JP7213940B1 - Dynamic map delivery system - Google Patents

Abstract

A dynamic map distribution system that improves the accuracy of dynamic maps transmitted to vehicles. A dynamic map distribution system 1000 includes a control device 2 holding a wide area dynamic map, a dynamic map generation device 1 generating a partial dynamic map, and an in-vehicle device correcting the partial dynamic map. It has a dynamic map correction device 3 that transmits to. The dynamic map generation device 1 generates object information based on the detection data from the sensor unit 5 and includes it in the partial dynamic map. The control device 2 receives the partial dynamic map, updates the wide area dynamic map, and determines whether the object information included in the partial dynamic map is valid. If the object information is not valid, the control device 2 issues a correction request, accepts a correction operation, and transmits a correction instruction to the dynamic map correction device 3 . The dynamic map correction device 3 receives the partial dynamic map and generates a corrected dynamic map based on the correction instruction. [Selection drawing] Fig. 1

Description

The present disclosure relates to a dynamic map distribution system.

In conventional intelligent traffic control systems, roadside sensors and vehicle-mounted sensors detect location information of traffic elements. A dynamic map is updated based on the location information of the detected traffic elements. The updated dynamic map is transmitted to the vehicle (for example, Patent Literature 1).

JP 2021-99793 A

In the conventional intelligent traffic control system, the accuracy of the dynamic map is degraded when the location information of the traffic elements is acquired under bad environment, such as bad weather and blind spots.

The present disclosure has been made to solve the problems described above, and aims to provide a dynamic map distribution system capable of improving the accuracy of dynamic maps transmitted to vehicles.

A dynamic map distribution system according to the present disclosure includes a control device that holds a wide-area dynamic map that is a dynamic map within a control area where vehicle control is performed, a partial area that is part of the control area, generating device for generating a partial dynamic map which is a dynamic map of the above, and generating a modified dynamic map by correcting the partial dynamic map, and transmitting the modified dynamic map to an in-vehicle device installed in the vehicle A correction device is provided, and the generation device generates an object including information on at least one of position, size, and type of the object based on detection data obtained from a sensor unit that detects the object in the partial area. Information is generated and included in the partial dynamic map, and the control device is set with a validity criterion, which is a criterion for judging whether the object information is valid. from the generation device, update the wide-area dynamic map, determine whether the object information contained in the partial dynamic map is valid according to the validity criteria, and determine if the object information is invalid If it is determined, a correction request for the object information is issued, a correction operation for the object information is received, a correction instruction corresponding to the correction operation is transmitted to the correction device, and the correction device receives the partial dynamic map from the generation device. and generate a modified dynamic map based on the modification instructions.

According to the dynamic map distribution system of the present disclosure, it is possible to improve the accuracy of the dynamic map transmitted to the vehicle.

1 is a block diagram showing the overall configuration of a dynamic map distribution system according to Embodiment 1; FIG. 2 is a block diagram showing details of the sensor unit shown in FIG. 1; FIG. 2 is a block diagram showing details of the dynamic map generation device shown in FIG. 1; FIG. 2 is a block diagram showing the details of the control device shown in FIG. 1; FIG. 2 is a block diagram showing details of the dynamic map correction device shown in FIG. 1; FIG. 2 is a block diagram showing the details of the in-vehicle device shown in FIG. 1; FIG. 2 is a hardware configuration diagram of the control device shown in FIG. 1; FIG. FIG. 4 is a diagram for explaining operations when a partial dynamic map is modified in Embodiment 1; FIG. 2 is a flow chart showing the operation of the dynamic map generation device shown in FIG. 1; 2 is a flow chart showing the operation of the control device shown in FIG. 1; 2 is a flow chart showing the operation of the dynamic map correction device shown in FIG. 1; 2 is a flow chart showing the operation of the in-vehicle device shown in FIG. 1;

Hereinafter, embodiments will be described with reference to the drawings.

Embodiment 1.
FIG. 1 is a block diagram showing the overall configuration of a dynamic map distribution system according to Embodiment 1. As shown in FIG.

In FIG. 1, a dynamic map distribution system 1000 is a system that creates a dynamic map and implements traffic control for vehicles to be controlled based on the dynamic map.

The dynamic map distribution system 1000 holds a dynamic map within the control area where vehicle control is performed. A dynamic map within this control area is called a "wide area dynamic map".

Further, in Embodiment 1, the control area is divided into a plurality of partial areas, and each partial area is managed separately. A dynamic map of each partial area is called a "partial dynamic map".

The dynamic map distribution system 1000 has a plurality of sensor units 5 , a plurality of dynamic map generation devices 1 , a control device 2 , a plurality of dynamic map correction devices 3 , and a plurality of in-vehicle devices 4 . However, in FIG. 1, only one dynamic map generation device 1 and one dynamic map correction device 3 respectively corresponding to one partial dynamic map are shown. The dynamic map generation device 1 generates a corresponding partial dynamic map. A dynamic map correction device 3 corrects the corresponding partial dynamic map.

A plurality of sensor units 5 monitor the surroundings and detect objects. An object detected by each sensor unit 5 is hereinafter referred to as an "object".

Objects detected by each sensor unit 5 include moving objects, landmarks, and structures. Mobile objects include people, vehicles, and the like. Landmarks include stations, stops, and the like.

The multiple sensor units 5 include one or more fixed sensor units and one or more vehicle-mounted sensor units. Fixed sensor units are sensor units installed on features such as structures and road surfaces within the control area. A vehicle-mounted sensor unit is a sensor unit mounted on a vehicle.

The dynamic map generation device 1 acquires detection data from a plurality of corresponding sensor units 5 . The dynamic map generation device 1 generates a plurality of pieces of object information based on the detected data. Object information is information for specifying an object. In Embodiment 1, the object information includes at least one of the position, size, and type of the object. Specific examples of object information other than these will be described later.

Also, the dynamic map generation device 1 generates a partial dynamic map including a plurality of object information. The dynamic map generation device 1 also transmits the generated partial dynamic map to the control device 2 and the dynamic map correction device 3 .

The control device 2 holds a wide area dynamic map. The control device 2 updates the wide area dynamic map based on the partial dynamic map transmitted from the dynamic map generation device 1 .

Further, the control device 2 determines whether or not correction is required for each object information, and accepts a correction operation when correction is required. The control device 2 transmits a correction instruction to the dynamic map correction device 3 when the correction operation is performed.

Further, the control device 2 determines the travel route of each vehicle to be controlled based on the wide-area dynamic map. The determined travel route is transmitted to the in-vehicle device 4 mounted in each vehicle.

Upon receiving the partial dynamic map, the dynamic map correction device 3 transmits the partial dynamic map to each vehicle-mounted device 4 . Upon receiving a correction instruction from the control device 2, the dynamic map correction device 3 corrects the partial dynamic map. The partial dynamic map corrected by the dynamic map correction device 3 is called a "corrected dynamic map". When receiving a correction instruction from the control device 2 , the dynamic map correction device 3 transmits the corrected dynamic map to the dynamic map generation device 1 and each vehicle-mounted device 4 .

