced by highly compressing the shape data using the irreversible compression method described in this embodiment.
- the arc / linear approximation of the shape data expressed by the full curvature function can be performed simultaneously with quantization resampling, instead of approximating the shape in advance as described here.
- the resampling section length determination logic described here and the quantization resampling The determination procedure can be applied even when the shape data is not approximated by an arc.
- a coordinate point (Pj) arranged on a road can be uniquely specified by two dimensions of an adjacent coordinate point (distance and angle from PjJ).
- the coordinate point position is resampled so that the distance is constant, and only the angle is encoded to reduce the amount of transmission data. Sample processing is required.
- the road shape data is encoded using the nodes and interpolation points included in the road shape of the digital map as the coordinate points, the resampling process becomes unnecessary.
- the distance between nodes and interpolation points is not constant, it is necessary to encode angles and distances.
- FIG. 25 illustrates a method for encoding both angles and distances.
- the angle encoding is the same as in the first embodiment, and the angle information of each node (including the interpolation point) Pj is calculated by calculating the difference between the argument ⁇ j and the argument statistical prediction value Sj.
- ⁇ ⁇ j is expressed as ⁇ ⁇ j, and ⁇ ⁇ j is quantized in, for example, 1 ° units (other resolutions may be used, such as 2 ° units, etc.), and the code table of ⁇ ⁇ is generated based on the frequency of occurrence of the quantized A 0j size. create.
- FIG. 26 (b) shows an example of the code table of ⁇ thus created. This table is the same as the code table of the first embodiment (FIG. 2). Using this code table, the angle information ( ⁇ ”') of each node is variable-length coded.
- distance encoding is performed as follows.
- a Lj Lj ⁇ Tj
- Tj (Lj_i + Lj_ 2) / 2.
- FIG. 26 (a) shows an example of a code table of ⁇ L created in this way.
- the additional bits in this code table are bits added to indicate the sign of the sign.
- Lj is longer than Lj- (Lj- L j - 1> 0) when 0
- distance information (A Lj) of each node is variable-length coded.
- the order of the data at the time of encoding the distance and the angle is determined in advance as A Lj ⁇ A ⁇ j ⁇ AL j + 1 ⁇ A ⁇ j + 1 ⁇ '.
- this data string is subjected to variable-length coding using the code table shown in Figs. 26 (a) and (b) as follows. '
- Figure 27 shows the processing procedure for creating these code tables off-line.
- the target road section of the traffic information is selected (step 91).
- the position data of the nodes included in the target road section is converted into a total curvature function expression (step 92), and the Lm and ⁇ 0j of each node in each section are calculated according to the statistical value calculation formula (step 93).
- the occurrence distribution of A Lj and ⁇ ⁇ j is calculated (step 94), a code table of ⁇ L is created based on the occurrence distribution of ⁇ Lj, and ⁇ Create a code table for ⁇ (steps 95 and 96).
- Step 28 shows a processing procedure for encoding the road shape data using the created code table in order to transmit traffic information.
- the target road section including the position where the traffic event occurred is selected (Step 98).
- the position data of the nodes included in the target road section is converted into a total curvature function expression (Step 99), and ⁇ L j and ⁇ ⁇ j of each node in each section are calculated according to the statistical value calculation formula (Step 100). ).
- the AL of each node is referred to.
- j and ⁇ j are converted into a code representation (step 101).
- the encoded shape data of the target road section is transmitted together with the event position data represented by the relative information of the target road section (step 102).
- FIGS. 29 and 30 show the transmitted road shape data (FIG. 29) and event position data (FIG. 30).
- the road shape data includes code table data, the absolute coordinates of the start node p1 of the section (node pi ⁇ ; p2) represented by the code, the absolute azimuth of the node i, the distance L from the node p1 to the next node. , And coded data between the nodes pi and p2 (a bit string obtained by coding 1 ⁇ 'and 0).
- the receiving side that receives this data converts the code-represented data into a full curvature function with reference to the code table, and reproduces the road shape data, as in the processing flow of FIG.
- the target road section is specified by performing map matching between the reproduced shape and the road shape of the own digital map, and the traffic event occurrence position in the target road section is specified from the event position data.
