JP2019095286A - Map generation system, map server device, map generation program and map generation method - Google Patents

Abstract

To provide a system for individually generating a dynamic map when there is a request for automatic drive that utilizes a dynamic map for a district or a road for which dynamic maps are unavailable.SOLUTION: When, in at least a portion of a scheduled route that is a route which an automatically driven regional shuttle vehicle 110B is scheduled to travel and which includes a designated place of departure and a designated destination are included, there is an inadequate route for which map data needed for automatic drive of the regional shuttle vehicle 110B is nonexistent, a measurement vehicle 110A measures the inadequate route and thereby acquires measured data. A map server device 200 generates automatic drive map data for the inadequate route on the basis of the measured data acquired by the measurement vehicle 110A, and transmits the generated automatic drive map data to the regional shuttle vehicle 110B.SELECTED DRAWING: Figure 1

Description

  The present invention relates to the maintenance of a map used for automatic driving.

Dynamic maps have been developed and maintained for freeways since fiscal 2015.
A dynamic map is a high-precision three-dimensional map including dynamic information, semi-dynamic information, quasi-static information and static information.
The static information of the dynamic map identifies the lanes of the road with an accuracy of a few centimeters to a few tens of centimeters.

A car corresponding to the dynamic map can drive automatically.
The vehicle is equipped with sensors such as a camera and a radar. The information obtained by each sensor is then compared with the information obtained from the dynamic map (information such as lanes and road features). This makes it possible to recognize the exact position of the vehicle. As a result, the performance of automatic operation control is improved.

Patent Document 1 shows a form of automatic operation control using a dynamic map.
Development and maintenance of dynamic maps for general roads are required in preparation for the spread of autonomous vehicles in the future.

Patent Document 2 shows a form of maintenance of a dynamic map.
In the Mobile Mapping System (MMS), the measurement vehicle collects 3D point cloud information of the road, and the 3D point cloud information obtains linearized data of the road and feature. Then, based on the obtained linearization data, a dynamic map is generated. The generated dynamic map is distributed to map companies and automobile companies.
In order to proceed with the development of the dynamic map, it is necessary to travel a long distance by a measuring vehicle.

The invention according to Patent Document 3 is to notify that there is a part that can not be operated automatically in the guidance route when high precision map data is not provided in a part of the guidance route.
The object of the invention according to Patent Document 3 is to eliminate the driver's sense of incongruity caused in a situation where an area in which high precision map data is maintained and an area in which high precision map data is not maintained are mixed. .
Such discomfort can be eliminated if the development of a dynamic map for general roads is advanced.

Patent Document 4 discloses a technique for improving the efficiency of a partial update operation of data for map display.
In order to promote the spread of dynamic maps, it is necessary to simplify the work of updating dynamic maps.

Patent Document 5 discloses a method for improving the convenience of the user in displaying guide information at the time of route search. Specifically, guidance information for guiding the area of interest along with the route is displayed. As a result, the user can select various actions at the time of movement from the departure place to the destination, such as stopping at a notable area that does not exist on the route.
Improvements in user convenience are also required for the development of dynamic maps.

  Patent Document 6 discloses a method of displaying a point cloud image representing a road and a road periphery based on measurement data obtained by a measurement vehicle.

International Publication 2017/150059 International Publication 2017/110801 JP, 2016-200472, A International Publication No. 2005/088584 Unexamined-Japanese-Patent No. 2009-222572 International Publication 2016/185637

  In areas where dynamic maps are not prepared, automatic driving using dynamic maps is not possible.

  An object of the present invention is to provide a system that individually generates a dynamic map when there is a demand for automatic driving using the dynamic map for an area or road where the dynamic map is not prepared.

The map generation system of the present invention is
A map generation system comprising a measurement vehicle and a map server device, wherein
The measurement vehicle is
Map data necessary for automatic driving of the autonomous vehicle on at least a part of the planned route which is a route on which the autonomous vehicle is scheduled to travel and which includes a designated departure place and a designated destination When there is an undeveloped route where there is no automated driving map data, measurement data is acquired by measuring the undeveloped route,
The map server device
The automatic driving map data of the undeveloped route is generated based on the measurement data acquired by the measuring vehicle, and the generated automatic driving map data is transmitted to the automatic driving vehicle.

  According to the present invention, it is possible to provide a system for individually generating a dynamic map when there is a demand for automatic driving using the dynamic map for an area or road where the dynamic map is not prepared.