Also, the dynamic map correction device 3 generates a plurality of vehicle control instructions based on the received partial dynamic map or the corrected dynamic map when correction is performed. Each vehicle control instruction is information for controlling travel of each vehicle. A vehicle control instruction is transmitted to each in-vehicle device 4 .

Each in-vehicle device 4 is a device for autonomously driving the own vehicle. Each in-vehicle device 4 receives the partial dynamic map from the dynamic map correction device 3, or receives the corrected dynamic map when the correction has been made.

Each in-vehicle device 4 also causes the vehicle to travel along the travel route received from the control device 2 . Further, each in-vehicle device 4 performs control for traveling along the travel route based on the vehicle control instruction received from the dynamic map correction device 3 .

FIG. 2 is a block diagram showing details of the sensor unit 5 shown in FIG.

In FIG. 2 , the sensor unit 5 has a sensor device 501 , a sensor device management section 502 and a sensor unit communication section 503 .

The sensor device 501 is a camera, radar, LiDAR, or the like that monitors the surroundings of the road. As the radar, millimeter wave radar, laser radar, ultrasonic radar, etc. are used.

A sensor device management unit 502 controls the power supply of the sensor device 501 . Also, the sensor device management unit 502 changes the sensing configuration held by the sensor device 501 . The sensing configuration includes camera imaging resolution, camera imaging frequency, radar output radio wave intensity, radar radiation direction, and the like. The sensor device management unit 502 changes the sensing configuration of the sensor device 501 to widen the detection range or change the direction of detection.

The sensor unit communication section 503 transmits detection data acquired by the sensor device 501 to the dynamic map generation device 1 . The sensor unit communication section 503 receives a control command for the sensor device management section 502 from the dynamic map generation device 1 or an external device (not shown). The power supply of the sensor device 501 is controlled according to the received control instructions. Also, the sensing configuration information is rewritten according to the received control command.

FIG. 3 is a block diagram showing details of the dynamic map generation device 1 shown in FIG.

3, the dynamic map generation device 1 includes, as functional blocks, a sensor information reception unit 101, a sensor information integration unit 102, an object information generation unit 103, a partial dynamic map generation unit 104, a corrected dynamic map reception unit 105, It has a modified dynamic map update unit 106 and a generation device communication unit 107 .

The generation device communication unit 107 communicates with the sensor unit 5 , the control device 2 and the dynamic map correction device 3 .

The sensor information reception unit 101 acquires detection data from the sensor unit 5 via the generation device communication unit 107 . The acquired detection data is hereinafter referred to as "sensor information".

When a plurality of pieces of sensor information of different types are acquired, the sensor information integration unit 102 integrates each piece of sensor information based on either or both of time and space.

The sensor information integration unit 102 makes a set of image data and shape data acquired at the same time and from the same monitoring location. Then, the sensor information integration unit 102 associates the object appearing in the image data with the shape data. Further, the sensor information integration unit 102 associates geolocation information that can be obtained from a GPS system (not shown) with objects appearing in the image data. Thus, the sensor information integration unit 102 integrates each sensor information.

The object information generation unit 103 generates object information based on the sensor information integrated by the sensor information integration unit 102 .

The object information includes information on the position, size, and type of the object, as described above. Types of information can include people, vehicles, structures, and the like. In addition, the object information includes orientation information of the object, and still/moving information that can distinguish whether the object is static or dynamic.

The object information also includes an object ID for uniquely identifying the object. An object ID is issued by the dynamic map generation device 1 or the control device 2 . The object information also includes an object update time. Object update time is time information when one or more attribute information included in object information is rewritten.

Also, the object information generation unit 103 generates object information including the reliability value. The reliability value is numerical data indicating the accuracy of the generated object information itself.

For example, the type of object can be detected more accurately using image data acquired by a camera than shape data acquired by radar, LiDAR, or the like. On the other hand, positional information on the corners of an object can be detected with higher accuracy using shape data acquired by radar or LiDAR than image data acquired by a camera. Reliability values are set according to the characteristics of these various sensors and the quality of the sensors.

The partial dynamic map generator 104 generates a partial dynamic map by including the object information generated by the object information generator 103 . The generated partial dynamic map is transmitted to the control device 2 and the dynamic map correction device 3 via the generation device communication unit 107 .

In addition to the partial dynamic map, sensor information processed by the sensor information integration unit 102 is also transmitted to the control device 2 .

The modified dynamic map receiving unit 105 acquires the modified dynamic map from the dynamic map modifying device 3 .

The modified dynamic map updating unit 106 updates the partial dynamic map held by the dynamic map generation device 1 using the modified dynamic map.

The modified dynamic map update unit 106 updates the existing partial dynamic map to the modified partial dynamic map using at least one of the following first to fourth methods. . The first method is to replace the existing partial dynamic map in the dynamic map generating device 1 with a corrected dynamic map. A second method is to replace the object information in the existing partial dynamic map with the object information in the modified dynamic map. A third method is to add object information to an existing partial dynamic map as new object information. A fourth method is to delete existing object information from an existing partial dynamic map.

Further, the modified dynamic map update unit 106 compares which of the existing object information to be updated and the received corrected object information is newer. The corrected dynamic map update unit 106 updates the object information only when the received corrected object information is newer as a result of this comparison between the old and new.

Further, the modified dynamic map updating unit 106 obtains the difference between the partial dynamic map generated by the partial dynamic map generating unit 104 and the modified dynamic map. The modified dynamic map update unit 106 calculates a correction value for the object information based on this difference. The calculated correction value is used when object information is generated by the object information generation unit 103 next time.

FIG. 4 is a block diagram showing details of the control device 2 shown in FIG.

4, the control device 2 includes, as functional blocks, a partial dynamic map reception unit 201, a wide area dynamic map update unit 202, a validity verification unit 203, a correction request notification unit 204, a correction operation reception unit 205, and an object information correction unit. It has a section 206 , a correction instruction generation section 207 , a travel information reception section 208 , a vehicle allocation planning section 209 , a route instruction generation section 210 and a control device communication section 211 .

The control device communication unit 211 communicates with the dynamic map generation device 1, the dynamic map correction device 3, and the vehicle-mounted device 4. FIG.

The partial dynamic map reception unit 201 acquires the partial dynamic map generated by the dynamic map generation device 1 .

The wide-area dynamic map update unit 202 updates the wide-area dynamic map held by the control device 2 using the partial dynamic map.

The wide-area dynamic map update unit 202 updates the existing wide-area dynamic map in the control device 2 using at least one of the following replacement method, addition method, and deletion method. Here, the replacement method is a method of replacing object information existing in the existing wide-area dynamic map with object information in the acquired partial dynamic map. The addition method is a method of adding object information in a partial dynamic map to an existing wide-area dynamic map as new object information. The deletion method is a method of deleting object information from an existing wide-area dynamic map.

The wide-area dynamic map update unit 202 may update the existing wide-area dynamic map by replacing part of the existing wide-area dynamic map in the control device 2 with the received partial dynamic map.