- the data of the angle and the distance specifying the coordinate point are both variable-length coded without resampling the coordinate point, thereby reducing the amount of transmission data of the road shape data. be able to.
- the coordinate points (P j) arranged on the road are adjacent to each other. Coordinate point (a distance and an angle from Pj-J can be uniquely specified.
- the distance is set to be constant among the two dimensions.
- the coordinate point position is resampled to reduce the amount of transmission data by encoding only the angle
- the coordinate point position is reset so that the angle becomes constant. Sample and reduce the amount of transmitted data by encoding only the distance.
- the resampling process of this shape data is performed as follows.
- the distance statistical prediction value Tj is, for example, or Defined as / 2.
- a code table of ⁇ L is created based on the frequency of occurrence of the quantized A Lj magnitude.
- the continuous distribution of A Lj may be calculated, and a code table incorporating run-length encoding may be created.
- FIG. 32 shows an example of the code table of ⁇ L created in this way.
- L j force longer 0) is 0 as an additional bit to indicate the positive or negative of ⁇ L.
- the fourth embodiment when the coordinate point is resampled so that the distance component is constant, an example in which the distance component (resample section length) is changed depending on the section has been described. Even when the resampling is performed so that is constant, the value of 0 can be switched depending on the section. In this case, as in the fourth embodiment, a value of 0 in each section can be identified on the code-converted shape data string, as in the fourth embodiment.
- Fig. 33 shows the processing procedure for creating this code table off-line
- Fig. 34 shows the processing for transmitting traffic information by coding road shape data using the created code table. The procedure is shown.
- These procedures are different from the procedures described in the third embodiment (FIGS. 7 and 8) in that the shape data of the target road section is fixed at a fixed angle 0 (or 1 0) instead of resampling at a fixed length L.
- Step 112 step 121
- ⁇ L is calculated instead of calculating ⁇ 0 of each resampled node (step 114, step 123), and ⁇ Based on the distribution
- ⁇ Based on the distribution
- a code table for ⁇ L is created based on the distribution of ⁇ L (steps 115 and 117), but the other procedures are the same. .
- FIG. 35 shows the transmitted road shape data.
- the road shape data includes information on the sample angle ⁇ instead of the sample interval length L, as compared with the road shape data (FIG. 9) described in the third embodiment. The difference is that the bit string that encodes ⁇ L j is included instead of the bit string that encodes the memory element j, but the other points are the same.
- the receiving side that receives this data converts the code-represented data into a full curvature function with reference to the code table, and reproduces the road shape data, as in the processing flow of FIG.
- the target road section is specified by performing map matching between the reproduced shape and the road shape of the own digital map, and the traffic event occurrence position in the target road section is specified from the event position data.
- the coordinate point position is resampled so that the angle component is constant on the road, and only the distance component is variable-length coded to reduce the transmission data amount of the road shape data. be able to.
- the angle information of the coordinate point is represented by the argument 0 j (FIG. 42 (b) (b,)) and the predicted value difference of the argument ⁇ j even when adopting any representation in delta 0 j (FIG. 4 2 (c) (c 5 )), can be converted to data with a statistically bias the road shape data.
- the data size when the road shape is represented by the argument 0 and subjected to variable length coding, and the data size when the road shape is represented by the predicted value difference ⁇ 0 and subjected to the variable length encoding are represented by: Are compared, and the encoded data with the smaller data size is transmitted.
- a declination 0 code table for expressing the road shape with a declination 0 j and performing variable length coding
- a variable length code for expressing the road shape with a prediction value difference ⁇ ⁇ j of the declination ⁇ j
- a ⁇ 0 code table for the conversion.
- FIG. 37 shows the procedure for creating the declination ⁇ code table
- FIG. 38 shows the procedure for creating the ⁇ 0 code table.
- the procedure of 38 is the same as the procedure (FIG. 7) in the third embodiment. Further, the procedure of FIG. 37 is different from the procedure of FIG. 38 only in that ⁇ ⁇ in the procedure of FIG. 38 is replaced by declination ⁇ .
- Fig. 39 shows the processing procedure for encoding road shape data and transmitting traffic information using these code tables created off-line.
- Step 133 Convert the position data of the set node into a total curvature function expression.
- Step 134 Next, with reference to the code table of 0, code data of 0 is created, and the data size (A) is calculated.
