JP2020071332A - Map updating system - Google Patents

Abstract

To provide a map updating system with which it is possible to appropriately update map data that is used in controlling a self-driving vehicle.SOLUTION: Provided is a map updating system 1 including a storage unit having road network data 30 that includes road section information relating to a prescribed section of road and lane network data 31 that includes lane section information relating to a prescribed section of lane constituting a road, the lane section information being used in controlling a self-driving vehicle based on a route obtained using the road section information. The map updating system 1 further includes an updating control unit 12 for updating the lane section information when an updating instruction for updating a specific version of the road section information is acquired.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a map updating system, a map updating device, a map updating method, a map updating program, and / or a data structure usable for them.

In recent years, a technique for accurately updating map data has become widespread.
In this regard, another update data unit that includes the same character string data as the character string data included in the update data included in the base update data, and that exists within a predetermined distance or less from the map element of the base update data Has been proposed as a related update data, and a map update data distribution method for distributing the base update data and the related update data to the terminal has been proposed (Patent Document 1).

Japanese Patent No. 5143149

  An object of the present invention is to provide a map update system capable of appropriately updating map data used for controlling an autonomous driving vehicle.

  As one embodiment of the present invention, a map update system for updating map data used for controlling an autonomous vehicle is provided. This map updating system has a storage unit having road network data including road section information regarding a predetermined section of a road and lane network data including lane section information regarding a predetermined section of lanes forming a road, and the lane section information. Is the information used for controlling the autonomous vehicle based on the route obtained by using the road section information, and the map update system further acquires the update instruction for updating the road section information to a specific version, It has a control unit for updating information.

  As an embodiment, the control unit does not update the lane section information when the version of the road section information is already the specific version.

  As one embodiment, when the version of the road section information is smaller than the specific version, the control unit updates the road section information to the specific version and updates the lane section information.

  As another embodiment of the present invention, there is provided a map update system for updating map data used for controlling an autonomous vehicle. This map update system has lane network data including lane section information regarding a predetermined section of lanes that form a road, and feature position information indicating the latitude, longitude, and height of features installed around the road. The storage unit, the lane section information, and the feature position information are information used for controlling the autonomous driving vehicle, and the map update system further acquires an update instruction to update the lane section information to a specific version. It has a control unit for updating the object position information.

  As another embodiment, the feature position information includes first feature position information that is a lane marking as a feature and second feature position information that is a traffic light as a feature, and the control unit is a lane. When the update instruction for updating the section information to the specific version is acquired, the first feature position information is updated, and the second feature position information is updated.

FIG. 3 is a diagram for explaining the configuration of the map update system of the first embodiment. FIG. 3 is a diagram for explaining a data structure of map data according to the first embodiment. FIG. 3 is a diagram for explaining a data structure of map data according to the first embodiment. The figure for demonstrating the process flow of the map update system of Embodiments 1 to 3. FIG. 6 is a diagram for explaining the data structure of map data according to the second embodiment. FIG. 6 is a diagram for explaining the data structure of map data according to the second embodiment. FIG. 6 is a diagram for explaining the data structure of map data according to the second embodiment. FIG. 8 is a diagram for explaining the data structure of map data according to the third embodiment. FIG. 8 is a diagram for explaining the data structure of map data according to the third embodiment.

<Embodiment 1>
FIG. 1 is a schematic configuration diagram of a map updating system 1. The map update system 1 has an update server 2 and a plurality of clients 3 connected to the update server 2 via a network so that they can communicate with each other.
The update server 2 has a map data storage unit 11 and an update control unit 12. The map data storage unit 11 is composed of a large-capacity storage medium such as a hard disk or SD-RAM, and has map data including road network data 30, lane network data 31, feature data 32, and attribute data 33. ing.

  The road network data 30 has a plurality of point information including information about a specific point on the road (for example, a branch point of the road) and a plurality of road section information including information about a predetermined section of the road. It is information indicating the connection of roads by the plurality of road section information. The lane network data 31 is information indicating lane connections based on a plurality of lane section information including information about a predetermined section of a lane that constitutes a road. The feature data 32 is a feature installed around a road (a lane marking that represents a lane marking, a road boundary that represents a road boundary, a road marker that represents a road sign, a traffic signal that represents a traffic light, and a road stop). It includes feature shape information that represents the shape of road markings such as lines and road paint, and feature position information that represents the latitude, longitude, and height of these features. The attribute data 33 includes related information for associating the road section information of the road network data 30 with the lane section information of the lane network data 31, the lane section information of the lane network data 31, the lane line information of the feature data 32, and the road boundary. It includes line information, road sign information, traffic light information, related information for associating with road marking information, and update status information regarding update status in a plurality of versions of content. Details of the road section information, lane section information, related information, lane marking information, road boundary information, and traffic light information will be described later.