The wide-area dynamic map update unit 202 also compares existing object information in the wide-area dynamic map with object information in the partial dynamic map. The wide area dynamic map update unit 202 performs update processing only when the object information in the partial dynamic map is newer.

The wide-area dynamic map update unit 202 also compares the reliability values of the existing object information in the wide-area dynamic map and the object information in the partial dynamic map. The wide area dynamic map update unit 202 adopts the object information with the higher reliability.

Further, when the same object information is redundantly present in a plurality of partial dynamic maps, the wide-area dynamic map update unit 202 compares the respective reliability values with each other. The wide-area dynamic map update unit 202 adopts the object information with the highest reliability, and updates the wide-area dynamic map based on this object information.

The validity verification unit 203 verifies whether or not the object information in the received partial dynamic map is valid.

In the control device 2, validity determination criteria are set as criteria for determining whether or not object information is valid. The validity verification unit 203 determines whether or not the object information included in the partial dynamic map is valid based on this validity determination criterion.

Here, the validity judgment criteria and the validity judgment method will be exemplified.

The validity verification unit 203 determines validity based on the reliability value included in the object information. In this case, a reliability threshold, which is a threshold for reliability, is set in the control device 2 as a criterion for judging validity. The validity verification unit 203 determines whether the object information is valid by comparing the reliability value and the reliability threshold.

If the reliability value is smaller than the reliability threshold, the validity verification unit 203 determines that the object information is not valid because the reliability is low.

Also, the validity verification unit 203 determines validity based on whether the object information is old. In this case, an elapsed time threshold, which is a threshold relating to elapsed time, is set in the control device 2 as a criterion for judging validity. The validity verification unit 203 determines whether the difference between the current time and the object update time is equal to or greater than the elapsed time threshold.

The validity verification unit 203 determines that the object information whose elapsed time is equal to or longer than the threshold value is old information and is not valid.

The validity verification unit 203 can use predefined set values as the reliability threshold and the elapsed time threshold. Alternatively, the validity verification unit 203 can use values determined according to the type of object as the reliability threshold and the elapsed time threshold. Alternatively, the validity verification unit 203 can use set values distributed from outside the control device 2 at regular intervals as the reliability threshold and the elapsed time threshold.

Further, the validity verification unit 203 determines validity by determining whether or not two objects overlap each other. In this case, an interval threshold is set in the control device 2 as a plausibility criterion. The interval threshold is a threshold regarding the interval between objects.

When two objects are detected, the validity verification unit 203 acquires the position and size of the first object information corresponding to one of the objects. The validity verification unit 203 acquires the position and size of the second object information corresponding to the other object. The validity verification unit 203 determines whether two objects overlap based on the position and size of the first object information, the position and size of the second object information, and the interval threshold.

If the validity verification unit 203 determines that they overlap, it determines that at least one of the first and second object information is not valid.

Further, the validity verification unit 203 determines that the target object is not valid when it moves to a plurality of locations even though the object is static. In this case, a permissible error threshold is set in the control device 2 as a validity criterion. The Tolerance Threshold is the threshold for the positional tolerance.

The validity verification unit 203 performs validity determination based on the still/moving information included in the object information and the difference in the position of the object before and after the wide area dynamic map is updated. That is, the validity verification unit 203 determines whether there is object information that indicates that the still/movement information is static and that the difference in the position of the object before and after the update is equal to or greater than the allowable error threshold. judge. If the corresponding object information exists, the validity verification unit 203 determines that the object information is not valid.

Further, the validity verification unit 203 determines that the object is not valid when the object is moving at a speed equal to or higher than the assumed speed.

In this case, a movement distance threshold is set in the control device 2 as a validity criterion. The validity verification unit 203 determines that the object information is not valid if the object has moved more than the movement distance threshold before and after the update. This movement distance threshold is set for each type of object.

The correction request notification unit 204 issues a correction request via the control device communication unit 211 for the object information determined to be invalid by the validity verification unit 203 .

For example, a controller terminal (not shown) is the destination of the correction request. A controller terminal is a terminal used by a controller who operates the control device 2 .

Further, when a worker is assigned to each partial area, a local worker terminal (not shown) may be used as the destination of the correction request. The on-site worker terminal is a terminal used by the on-site worker whose working range is the corresponding partial area.

Correction work for the object information is performed at these notification destinations. Here, a case where the controller terminal is the notification destination will be described as an example.

The controller confirms the content of the report displayed on the interface of the controller terminal. The controller confirms the partial dynamic map, object information, and sensor information received by the control device 2 according to the content of the report. In addition, the controller may request the local worker to check the situation. In this way, the object is inspected by means different from the partial dynamic map generation in the dynamic map generation device 1 .

The correction operation reception unit 205 receives a correction operation for object information. The air traffic controller performs a correcting operation on the correcting operation receiving unit 205 via the air traffic controller terminal.

The modification operation reception unit 205 receives at least one of the integration operation, the addition operation, and the deletion operation as the modification operation. The integration operation is an operation of identifying and integrating multiple pieces of object information into one. The addition operation is an operation of newly adding missing object information. The deletion operation is an operation for deleting the erroneously detected object information that has no substance.

The object information correction unit 206 updates the object information corrected by the correction operation reception unit 205 . The object information and wide area dynamic map stored in the control device 2 are updated by the object information correction unit 206 .

At this time, the object information before and after the update and the difference information of the wide area dynamic map are stored. The period during which the difference information is stored is a predetermined fixed period or a period determined according to the degree of difference.

The correction instruction generation unit 207 generates correction instructions. The correction instruction includes the ID and difference information of the object information to be corrected. Alternatively, the object information itself to be corrected may be included in the correction instruction.

The generated correction instruction is transmitted to the dynamic map correction device 3 via the control device communication section 211 .

The travel information receiving unit 208 receives travel information of the vehicle from the in-vehicle device 4 via the control device communication unit 211 .

The travel information includes at least vehicle position information, vehicle travel direction, vehicle travel speed, presence or absence of a destination, destination information if there is a destination, and the current travel route.

The vehicle allocation planning unit 209 generates a travel route based on the travel information received by the travel information reception unit 208 and the wide area dynamic map stored in the control device 2 . This newly generated travel route is called a "new route".

The new route contains the coordinates of the destination and waypoints. Instead of the coordinates of the destination, the new route may contain the identifier information of the object that is the destination. The new route also includes at least departure time, estimated arrival time, road segment, and driving lane information.

The new route will be the route that will most efficiently reach the destination. Here, examples of an efficient travel route include a straight travel route and a short travel distance required for the travel route. Examples of an efficient travel route include a short expected travel time to the destination and a low occurrence frequency of objects that can be obstacles.

Further, when a vehicle allocation request is transmitted from a specific landmark such as a station or a bus stop, the vehicle allocation planning unit 209 may implement the vehicle allocation plan in response to this vehicle allocation request. The vehicle allocation request includes the position coordinates of the vehicle allocation location, the size of the target vehicle, the number of possible passengers, the desired arrival time, and the like. The vehicle allocation planning unit 209 determines the travel route so that the vehicle arrives at the designated vehicle allocation location by the desired arrival time included in the vehicle allocation request.