1 is a diagram of a first embodiment, and is a configuration diagram of a map individual registration system 100. FIG. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of a measurement vehicle 110A. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of a map server device 200. FIG. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of an in-vehicle device 300A. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of an in-vehicle device 300B. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of a local government server device 400. FIG. 2 is a diagram of the first embodiment and is a configuration diagram of a user terminal device 500. 3 is a diagram of the first embodiment and is a flowchart showing an operation of the map individual registration system 100. FIG. 3 is a diagram of the first embodiment and is a flowchart showing an operation of the map individual registration system 100. FIG.

Embodiment 1
*** Description of the configuration ***
The map individual registration system 100 according to the first embodiment will be described with reference to FIGS. 1 to 9.
FIG. 1 is a system configuration diagram of the map individual registration system 100. As shown in FIG. The map individual registration system 100 is also a map generation system including the measurement vehicle 110A and the map server device 200.
The municipality 900 holds a measurement vehicle 110A, a regional transportation vehicle 110B, and a municipality server device 400. The measuring vehicle 110A is a mobile mapping system (MMS) measuring vehicle. The area transfer vehicle 110B is an autonomous vehicle capable of autonomous driving. The area transfer vehicle 110B can also perform a manual operation. The measurement vehicle 110A is mounted with the in-vehicle device 300A, and the area transfer vehicle 110B is mounted with the in-vehicle device 300B.

  The map server device 200, the in-vehicle device 300A, the in-vehicle device 300B, the local government server device 400, and the user terminal device 500 mutually communicate via the network 101. A specific network 101 is the Internet.

Measurement vehicle 110A measures an unmaintained route when there is an unoperated route for which there is no automated driving map data which is map data necessary for automatic driving of area transfer vehicle 110B in at least part of the "planned route". Get measurement data by. The autonomous driving map data corresponds to static information of the dynamic map.
Here, the "planned route" is a route on which the area transfer vehicle 110B, which is an autonomous vehicle, plans to run, and is a route including the designated departure place and the designated destination.
The map server device 200 generates automatic driving map data of the undeveloped route based on the measurement data acquired by the measuring vehicle 110A, and transmits the generated automatic driving map data to the regional transfer vehicle 110B.

  The measurement vehicle 110A is a vehicle having a function of measuring a road. The measurement vehicle 110A includes various sensors for road measurement. The measurement vehicle 110A is a measurement vehicle in a mobile mapping system (MMS).

  FIG. 2 shows the configuration of the measurement vehicle 110A. A configuration example of the measurement vehicle 110A will be described with reference to FIG. The measurement vehicle 110 </ b> A includes a top 119. The top plate 119 is provided on the roof of the vehicle body. Further, the measurement vehicle 110A is provided with an odometer 114.

  Various sensors are attached to the top plate 119. Specifically, a positioning reinforcement signal receiver 111, a positioning signal receiver 112, an inertial measurement device 113, and a laser scanner 115 are attached to the top plate 119.

  The positioning reinforcement signal receiver 111 receives positioning reinforcement data from a GNSS satellite or a terrestrial wireless LAN or a cellular phone line. GNSS is an abbreviation of Global Navigation Satellite System. The positioning reinforcement data has an accuracy on the order of centimeters, and is used to accurately measure the position of the measurement vehicle 110A. Positioning reinforcement data is distributed from GNSS satellites. Alternatively, the positioning reinforcement data is distributed from the GNSS correction information distribution service provider via the mobile phone network. When the GNSS satellite, which is a quasi-zenith satellite, distributes positioning reinforcement data, the positioning reinforcement data is included in the L6 band signal, and the satellite clock error of GPS satellites, orbit error of GPS satellites, inter-frequency bias, ionospheric propagation delay Error of and troposphere delay. GPS is an abbreviation of Global Positioning System.

  The positioning signal receiver 112 receives the positioning signal transmitted from the positioning satellite, and measures the position of the measurement vehicle 110A using the reception result of the positioning signal. Data obtained by positioning is called positioning data. An example of a positioning satellite is a GPS satellite. The positioning data indicates the position of the measurement vehicle 110A determined by the positioning signal receiver 112.