- Step 135 Next, the code data of ⁇ 0 is created with reference to the code table of ⁇ 0, and the data size (B) is calculated.
- Step 136 Compare the data size (A) with the data size (B), adopt the smaller angle representation of the data size, and use the “angle representation identification flag” to indicate the adopted angle representation in the transmitted shape data. Is set and “encoded data J” in the adopted angle expression.
- Step 137 Transmit the coded shape data of the target road section together with the event position data represented by the relative information of the target road section.
- FIG. 40 shows the transmitted road shape data.
- the road shape data includes information on an “angle expression identification flag” (0 when the expression with the declination of 0 is used, 1 when the expression with the predicted value difference ⁇ is used) indicating the angle expression used, And the information of “encoded data” in the adopted angle representation.
- the transmission data amount is further reduced by selecting either the expression based on the argument or the expression based on the difference between the predicted values as the expression method of the angle information. Can be.
- the encoding method according to the present invention is also applicable to compression of map data itself. It can also be applied to the exchange of map data on the Internet (eg, a client-server map display system using vector maps) and map data distribution services. This encoding method can also be used to compress data when transmitting travel locus data to the center for in-vehicle reporting and floating car data (FCD) from onboard equipment of the vehicle.
- FCD floating car data
- the encoding method of the present invention can be applied to compress the data of the node sequence using a code table. It is possible.
- the encoding method according to the present invention can be applied to a case where shape data of an area (polygon) on a digital map is transmitted.
- shape data of an area (polygon) on a digital map For example, when a polygon is specified and the weather forecast of that area is transmitted, the receiving side can specify the polygon by transmitting the shape data of the boundary line of the polygon. When transmitting the shape data of this boundary line, the amount of transmission data can be reduced by applying the encoding method of the present invention. At this time, if it is not necessary to precisely specify the polygon shape as in the application region of the weather forecast, the receiving side can omit the matching process with the shape on the digital map.
- the illustrated code table is merely an example, and is not optimal. In practice, the variables (0 j, ⁇ ⁇ It is necessary to investigate the distribution of L j) and create a code table using a Huffman tree.
- the encoding method of the present invention can efficiently compress the amount of vector-shaped data in a digital map. Therefore, the position information transmission method and device of the present invention can significantly reduce the amount of transmission data when transmitting the digital map's vector shape. On the receiving side, by reconstructing the shape data from the received data and performing map matching, the transmitted vector shape can be specified accurately.
Description
Claims
Priority Applications (5)
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EP02722858A EP1385269A4 (en) | 2001-05-01 | 2002-04-26 | FORM VECTOR CODING METHOD FOR DIGITAL CARDS AND POSITION INFORMATION TRANSFER METHOD |
KR20037014167A KR100943676B1 (ko) | 2001-05-01 | 2002-04-26 | 디지털 지도의 형상 벡터의 부호화 방법과 위치 정보전달방법 |
US10/169,705 US7333666B2 (en) | 2001-05-01 | 2002-04-26 | Digital map shape vector encoding method and position information transfer method |
CA 2443268 CA2443268A1 (en) | 2001-05-01 | 2002-04-26 | Digital map shape vector encoding method and position information transfer method |
US11/870,731 US7539348B2 (en) | 2001-05-01 | 2007-10-11 | Digital map shape vector encoding method and position information transfer method |
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JP2001220061A JP4230132B2 (ja) | 2001-05-01 | 2001-07-19 | デジタル地図の形状ベクトルの符号化方法と位置情報伝達方法とそれを実施する装置 |
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CA2443268A1 (en) | 2002-11-14 |
US7333666B2 (en) | 2008-02-19 |
US20030093221A1 (en) | 2003-05-15 |
EP1385269A9 (en) | 2006-06-07 |
EP1385269A4 (en) | 2009-10-28 |
CN1515077A (zh) | 2004-07-21 |
KR20040004611A (ko) | 2004-01-13 |
JP2003023357A (ja) | 2003-01-24 |
JP4230132B2 (ja) | 2009-02-25 |
US20080031534A1 (en) | 2008-02-07 |
KR100943676B1 (ko) | 2010-02-22 |
US7539348B2 (en) | 2009-05-26 |
EP1385269A1 (en) | 2004-01-28 |
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