The route instruction generator 210 generates route instructions. The route instructions contain the newly generated new route. The route instruction generation unit 210 transmits the route instruction to the in-vehicle device 4 via the control device communication unit 211 .

In addition, the route instruction generator 210 can determine whether to transmit a new route to the in-vehicle device 4 .

For example, if a new object is found in the modified wide-area dynamic map and this object hinders driving, it is necessary to avoid the object. Therefore, the route instruction generation unit 210 determines whether or not there is an obstructing object on the transmitted route based on the corrected wide-area dynamic map. If there is an object on the transmitted route, a new route is transmitted to the in-vehicle device 4. - 特許庁This new route is generated based on the modified wide area dynamic map. Therefore, the travel route that avoids the obstructing object is transmitted to the in-vehicle device 4 .

Further, the route instruction generation unit 210 may determine whether to transmit the new route by comparing the traveling efficiency of the new route and the already transmitted route. In this case, the route instruction generator 210 transmits the new route to the in-vehicle device 4 when the new route is more efficient than the transmitted route. On the other hand, the route instruction generator 210 does not transmit the new route to the in-vehicle device 4 if the new route has the same efficiency as the transmitted route or has lower efficiency.

FIG. 5 is a block diagram showing details of the dynamic map correction device 3 shown in FIG.

5, the dynamic map correction device 3 includes, as functional blocks, a partial dynamic map transmission/reception unit 301, a correction instruction reception unit 302, a correction validity verification unit 303, a partial dynamic map correction unit 304, and a vehicle information reception unit 305. , a vehicle control unit 306 , a vehicle control instruction generation unit 307 , and a correction device communication unit 308 .

A correction device communication unit 308 communicates with the dynamic map generation device 1 , the control device 2 , and the vehicle-mounted device 4 .

The partial dynamic map transmission/reception unit 301 receives the partial dynamic map from the dynamic map generation device 1 . The partial dynamic map transmission/reception unit 301 also transmits the received partial dynamic map to the in-vehicle device 4 .

The correction instruction receiving unit 302 acquires a dynamic map correction instruction from the control device 2 .

A correction validity verification unit 303 verifies the validity of the correction based on the correction instruction. Correction validity verification section 303 shall verify validity by the same method as the above-mentioned method which validity verification section 203 of control device 2 performs, for example. However, the modified validity verification unit 303 uses a reference value different from the validity judgment standard used by the validity verification unit 203 for determination.

The partial dynamic map correction unit 304 corrects the partial dynamic map acquired by the partial dynamic map transmission/reception unit 301 based on the correction instruction when it is determined to be appropriate.

A partial dynamic map correction unit 304 replaces the object information in the partial dynamic map based on the information included in the correction instruction. Alternatively, the partial dynamic map correction unit 304 adds new object information to the partial dynamic map. Alternatively, the partial dynamic map correction unit 304 deletes object information from the partial dynamic map. Using these techniques, the partial dynamic map correction unit 304 generates a corrected dynamic map based on the correction instruction.

The partial dynamic map correction unit 304 may compare the object information to be corrected in the dynamic map correction device 3 with the object information included in the correction instruction. In this case, the partial dynamic map correction unit 304 updates the object information only when the object information included in the correction instruction is newer.

The partial dynamic map correction unit 304 transmits the corrected dynamic map to the in-vehicle device 4 via the correction device communication unit 308 . The partial dynamic map correction unit 304 may transmit the corrected dynamic map to all the in-vehicle devices 4 . Alternatively, the partial dynamic map correction unit 304 may transmit the corrected dynamic map only to the in-vehicle devices 4 within the range containing the object information to be corrected.

A vehicle information receiving unit 305 acquires vehicle information from the in-vehicle device 4 . The vehicle information includes at least vehicle type information, vehicle position information, vehicle travel direction, vehicle travel speed, and travel route.

The vehicle control unit 306 generates vehicle control using the vehicle information acquired by the vehicle information receiving unit 305 and the dynamic map information. Vehicle control defines detailed operations so that the vehicle does not interfere with other objects when traveling along a travel route. For example, if there is an object that is an obstacle on the route on which the vehicle travels, vehicle control is generated for the vehicle to avoid or stop the object.

Further, when the vehicles interfere with each other, the vehicle control unit 306 may generate vehicle control for only one of them. In this case, the vehicle to be generated is determined according to the position coordinates in which the vehicle is running. Alternatively, the vehicle to be generated is determined by the vehicle type information included in the vehicle information.

The vehicle control instruction generation unit 307 generates vehicle control instructions including the vehicle control generated by the vehicle control unit 306 . Vehicle control instruction generator 307 transmits a vehicle control instruction to the vehicle.

FIG. 6 is a block diagram showing details of the in-vehicle device 4 shown in FIG.

6, the in-vehicle device 4 includes, as functional blocks, a dynamic map receiver 401, a dynamic map updater 402, a route instruction receiver 403, a route updater 404, a vehicle control instruction receiver 405, and a vehicle operation controller 406. , and an in-vehicle device communication unit 407 .

The in-vehicle device communication unit 407 communicates with the control device 2 and the dynamic map correction device 3 .

The dynamic map receiving unit 401 receives the partial dynamic map from the dynamic map correction device 3 . When a modified dynamic map is transmitted from the dynamic map modifying device 3, the dynamic map receiving unit 401 receives the modified dynamic map.

When the dynamic map receiving unit 401 receives a partial dynamic map, the dynamic map updating unit 402 updates the existing partial dynamic map to the received partial dynamic map. Further, when the dynamic map receiving unit 401 receives the modified dynamic map, the dynamic map updating unit 402 updates the existing partial dynamic map to the modified dynamic map.

The dynamic map updater 402 replaces the existing partial dynamic map with the modified dynamic map. Alternatively, the dynamic map update unit 402 replaces the object information in the existing partial dynamic map with the object information in the modified dynamic map. Alternatively, the dynamic map update unit 402 adds new object information to the existing partial dynamic map. Alternatively, the dynamic map update unit 402 deletes the object information from the existing partial dynamic map. These techniques update the existing partial dynamic map with the received modified dynamic map. Also, these methods are the same when the partial dynamic map is received by the dynamic map receiving unit 401 .

The dynamic map update unit 402 also compares the object information to be corrected in the in-vehicle device 4 with the received object information after correction to determine which object information is newer. The dynamic map update unit 402 updates only when the corrected object information is newer as a result of this comparison.

The route instruction receiving unit 403 receives the route instruction transmitted from the control device 2 via the in-vehicle device communication unit 407 .

The route update unit 404 updates the currently held travel route to the new route included in the route instruction.

In addition, the route update unit 404 determines whether or not it is possible to travel on the new route based on the current travel state of the host vehicle. The route update unit 404 replaces the existing travel route of the host vehicle with a new route, if feasible. The route updating unit 404 discards the new route if it is infeasible.