  The inertial measurement device 113 includes a gyro and an acceleration sensor. The gyro measures angles and angular velocities in the directions of three axes of the measurement vehicle 110A. The acceleration sensor measures the acceleration in the direction of three axes of the measurement vehicle 110A. The angles in the three axial directions indicate elevation, rotation and azimuth. Data obtained by the inertial measurement device 113 is referred to as inertial measurement data.

  The odometer 114 measures the travel distance of the measurement vehicle 110A. Specifically, the odometer 114 detects a vehicle speed pulse that is output each time the wheel of the measurement vehicle 110A rotates, and calculates the travel distance by integral calculation using the rotation radius of the tire and the rotation amount of the wheel. Data obtained by the odometer 114 is referred to as travel distance data.

  The laser scanner 115 performs laser measurement. In laser measurement, the laser scanner 115 emits laser light while rotating the laser emission surface at a speed of about 100 rotations per second. Then, the laser scanner 115 obtains the distance and the direction for each point where the laser light is reflected. The point at which the laser beam is reflected is called a measurement point. Specifically, the laser scanner 115 measures the time from the emission time of the laser light to the reception time of the laser light, and calculates the distance to the measurement point using the measured time. The emission time is the time when the laser light is emitted, and the reception time is the time when the laser light reflected by the measurement point is received. The azimuth of the measurement point is the angle at which the laser light is emitted. Data obtained by the laser scanner 115 is referred to as azimuth distance data. The azimuth distance data includes the azimuth and distance for each measurement point.

  Data obtained by various sensors mounted on the measurement vehicle 110A is referred to as measurement data. Specifically, the positioning reinforcement data, the positioning data, the inertial measurement data, and the travel distance data T direction distance data are collectively referred to as measurement data. Further, the positioning reinforcement signal receiver 111, the positioning signal receiver 112, the inertia measurement device 113, the odometer 114, and the laser scanner 115 are collectively referred to as a measurement sensor.

  FIG. 3 is a hardware configuration diagram of the map server device 200. As shown in FIG. The configuration of the map server device 200 will be described with reference to FIG. The map server device 200 is a computer including hardware such as a processor 201, a memory 202, an auxiliary storage device 203, and a communication device 204. These pieces of hardware are connected to each other via signal lines.

  The processor 201 is an integrated circuit (IC) that performs arithmetic processing, and controls other hardware. For example, the processor 201 is a central processing unit (CPU), a digital signal processor (DSP), or a graphics processing unit (GPU). The memory 202 is a volatile storage device. The memory 202 is also referred to as main storage or main memory. For example, the memory 202 is a random access memory (RAM). The data stored in the memory 202 is stored in the auxiliary storage device 203 as needed. The auxiliary storage device 203 is a non-volatile storage device. For example, the auxiliary storage device 203 is a read only memory (ROM), a hard disk drive (HDD), or a flash memory. The data stored in the auxiliary storage device 203 is loaded into the memory 202 as needed. The communication device 204 is a receiver and a transmitter. For example, the communication device 204 is a communication chip or a NIC (Network Interface Card).

  The map server device 200 has a functional element called a control unit 211, and the control unit 211 has functional elements called a determination unit 211a and a map data generation unit 211b. The control unit 211, the determination unit 211a, and the map data generation unit 211b are realized by software.

  The auxiliary storage device 203 stores a map generation program for realizing the function of the control unit 211. The map generator is loaded into memory 202 and executed by processor 201. In addition, the auxiliary storage device 203 stores a map database 213 in which automatic driving map data is registered. Furthermore, an OS (Operating System) is stored in the auxiliary storage device 203. At least a portion of the OS is loaded into the memory 202 and executed by the processor 201. That is, the processor 201 executes the map generation program while executing the OS. Data obtained by executing the map generation program is stored in a storage device such as a memory 202, an auxiliary storage device 203, a register in the processor 201 or a cache memory in the processor 201.

  The map server device 200 may include a plurality of processors that replace the processor 201. The plurality of processors share the role of the processor 201.

  The map generation program can be recorded (stored) in a computer readable manner on a non-volatile recording medium such as an optical disk or a flash memory.

  FIG. 4 is a hardware configuration diagram of the in-vehicle device 300A mounted on the measurement vehicle 110A. The configuration of the in-vehicle apparatus 300A will be described with reference to FIG. The in-vehicle device 300 is a computer including hardware such as a processor 301A, a memory 302A, an auxiliary storage device 303A, and a communication device 304A. These pieces of hardware are connected to each other via signal lines.