  The update control unit 12 includes a functional unit that generates update data regarding content related to a specific version in response to an update instruction, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access) not shown. Memory). The CPU of the update control unit 12 realizes functions related to various programs by reading out various programs stored in the ROM, expanding the programs in the RAM, and executing the programs.

  The client 3 is mounted on an automatic driving vehicle that is a moving body and has an automatic driving function, and has an information control unit 21, a map data storage unit 22, and an input unit 23. The information control unit 21 includes a functional unit that realizes a predetermined function, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), which are not shown. The CPU of the information control unit 21 reads out various programs stored in the ROM, expands the programs in the RAM, and executes the programs to implement functions related to the various programs such as the automatic driving function of the vehicle. The information control unit 21 performs a route search using the road network data 30 to search for a route, and identifies the lane network data 31 included in the route and the lane network data 31 associated by the attribute data 33. Perform processing to The information control unit 21 controls the autonomous driving vehicle based on the route obtained by using the lane network data 31 (specifies the current position of the vehicle, and controls the vehicle to move along a predetermined lane corresponding to the lane section information). Steering, acceleration / deceleration, stop). In addition, the information control unit 21 controls the autonomous driving vehicle by using the lane section information included in the lane network data 31 and the feature information associated by the attribute data 33 (identifying the current position of the vehicle, lane section information). The vehicle moves along a predetermined lane corresponding to, and the vehicle is steered, accelerated / decelerated, and stopped using the feature information. Specifically, the acquisition unit that acquires information around the vehicle such as a camera mounted on the vehicle acquires information about features such as lane markings, road boundaries, road signs, traffic lights, and road markings around the vehicle. At the same time, the current position of the vehicle is specified by comparing the acquired information with the feature shape information. Further, the feature shape information of the lane marking information is used to control the vehicle so that it does not extend between the lane markings on both sides of the lane, and the feature shape information of the road boundary information is used to control the guardrail. Control so as not to collide with the road boundary line, etc., and use the feature position information of the traffic signal information to identify the traffic signal information from the information around the vehicle acquired by the acquisition unit and turn on the traffic signal that has been specified. Depending on the contents (prompting for progress, contents for urging to stop), a signal to the inside of the intersection is urged, or a stop before the intersection is controlled. Further, the information control unit 21 realizes a function of updating various data stored in the map data storage unit 22 using the update data transmitted from the update server 2.

  The map data storage unit 22 is composed of a large-capacity storage medium such as a hard disk or SD-RAM, and like the map data storage unit 11 of the update server 2, the road network data 30, the lane network data 31, and the feature data 32. , And map data including the attribute data 33.

  The input unit 23 receives an update instruction input for instructing an update from a user who uses the client 3.

  In the map update system 1, the information control unit 21 and the map data storage unit 22 are not installed in the vehicle but are installed in the update server 2, and the information control unit 21 in the update server 2 controls the steering, acceleration / deceleration of the vehicle, The configuration may be such that information regarding an automatic driving function such as a brake is output to the vehicle as communication information. In addition, in the map update system 1, the map data storage unit 22 is installed in the update server 2 instead of being installed in the vehicle, and the information control unit 21 in the vehicle responds to the map data acquisition request by the map data storage unit. The desired map data stored in 22 may be acquired and received by communication information.

  Further, in the map update system 1, the map data storage unit 11 and the update control unit 12 are not installed in the update server 2 but installed in the vehicle, and the update control unit 12 in the vehicle is stored in the map data storage unit 11. The configuration may be such that update data is generated using a map and output to the information control unit 21. In addition, in the map update system 1, the map data storage unit 11 is installed in the vehicle instead of being installed in the update server 2, and the information control unit 21 in the vehicle responds to the map data acquisition request by the map data storage unit. The desired map data stored in 11 may be acquired and received by communication information.

  FIG. 2A is a diagram for explaining the concept of the map data of this embodiment. Each of LR10 to LR12 represents road section information. Each of LL10 to LL17 represents lane section information. RL10 to RL12 represent related information.

  The road section information LR10 is associated with each of the lane section information LL10 to LL14 by the related information R10, the road section information LR11 is associated with the lane section information LL15 by the related information R11, and the road section information LR12 is The related information R12 is associated with each of the lane section information LL16 and LL17.

  FIG. 2B is a diagram for explaining the details of the point information ND10 and the road section information LR10 of the road network data 30. The point information ND10 is identification information for identifying the point information ND10, information indicating the coordinates of the point corresponding to the point information, cost information indicating the difficulty level of passing through the point, and a predetermined value connected to the point. The identification information of the road section information corresponding to the road of the section is included. Further, the road section information LR10 includes information for identifying the road section information, attribute information indicating the attributes of the road (highway, general road, etc.), cost information indicating the difficulty level of the road passage, and the like. ing. The road section information LR11 and LR12 have the same configuration as the road section information LR10.