An example of a case where it is impossible to travel a new route is a case where the destination is blocked by an object or the like and cannot be reached.

In addition, even if the travel route is suddenly changed, it may not be possible to respond to large vehicles that cannot turn in a small radius or vehicles that travel at high speed. The route update unit 404 determines whether or not the route is executable depending on the type of vehicle.

Further, the route updating unit 404 may determine whether or not the new route can be traveled based on whether the vehicle is actually carrying passengers. The route updating unit 404 may determine whether or not the execution is possible based on whether the vehicle is being forwarded. The route updating unit 404 may determine whether or not execution is possible by determining whether or not the vehicle can be reached with the remaining amount of charge or remaining fuel.

The route update unit 404 transmits the result of determination as to whether or not execution is possible to the control device 2 via the in-vehicle device communication unit 407 .

The vehicle control instruction receiving unit 405 receives the vehicle control instruction transmitted from the dynamic map correction device 3 via the vehicle-mounted device communication unit 407 .

The vehicle motion control unit 406 controls the running motion of the own vehicle based on the travel route acquired from the control device 2 and the vehicle control instruction received by the vehicle control instruction receiving unit 405 .

The vehicle operation control unit 406 determines whether the received vehicle control instruction can be executed based on the current running state of the own vehicle. The vehicle operation control unit 406 controls each functional unit that controls the operation of the own vehicle if it can be executed. Vehicle motion control unit 406 discards the received vehicle control instruction if it is not executable.

The vehicle motion control unit 406 determines that it is not feasible when an unrealizable displacement is required with respect to the current traveling direction of the vehicle. The vehicle motion control unit 406 determines that it is not feasible when a speed change that cannot be realized with respect to the current vehicle running speed is required.

The vehicle operation control unit 406 transmits the determination result of whether or not the vehicle control instruction can be executed to the dynamic map correction device 3 via the in-vehicle device communication unit 407 .

FIG. 7 is a hardware configuration diagram of the control device 2 shown in FIG.

Each functional unit of the control device 2 is implemented by a processing circuit included in the control device 2 . The control device 2 has an arithmetic device 21 , a storage device 22 , a user interface device 23 and a communication device 24 .

The computing device 21 is, for example, a CPU. The storage device 22 is, for example, RAM, ROM, HDD, SSD. The user interface device 23 is, for example, a display, keyboard, or touch panel. The communication device 24 is, for example, a LAN card.

A program for realizing each function of the control device 2 is stored in the storage device 22 . Arithmetic device 21 executes a program input from storage device 22 . Thereby, each function of the control device 2 is realized by cooperating with hardware such as the storage device 22, the user interface device 23, the communication device 24, and the like. Further, data such as calculation results of the calculation device 21 may be output to the storage device 22 or may be output to the outside via the communication device 24 .

The dynamic map generation device 1 and the dynamic map correction device 3 also have the same hardware configuration as shown in FIG.

FIG. 8 is a diagram for explaining the operation when the partial dynamic map is modified according to the first embodiment.

A vehicle V1 shown in FIG. 8 is equipped with an in-vehicle device 4 . The vehicle V1 travels according to the travel route generated by the control device 2 . Also, in FIG. 8, the vehicle V1 is heading from the first point P1 to the second point P2.

On the wide-area dynamic map held by the control device 2, there is a first object B1 that is an obstacle for traveling. However, it is assumed that the first object B1 is an object that has been drafted in the direction of the road due to erroneous detection by the sensor unit 5 from the second object B2 that exists on the side of the road.

When the vehicle V1 goes from the first point P1 to the second point P2, the shortest route is the first route R1 that passes through the third point P3. However, the control device 2 determines that the vehicle V1 may interfere with the first object B1 when traveling near the third point P3. Therefore, the control device 2 selects the second route R2 passing through the fourth point P4 as an alternative route.

However, if the validity verification unit 203 determines that the first object B1 is not valid, a correction request is issued.

The controller who has received the correction request for the first object B1 performs confirmation work. Here, as confirmation work, the controller confirms the data contents of the relevant partial dynamic map, object information, and sensor information. In addition, as confirmation work, the controller confirms the surroundings of the first object B1 using other sensors. Alternatively, the controller may request the local worker to perform the visual check.

When it is confirmed that the first object B1 is actually the second object B2, the controller performs a corrective operation on the first object B1 via the controller terminal and the corrective operation receiving unit 205.

The object information correction unit 206 of the control device 2 rewrites the position information of the first object B1 to the position information of the second object B2 according to the correction operation by the controller.

The correction instruction generation unit 207 transmits the object information regarding the corrected first object B1 to the dynamic map correction device 3 . Then, the dynamic map correction device 3 generates a corrected dynamic map. The generated modified dynamic map is distributed to each vehicle, including the vehicle V1, that is traveling within the partial area to be modified.

As a result of distribution of the modified dynamic map, the in-vehicle device 4 mounted on the vehicle V1 recognizes the first object B1 as the second roadside object B2.

Also, the vehicle allocation planning unit 209 in the control device 2 implements route planning. That is, the first route R1 passing through the third point P3 is selected, and the first route R1 is transmitted to the vehicle V1. Accordingly, the vehicle V1 can travel the more efficient first route R1.

FIG. 9 is a flow chart showing the operation of the dynamic map generation device 1 shown in FIG. This operation process is repeatedly executed, for example, in each fixed calculation cycle.

In step S<b>101 , the sensor information receiving section 101 acquires sensor information from the sensor unit 5 .

In step S102, the sensor information integration unit 102 integrates these pieces of sensor information when there are multiple types of acquired sensor information.

In step S103, the object information generator 103 generates object information based on the integrated sensor information.

In step S104, the partial dynamic map generation unit 104 generates a partial dynamic map including the generated object information. The partial dynamic map generation unit 104 distributes the partial dynamic map to the control device 2 and the dynamic map correction device 3 via the generation device communication unit 107 .

In step S<b>105 , the modified dynamic map receiving unit 105 determines whether the modified dynamic map has been acquired from the dynamic map modifying device 3 . If acquired, the modified dynamic map receiving unit 105 advances the process to step S106. If not acquired, the modified dynamic map receiving unit 105 terminates the process.

In step S106, the modified dynamic map updating unit 106 determines the necessity of updating. If the object information included in the modified dynamic map is newer than the existing one, modified dynamic map update unit 106 advances the process to step S107. On the other hand, if the object information included in the modified dynamic map is older, the modified dynamic map updating unit 106 terminates the process.

In step S107, the modified dynamic map updating unit 106 updates the dynamic map in the dynamic map generation device 1 using the modified dynamic map received in step S105. After performing step S107, the modified dynamic map updating unit 106 terminates the process.

FIG. 10 is a flow chart showing the operation of the control device 2 shown in FIG. This operation processing is repeatedly executed, for example, for each constant periodic calculation.

In step S<b>201 , the partial dynamic map receiving unit 201 acquires a partial dynamic map from the dynamic map generation device 1 .