  The processor 301A is an IC that performs arithmetic processing and controls other hardware. For example, the processor 301A is a CPU, a DSP, or a GPU. The memory 302A is a volatile storage device. The memory 302A is also referred to as a main storage device or a main memory. For example, the memory 302A is a RAM. The data stored in the memory 302A is stored in the auxiliary storage device 303A as needed. The auxiliary storage device 303A is a non-volatile storage device. For example, the auxiliary storage device 303A is a ROM, an HDD, or a flash memory. The data stored in the auxiliary storage device 303A is loaded into the memory 302A as needed. Communication device 304A is a receiver and a transmitter. For example, the communication device 304A is a communication chip or a NIC.

  The in-vehicle apparatus 300A includes an element of a function of a control unit 311A. The control unit 311A is realized by software.

  The auxiliary storage device 303A stores a program for realizing the function of the control unit 311A. The program is loaded into the memory 302A and executed by the processor 301A. Furthermore, an OS is stored in the auxiliary storage device 303A. At least a portion of the OS is loaded into the memory 302A and executed by the processor 301A. That is, the processor 301A executes the program while executing the OS. Data obtained by executing the program is stored in a storage device such as a memory 302A, an auxiliary storage device 303A, a register in the processor 301A, or a cache memory in the processor 301A.

  The on-vehicle apparatus 300 may include a plurality of processors that replace the processor 301A. The plurality of processors share the role of the processor 301A.

  The program for realizing the function of the control unit 311A can be recorded (stored) in a computer-readable manner in a non-volatile recording medium such as an optical disk or a flash memory.

  FIG. 5 shows a hardware configuration diagram of the in-vehicle apparatus 300B. The in-vehicle apparatus 300B has the same configuration as that of the in-vehicle apparatus 300A, so the description of the hardware configuration is omitted.

FIG. 6 is a hardware configuration diagram of the local government server device 400.
FIG. 7 is a hardware configuration diagram of the user terminal device 500.
The local government server device 400 and the user terminal device 500 are both computers, and are similar to the map server device 200, so the description of the hardware configuration will be omitted.

*** Description of operation ***
8 and 9 are flowcharts showing the operation of the map individual registration system 100. A map generation method by the map individual registration system 100 will be described with reference to FIGS. 8 and 9.
FIG. 8 is a flowchart showing the operation of the map individual registration system 100 in response to the first transfer request from the user 600.

  In step S1, the user 600 uses the user terminal device 500 to transmit to the local government server device 400 a request for transfer to the hospital 700 by the regional transfer vehicle 110B. Specifically, the control unit 511 of the user terminal device 500 transmits a “pickup request” including the departure place and the destination of the user 600 to the local government server device 400 using the communication device 504. Here, the departure place is the home address of the user 600, and the destination is the address of the hospital 700. In the local government server device 400, the control unit 411 receives the transfer request by the communication device 404.

In step S2, in the local government server device 400, the control unit 411 generates a planned route based on the transfer request.
In step S 3, the control unit 411 transmits the planned route to the map server device 200 using the communication device 404.

  In this example, the “scheduled route” is, as shown in FIG. 8, a route 1 from the parking lot 800 to the home of the user 600, a route 2 from the home of the user 600 to the hospital 700, and a home from the hospital 700 to the home. And the route 4 from the home to the parking lot 800 of the regional transfer vehicle 110B. In the planned route, the departure location where the home address of the user 600 is specified, and the destination location where the address of the hospital 700 is specified. In the map server device 200, the control unit 211 receives the planned route using the communication device 204.

In step S4, in the map server device 200, the determination unit 211a determines whether at least a part of the received planned route has an unmaintained route for which there is no automatic driving map data required for the automatic operation of the regional transfer vehicle 110B. judge. In this case, there is usually no automated driving map data of the planned route, since it is based on the initial request by the user 600. Therefore, in this example, all of the received planned routes are undeveloped routes in which there is no automatic driving map data required for automatic driving of the area transfer vehicle 110B.
In step S5, in the map server device 200, the determination unit 211a uses the communication device 204 to transmit to the municipality server device 400 that there is no automatic driving map data of the planned route as the determination result. In the local government server device 400, the control unit 411 transmits the determination result received from the map server device 200 using the communication device 404 to the user terminal device 500.

  In step S6, the local government 900 causes the measurement vehicle 110A to travel and acquire measurement data of "planned route where there is no automatic driving map data" related to the determination result transmitted from the map server device 200.