In step S202, the wide-area dynamic map update unit 202 compares existing object information in the wide-area dynamic map with object information in the partial dynamic map. Based on this, the wide-area dynamic map update unit 202 determines the necessity of updating the wide-area dynamic map.

If the object information in the partial dynamic map is newer, the wide area dynamic map updating unit 202 advances the process to step S203. On the other hand, if the object information in the partial dynamic map is older, the wide-area dynamic map updating unit 202 determines that updating is unnecessary, and advances the process to step S209.

In step S203, the wide-area dynamic map update unit 202 updates the wide-area dynamic map held by the control device 2 using the partial dynamic map acquired in step S201.

In step S204, the validity verification unit 203 determines whether or not the object information included in the partial dynamic map is valid based on the validity determination criteria. If the object information is not valid, the validity verification unit 203 advances the process to step S205. On the other hand, when the validity verification unit 203 determines that the object information is valid and does not need to be corrected, the process proceeds to step S209.

In step S205, the correction request notification unit 204 issues a dynamic map correction request, and the process proceeds to step S206.

In step S206, the correction operation receiving unit 205 receives a correction operation for the object information for which the correction request has been issued.

In step S207, the object information correction unit 206 corrects the object information.

In step S208, the correction instruction generation unit 207 generates a correction instruction for the partial dynamic map. The generated correction instruction is transmitted to the dynamic map correction device 3 .

In step S<b>209 , the travel information receiving unit 208 receives travel information from the in-vehicle device 4 .

In step S<b>210 , the vehicle allocation planning unit 209 implements a vehicle allocation plan based on the travel information and the wide-area dynamic map held by the control device 2 . Implementation of this dispatch plan generates a new route for the vehicle.

In step S211, the route instruction generator 210 determines whether to transmit a new route. When determining to transmit the new route, the route instruction generation unit 210 transmits the new route in step S212. After performing step S212, the route instruction generation unit 210 terminates the process. On the other hand, when the route instruction generation unit 210 determines not to transmit the new route, the process is terminated as it is.

FIG. 11 is a flow chart showing the operation of the dynamic map correction device 3 shown in FIG. This operation processing is repeatedly executed, for example, for each constant periodic calculation.

In step S<b>301 , the partial dynamic map transmission/reception unit 301 receives the partial dynamic map from the dynamic map generation device 1 .

In step S<b>302 , the correction instruction receiving unit 302 determines whether or not a correction instruction has been received from the control device 2 . If the correction instruction receiving unit 302 does not receive a correction instruction, the process proceeds to step S311. In step S<b>311 , the received partial dynamic map is transmitted to the in-vehicle device 4 via the correction device communication section 308 . After that, the dynamic map generating device 1 terminates the processing.

On the other hand, in step S302, when the correction instruction receiving unit 302 receives a correction instruction, the process proceeds to step S303. In step S303, the modification validity verification unit 303 determines the validity of the modification of the partial dynamic map. If the correction validity verification unit 303 determines that the correction is appropriate, the process proceeds to step S304. On the other hand, when the correction validity verification unit 303 determines that the correction is not appropriate, the process proceeds to step S305. In this case, correction processing in the dynamic map generation device 1 is not performed.

In step S304, the partial dynamic map correction unit 304 generates a corrected dynamic map by correcting the partial dynamic map based on the correction instruction. The partial dynamic map correction unit 304 updates the partial dynamic map held in the dynamic map correction device 3 to a corrected dynamic map.

The partial dynamic map correction unit 304 transmits the corrected dynamic map to the in-vehicle device 4 in step S310. After transmission, the partial dynamic map correction unit 304 advances the process to step S305.

In step S<b>305 , the vehicle information receiving unit 305 receives vehicle information from the in-vehicle device 4 .

In step S<b>306 , the vehicle control unit 306 creates a vehicle control instruction based on the vehicle information and the partial dynamic map held in the dynamic map correction device 3 . If the modified dynamic map has been generated in step S304, vehicle control unit 306 creates a vehicle control instruction based on the vehicle information and the modified dynamic map.

In step S<b>307 , the vehicle control instruction generator 307 transmits the generated vehicle control instruction to the in-vehicle device 4 . The vehicle control instruction generator 307 then terminates the process.

FIG. 12 is a flow chart showing the operation of the in-vehicle device 4 shown in FIG. This operation processing is repeatedly executed, for example, for each constant periodic calculation.

In step S<b>401 , the dynamic map receiving unit 401 receives a partial dynamic map or a modified dynamic map from the dynamic map modifying device 3 .

In step S<b>402 , the dynamic map update unit 402 determines the necessity of updating the partial dynamic map held in the in-vehicle device 4 . When the dynamic map update unit 402 determines that update is necessary, the process proceeds to step S403. On the other hand, if the dynamic map updating unit 402 determines that updating is unnecessary, the process proceeds to step S404.

In step S403, the dynamic map updating unit 402 updates the partial dynamic map held in the in-vehicle device 4 to the partial dynamic map or modified dynamic map received in step S401.

In step S<b>404 , the route instruction receiving unit 403 determines whether a new route has been received from the control device 2 . If the route instruction receiving unit 403 receives a new route, the process proceeds to step S405. On the other hand, if the route instruction receiving unit 403 does not receive a new route, the process proceeds to step S407.

In step S405, the route update unit 404 determines whether or not the new route can be traveled based on the current travel state of the host vehicle. If the route updating unit 404 determines that the new route can be traveled, the process proceeds to step S406. On the other hand, when route updating unit 404 determines that the new route cannot be traveled, the process proceeds to step S407.

In step S406, the route update unit 404 updates the travel route currently held by the host vehicle to a new route.

In step S<b>407 , the vehicle control instruction receiving unit 405 receives a vehicle control instruction from the dynamic map correction device 3 .

In step S408, the vehicle operation control unit 406 determines whether the received vehicle control instruction can be executed based on the running state of the own vehicle. If the vehicle control instruction can be executed, vehicle operation control unit 406 advances the process to step S409. On the other hand, if the vehicle control instruction cannot be executed, the vehicle operation control unit 406 terminates the process.

In step S409, the vehicle motion control unit 406 updates the control information for the running motion of the own vehicle based on the dynamic map held by the own vehicle, the travel route, and the vehicle control instruction received in step S407. .

In addition, the in-vehicle device 4 transmits travel information of the own vehicle to the control device 2 synchronously or asynchronously with the above series of operations. In addition, the in-vehicle device 4 transmits vehicle information of its own vehicle to the dynamic map correction device 3 synchronously or asynchronously with the series of operations.

In such a dynamic map distribution system 1000 , the dynamic map generation device 1 generates object information based on detection data acquired from the sensor unit 5 . The object information includes at least one of the position, size and type of the object. The dynamic map generation device 1 includes object information in the partial dynamic map.