In step S6, the measurement vehicle 110A travels "a scheduled route where there is no automated driving map data" related to the determination result transmitted from the map server device 200, and acquires measurement data.
In step S7, in the in-vehicle device 300A of the measurement vehicle 110A, the control unit 311A transmits the measurement data acquired by the measurement sensor 120 to the map server device 200 using the communication device 304A. In the map server device 200, the control unit 211 receives measurement data using the communication device 204.

  In step S8, in the map server device 200, the map data generation unit 211b generates automatic driving map data based on the measurement data, and registers the generated automatic driving map data in the map database 213. Specifically, the map data generation unit 211b receives the measurement data and executes the mapping software. Thereby, the autonomous driving map data is generated. This plotting software is a program for generating automatic driving map data based on measurement data. The plotting software generates point cloud data based on the measurement data, and generates automated driving map data based on the point cloud data. As described above, in step S8, the map data generation unit 211b registers in the map database 213 of the auxiliary storage device 203 the automatic operation map data of the planned route reflecting the automatic operation map data of the undeveloped route.

In step S9, the map data generation unit 211b transmits the generated autonomous driving map data to the in-vehicle apparatus 300B of the regional transfer vehicle 110B using the communication device 204. The map data generation unit 211b can know the transmission destination in-vehicle apparatus 300B, for example, because the address of the in-vehicle apparatus 300B is included and transmitted at the time of transmission of the measurement data in step S7.
As in the above steps S7 to S9, the map data generation unit 211b automatically generates the unmaintained route based on the measurement data of the unmaintained route generated due to the determination result indicating that the undeveloped route exists. The driving map data is generated, and the generated automatic driving map data of the undeveloped route is transmitted to the area transfer vehicle 110B which is an automatic driving vehicle.

  In step S10, in the in-vehicle apparatus 300B of the regional transfer vehicle 110B, the control unit 311B stores the automatic driving map data transmitted from the map server apparatus 200 in the auxiliary storage device 303B. By the end of step S10, the area transfer vehicle 110B can operate automatically in response to the transfer request of the user 600.

  FIG. 9 is a flowchart showing the operation of the map individual registration system 100 in response to the second and subsequent pickup requests from the user 600.

  In step S21, the user 600 transmits a request for transfer to the hospital 700 by the regional transfer vehicle 110B to the local government server device 400 using the user terminal device 500, as in step S1.

  Steps S22 and S23 are the same processes as steps S2 and S3, and thus the description thereof is omitted.

  In step S24, in the map server device 200, as in step S4, in the map server device 200, there is no maintenance map for automatic driving of the area transfer vehicle 110B not present in at least a part of the received planned route. Determine if there is a route. In this case, the automated driving map data of the planned route is registered in the map database 213 in step S8. Therefore, the control unit 211 determines that there is the received autonomous driving map data of the planned route.

  In step S25, in the map server device 200, the determination unit 211a uses the communication device 204 to transmit, as a determination result, the existence of the autonomous driving map data of the planned route to the local government server device 400. In the local government server device 400, the control unit 411 transmits the determination result received from the map server device 200 using the communication device 404 to the user terminal device 500.

As described above, in this example, the “scheduled route” is the route 1 from the parking lot 800 to the home of the user 600, the route 2 from the home of the user 600 to the hospital 700, the route 3 from the hospital 700 to the home The route 4 from the home to the parking lot 800 of the area transfer vehicle 110B is included.
The area transfer vehicle 110B enables the automatic driving of the planned route including the route 1, the route 2, the route 3 and the route 4 by the automatic driving map data stored in the auxiliary storage device 303B in step S10. In the area transfer vehicle 110B, the control unit 311A of the in-vehicle apparatus 300B executes the automatic driving with reference to the automatic driving map data stored in the auxiliary storage device 303B.
Steps S26 to S30 show a state in which the area transfer vehicle 110B automatically drives the planned route.

In step S26, the area transfer vehicle 110B picks up the user 600 on the route 1 from the parking lot 800 to the home of the user 600 by automatic driving.
In step S27, the area transfer vehicle 110B sends the user 600 from home by route 2 to the hospital 700 by automatic driving.
In step S28 and step S29, the area transfer vehicle 110B sends the user 600 from the hospital 700 to the home of the user 600 via route 3 by automatic driving.
In step S30, the area transfer vehicle 110B returns from the home of the user 600 to the parking lot 800 by route 4 by automatic driving.