The control device 2 receives the partial dynamic map from the dynamic map generation device 1 and updates the wide area dynamic map. The control device 2 determines whether the object information included in the partial dynamic map is valid based on the validity criteria. When the control device 2 determines that the object information is not valid, it issues a correction request for the object information and accepts a correction operation for the object information. The control device 2 transmits a correction instruction corresponding to the received correction operation to the dynamic map correction device 3 .

The dynamic map correction device 3 receives the partial dynamic map from the dynamic map generation device 1 and generates a corrected dynamic map by correcting the partial dynamic map based on the correction instruction from the control device 2. . The dynamic map correction device 3 transmits the corrected dynamic map to the in-vehicle device 4 mounted on the vehicle.

Therefore, the dynamic map distribution system 1000 can improve the accuracy of the dynamic map transmitted to the vehicle.

In addition, the dynamic map generation device 1 acquires a plurality of different types of sensor information as detection data. The dynamic map generation device 1 integrates a plurality of different types of sensor information to generate object information. Therefore, when the dynamic map generation device 1 cannot obtain sufficient accuracy with one sensor information, it is possible to complement it with other sensor information and improve the accuracy.

Further, the control device 2 updates the wide-area dynamic map by a replacement method of replacing the object information existing in the wide-area dynamic map with the object information in the received partial dynamic map. Further, the control device 2 updates the wide-area dynamic map by adding the object information in the received partial dynamic map to the wide-area dynamic map. Further, the control device 2 updates the wide-area dynamic map by a deletion method of deleting object information existing in the wide-area dynamic map. The control device 2 uses at least one of these methods to update the wide-area dynamic map. Therefore, the control device 2 can reliably update the wide area dynamic map based on the partial dynamic map.

Further, the control device 2 determines whether the object information is valid by comparing the reliability value and the reliability threshold. Therefore, since highly reliable object information is adopted, the accuracy of the dynamic map is improved.

Further, when the object information included in each of the plurality of partial dynamic maps with different ranges from the dynamic map generation device 1 relates to the same object, the control device 2 exchanges the respective reliability values with each other. compare. Based on the comparison result, the control device 2 adopts any one of the object information and updates the wide-area dynamic map. Therefore, the control device 2 can update the wide-area dynamic map using highly reliable object information.

Also, the reliability threshold is a value determined according to the information on the type of object. Thereby, the control device 2 can set the detection accuracy for each type of object.

Also, the control device 2 determines whether the difference between the current time and the object update time is equal to or greater than the elapsed time threshold. If the difference between the current time and the object update time is equal to or greater than the elapsed time threshold, the control device 2 determines that the object information is invalid. Therefore, the control device 2 can avoid update processing using object information older than the elapsed time threshold.

Further, the control device 2 determines whether the two objects overlap based on the first object information about one object, the second object information about the other object, and the distance threshold. When determining that they overlap, the control device 2 determines that at least one of the first object information and the second object information is not valid. Therefore, object information in which at least one of position and size is inconsistent can be corrected.

Further, the control device 2 determines whether or not there is object information indicating that the object is a static object in the still/moving information. The control device 2 determines whether there is any object information in which the difference in position before and after updating the wide area dynamic map is equal to or greater than the allowable error threshold. If there is object information that satisfies both of these requirements, the control device 2 determines that the object information is invalid. Therefore, the control device 2 can correct the object information detected as moving even though the object is static.

Further, when the object information in the partial dynamic map moves more than the movement distance threshold before and after updating the wide-area dynamic map, the control device 2 determines that the object information is not valid. Therefore, the control device 2 can correct the object information detected as moving at a speed higher than the assumed speed.

Further, the control device 2 transmits a correction request to the terminal used by the controller operating the control device 2 . The control device 2 receives a correction operation by the control staff via the terminal used. Therefore, the control device 2 can notify the controller of the presence of invalid object information. Also, the controller can correct the object information.

In addition, the control device 2 transmits a correction request to the terminal used by the field worker whose work range is within the partial area. Therefore, the control device 2 can notify the field worker near the object that invalid object information exists.

Further, the control device 2 accepts an integration operation of integrating a plurality of pieces of object information into one as a correction operation. The control device 2 accepts an addition operation for newly adding object information as a correction operation. The control device 2 accepts a deletion operation for deleting object information as a correction operation. Therefore, correction of the object information is reliably performed.

Also, the dynamic map correction device 3 transmits the corrected dynamic map to the dynamic map generation device 1 . The dynamic map generation device 1 calculates a correction value for object information based on the difference between the generated partial dynamic map and the corrected dynamic map. After that, the dynamic map correction device 3 generates object information using the correction value when generating object information. Therefore, a highly accurate partial dynamic map can be generated.

Further, the control device 2 generates a travel route of the vehicle as a new route based on the corrected wide-area dynamic map, which is the wide-area dynamic map after receiving the correction operation. Therefore, it is possible to generate a travel route suitable for the current road conditions.

Further, the control device 2 determines whether the object detected by the sensor unit 5 is on the transmitted route, which is the traveling route that has already been transmitted, based on the modified wide-area dynamic map. The control device 2 transmits the new route to the in-vehicle device 4 when the object is on the transmitted route. Therefore, the control device 2 can transmit to the in-vehicle device 4 a travel route that avoids the obstructing object.

Further, the control device 2 transmits the new route to the in-vehicle device 4 when the new route is more efficient than the transmitted route, which is the travel route that has already been transmitted. The control device 2 does not transmit the new route to the in-vehicle device 4 when the new route has the same efficiency or lower efficiency than the transmitted route. Therefore, it is possible to prevent the running efficiency of the vehicle from deteriorating due to the correction of the dynamic map.

The dynamic map correction device 3 also generates a vehicle control instruction for controlling the running of the vehicle based on the modified dynamic map. The dynamic map correction device 3 transmits the generated vehicle control instructions to the in-vehicle device 4 . Therefore, the dynamic map correction device 3 can issue a vehicle control instruction suitable for the current road conditions.

In addition, in Embodiment 1, although the control apparatus 2 is a single structure, it is good also as a multiple structure. In Embodiment 1, the sensor unit 5, the dynamic map generation device 1, the dynamic map correction device 3, and the in-vehicle device 4 each have a plurality of configurations, but may have a single configuration.

Further, if the control device 2 has a function unit that performs correction processing, the correction request notification unit 204 may directly issue a dynamic map correction request to the function unit.

Further, the correction request notification unit 204 may issue a correction request to the dynamic map generating device 1 that generated the dynamic map. In this case, if there is a correction value for the corresponding object information, the dynamic map generation device 1 applies this correction value to the corresponding object information.

Further, the dynamic map generation device 1, the control device 2, the dynamic map correction device 3, and the in-vehicle device 4 are configured to transmit and receive difference data before and after the dynamic map is corrected when transmitting and receiving the dynamic map. good too.

Further, the sensor device management section 502 of the sensor unit 5 may acquire differential data before and after the dynamic map is corrected, and change the sensing configuration based on the differential data.

Further, the correction request notification unit 204 of the control device 2 may issue a correction request notification to the dynamic map generation device 1 and the arithmetic processing device having higher processing capability than the control device 2 . This arithmetic processing unit performs object identification by machine learning using time-series data, object identification using object information generated based on other similar objects, and the like.