*** Effect of Embodiment 1 ***
In the first embodiment, the autonomous driving map data is individually generated and registered individually based on the transfer request of the user 600. Therefore, for an area or a road where automatic driving map data is not prepared, automatic driving map data is generated according to a request for using the automatic driving car, so that the use of the automatic driving car can be expanded. .

In the first embodiment described above, the operation has been described with reference to FIG. 8 and FIG. 9 taking the local government 900 as an example, but “step S3, step S4 and step S5” in FIG. 8 and “step S23, step S24 and step in FIG. "S25" may not be.
Also, the local government 900 is just an example. Not limited to the local government, a measurement company that holds the measurement vehicle 110A, or a car rental company that holds an autonomous vehicle as a rental car may be used. In these cases, a measurement company or a car rental company has a server device corresponding to the local government server device 400.
In the first embodiment, the measurement vehicle 110A and the area transfer vehicle 110B, which is an automatic driving vehicle, are separate vehicles, but the measuring vehicle 110A may also be an automatic driving vehicle.

  100 map individual registration system, 101 network, 110A measurement vehicle, 111 positioning reinforcement signal receiver, 112 positioning signal receiver, 113 inertial measurement device, 114 odometer, 115 laser scanner, 119 top plate, 120 measurement sensor, 110B regional transportation vehicle , 200 map server device, 201 processor, 202 memory, 203 auxiliary storage device, 204 communication device, 211 control unit, 211a determination unit, 211b map data generation unit, 213 map database, 300A in-vehicle device, 301A processor, 302A memory, 303A Auxiliary storage device, 304A communication device, 300B in-vehicle device, 301B processor, 302B memory, 303B auxiliary storage device, 304B communication device, 400 municipal server device, 401 processor , 402 memory, 403 auxiliary storage device, 404 communication device, 411 control unit, 500 user terminal device, 501 processor, 502 memory, 503 auxiliary storage device, 504 communication device, 511 control unit, 600 users, 700 hospitals, 800 Parking lot, 900 municipalities.

Claims (5)

A map generation system comprising a measurement vehicle and a map server device, wherein
The measurement vehicle is
Map data necessary for automatic driving of the autonomous vehicle on at least a part of the planned route which is a route on which the autonomous vehicle is scheduled to travel and which includes a designated departure place and a designated destination When there is an undeveloped route where there is no automated driving map data, measurement data is acquired by measuring the undeveloped route,
The map server device
The map generation system which generates the automatic driving map data of the unmaintained route based on the measurement data acquired by the measuring vehicle, and transmits the generated automatic driving map data to the automatic driving vehicle. Map data necessary for automatic driving of the autonomous vehicle on at least a part of the planned route which is a route on which the autonomous vehicle is scheduled to travel and which includes a designated departure place and a designated destination A determination unit that determines whether there is an undeveloped route where there is no automated driving map data,
Based on the measurement data of the undeveloped route generated based on the determination result indicating that the undeveloped route exists, the automated driving map data of the unmaintained route is generated, and And a map data generation unit that transmits the autonomous driving map data. The map server device comprises a storage device,
The map data generation unit
The map server device according to claim 2, wherein the automatic driving map data of the planned route reflecting the automatic driving map data of the undeveloped route is registered in the storage device. On the computer
Map data necessary for automatic driving of the autonomous vehicle on at least a part of the planned route which is a route on which the autonomous vehicle is scheduled to travel and which includes a designated departure place and a designated destination A determination process for determining whether there is an undeveloped route where there is no automated driving map data,
Based on the measurement data of the undeveloped route generated based on the determination result indicating that the undeveloped route exists, the automated driving map data of the unmaintained route is generated, and A map generation program for executing map data generation processing of transmitting the automatic driving map data. Measurement vehicle
Map data necessary for automatic driving of the autonomous vehicle on at least a part of the planned route which is a route on which the autonomous vehicle is scheduled to travel and which includes a designated departure place and a designated destination When there is an undeveloped route where there is no automated driving map data, measurement data is acquired by measuring the undeveloped route,
The map server device
The map generation method, wherein the automatic driving map data of the unmaintained route is generated based on the measurement data acquired by the measurement vehicle, and the generated automatic driving map data is transmitted to the automatic driving vehicle.

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