The sensor unit 5 may be configured to perform preprocessing on the detection data before transmitting the detection data. The sensor unit 5 performs noise removal filtering, feature point extraction, relative position information calculation, etc. as preprocessing on the data acquired by the sensor device 501 .

In addition, as preprocessing, the sensor unit 5 may perform calculation so that the amount of data is smaller than that at the time of detection. Thereby, a communication unit with low transmission performance can be employed.

Although this application describes various exemplary embodiments and examples, the various features, aspects, and functions described in the embodiments are not limited to application of particular embodiments. , singly or in various combinations.

Accordingly, the myriad variations not illustrated are intended to include variations, additions, or omissions of at least one component.

1 dynamic map generation device, 2 control device, 3 dynamic map correction device, 4 in-vehicle device, 5 sensor unit, 1000 dynamic map distribution system, V1 vehicle.

Claims (18)

A control device that holds a wide-area dynamic map, which is a dynamic map within a control area where vehicle control is performed;
a dynamic map generation device that generates a partial dynamic map that is a dynamic map within a partial area that is part of the control area; and a modified dynamic map generated by modifying the partial dynamic map, a dynamic map correction device for transmitting the corrected dynamic map to an in-vehicle device installed in the vehicle;
The dynamic map generation device generates object information including at least one of position, size, and type information of the object based on detection data acquired from a sensor unit that detects the object in the partial area. to be included in the partial dynamic map;
The control device is set with a validity criterion, which is a criterion for judging whether or not the object information is valid,
The control device is
receiving the partial dynamic map from the dynamic map generation device, updating the wide-area dynamic map, and determining whether the object information included in the partial dynamic map is valid based on the validity criteria; and determine whether
if it is determined that the object information is not valid, issuing a correction request for the object information, accepting a correction operation for the object information, and transmitting a correction instruction corresponding to the correction operation to the dynamic map correction device;
The dynamic map distribution system, wherein the dynamic map correction device receives the partial dynamic map from the dynamic map generation device and generates the modified dynamic map based on the correction instruction. 2. The dynamic map generation device according to claim 1, wherein said detection data includes a plurality of sensor information of different types, and integrates said plurality of sensor information of different types to generate said object information. A dynamic map distribution system. The control device includes a replacement method for replacing the object information existing in the wide area dynamic map with the object information in the received partial dynamic map, and the object information in the received partial dynamic map. into the wide-area dynamic map, and a deletion method of deleting the object information that exists in the wide-area dynamic map. 3. A dynamic map distribution system according to claim 1 or 2, for updating dynamic maps. The dynamic map generating device, when generating the object information, includes a reliability value indicating the accuracy of the object information itself in the object information,
A reliability threshold, which is a threshold for the accuracy, is set in the control device as the validity criterion,
4. The dynamic object according to any one of claims 1 to 3, wherein the control device determines whether the object information is valid by comparing the reliability value and the reliability threshold. Map distribution system. The control device receives a plurality of the partial dynamic maps with different ranges from the dynamic map generation device, and the object information included in each of the plurality of the partial dynamic maps relates to the same object. , any one of the object information is adopted by comparing the reliability values with each other, and the wide area dynamic map is updated based on the adopted object information. A dynamic map delivery system as described. the object information includes information on the type of the object;
6. The dynamic map distribution system according to claim 4, wherein said reliability threshold is a value determined according to said type of information. The object information includes an object update time of the object information itself,
An elapsed time threshold, which is a threshold for elapsed time, is set in the control device as the validity criterion,
The control device determines whether a difference between the current time and the object update time is equal to or greater than the elapsed time threshold, and if the difference is equal to or greater than the elapsed time threshold, determines that the object information is not valid. 7. The dynamic map distribution system according to any one of items 1 to 6. the object information includes the position and size of the object;
A distance threshold, which is a threshold for a distance between objects, is set in the control device as the validity criterion,
The control device, when two objects are detected, based on the first object information that is the object information about one object, the second object information that is the object information about the other object, and the distance threshold and determining whether the two objects overlap each other, and determining that at least one of the first object information and the second object information is invalid if it is determined that the two objects overlap each other. 7. A dynamic map distribution system according to any one of 6. The object information includes the position of the object and still/moving information for distinguishing whether the object is a dynamic object or a static object,
In the control device, an allowable error threshold, which is a threshold for a positional allowable error, is set as the validity criterion,
The control device indicates that the still/movement information indicates that the object is a static object, and the position difference between before and after updating the wide-area dynamic map is equal to or greater than the allowable error threshold. 7. The dynamic map distribution system according to any one of claims 1 to 6, wherein if the information exists, the object information is determined to be invalid. The object information includes position information of the object,
A movement distance threshold is set in the control device as the validity criterion,
The control device determines that the object information in the partial dynamic map is not valid when the object information in the partial dynamic map has moved more than the movement distance threshold before and after updating the wide-area dynamic map. 7. The dynamic map distribution system according to any one of 1 to 6. Claims 1 to 10, wherein the control device transmits the correction request to a terminal used by a controller operating the control device, and receives the correction operation by the controller via the terminal used. The dynamic map distribution system according to any one of Claims 1 to 3. 11. The dynamic map distribution system according to any one of claims 1 to 10, wherein said control device transmits said correction request to terminals used by field workers whose work range is within said partial area. The control device performs at least one of an integration operation of integrating a plurality of pieces of object information into one, an addition operation of newly adding the object information, and a deletion operation of deleting the object information. , the dynamic map distribution system according to any one of claims 1 to 12, wherein the modification operation is received. the dynamic map modification device transmitting the modified dynamic map to the dynamic map generation device;
The dynamic map generation device calculates a correction value for the object information based on the difference between the generated partial dynamic map and the modified dynamic map, and thereafter, when generating the object information, the 14. A dynamic map delivery system according to any one of claims 1 to 13, wherein correction values are used to generate said object information. 15. The control device according to any one of claims 1 to 14, wherein the driving route of the vehicle is generated as a new route based on the modified wide-area dynamic map, which is the wide-area dynamic map after receiving the modification operation. or the dynamic map distribution system according to item 1. The control device determines whether the object detected by the sensor unit is on a transmitted route, which is a travel route that has already been transmitted, based on the modified wide-area dynamic map. 16. The dynamic map distribution system according to claim 15, wherein the new route is transmitted to the in-vehicle device if it is on a previously transmitted route. The control device transmits the new route to the in-vehicle device when the new route is more efficient than a transmitted route, which is a travel route that has already been transmitted, and compares the new route with the transmitted route. 16. The dynamic map distribution system according to claim 15, wherein the new route is not sent to the in-vehicle device if the efficiency is the same or lower. 18. The dynamic map correction device, based on the modified dynamic map, generates a vehicle control instruction for controlling travel of the vehicle, and transmits the vehicle control instruction to the in-vehicle device. A dynamic map delivery system according to any one of the preceding items.

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