  FIG. 2C is a diagram for explaining details of the lane section information LL10 of the lane network data 31. The lane section information LL10 is identification information for identifying the lane section information LL10, coordinate information indicating a coordinate point sequence of a center line of a lane corresponding to the lane section information LL10, and a section corresponding to the lane section information LL10. Exit side identification information that is identification information of lane section information corresponding to the exit side section, entry side identification information that is identification information of lane section information corresponding to the entry side section of the section corresponding to the lane section information LL10, Attributes related to the lane section (running lane, overtaking lane, branch, merge, etc.) are included. Then, the exit side identification information and the entry side identification information represent the connection before and after the lane. The other lane section information has the same configuration as the lane section information LL10.

  FIG. 2D is a diagram for explaining the details of the related information R10 to R12 of the attribute data 33. Each of the related information R10 to R12 includes identification information for identifying the related information R10 to R12. The related information R10 includes identification information of the road section information LR10 and the lane section information LL10 to LL14 in order to show that the road section information LR10 and the lane section information LL10 to LL14 are related to each other. The related information R11 includes identification information of the road section information LR11 and the lane section information LL15 in order to show that the road section information LR11 and the lane section information LL15 are related to each other. The related information R12 includes identification information of the road section information LR12 and the lane section information LL16, LL17 in order to show that the road section information LR12 and the lane section information LL16, LL17 are related to each other. The other related information has the same configuration as the related information R10 to R12.

FIG. 3A is a diagram for explaining the details of the update status information included in the attribute data 33 of the update server 2. Each of the update status information is identification information for identifying the content A (including the road section information LR10 to LR12 and the point information ND10) and the content B (including the lane section information LL10 to LL17) of the update status information, The update status information includes update matching group information indicating a content group, and version information indicating the update status of each of a plurality of versions of the content (initial status, first to fourth times).
The update matching group information can be arbitrarily set according to the content that needs to be updated. For example, as illustrated in FIG. 2D, the road section information LR10 and the lane section information LL10 to LL14 that are associated with each other by the related information R10 are set as one update matching group (a plurality of lane sections for one road section information). It can also be set as information). Further, the road section information LR11 and the lane section information LL15 associated by the related information R11 can be set as one update group (one lane section information for one road section information). Further, using the exit side identification information LL12 and LL13 of the lane section information LL10, the lane section information LL10 and the lane section information LL12 and LL13 are set as one update group (a plurality of lane section information for one lane section information). Alternatively, the lane section information LL12 and the lane section information LL10 may be used to set the lane section information LL12 and the lane section information LL10 as one update group (one lane section information for one lane section information). ) May be set.

  FIG. 3B is a diagram for explaining the details of the update status information included in the attribute data 33 of the client 3, and its specific configuration is the same as the configuration described in FIG. 3A.

  FIG. 4 is a diagram for explaining the operation flow of the map data update processing in this embodiment. The update control unit 12 performs a version information acquisition process of acquiring version information of the client 3, an update specification acquisition process of acquiring an update specification input to the client 3, and an update data generation process of generating update data. To do. Hereinafter, the details of the version information acquisition process, the update designation acquisition process, and the update data generation process will be described with reference to FIGS. 2 to 4 as appropriate.

The update control unit 12 performs the following processing as the version information acquisition processing.
Hereinafter, an example of the case where the content A (including the road section information LR10 to LR12 and the point information ND10) is designated to be updated will be described by dividing the situations into (1) to (3).

  (1) The client 3 is the version 2 of the content A and the version 2 of the content B (both are the first times), and the update server 2 is the version 3 of the content A, the version 2 of the content B (both is the second time). If there is, the version 2 of the content A and the version 2 of the content B of the client 3 are acquired.

  (2) The client 3 is the version 3 of the content A and the version 2 of the content B (each is the second time), and the update server 2 is the version 3 of the content A and the version 4 of the content B (the third time are both). In this case, the version 3 of the content A and the version 2 of the content B of the client 3 are acquired.

  (3) The client 3 is the version 3 of the content A, the version 2 of the content B (both are the third times), and the update server 2 is the version 5 of the content A and the version 4 of the content B (the fourth times are all). In this case, the version 3 of the content A and the version 2 of the content B of the client 3 are acquired (step S10).

The update control unit 12 performs the following processing as the update designation acquisition processing.
Regarding (1) to (3), the update designation for updating the content A input via the input unit 23 of the client 3 is acquired (step S20).

The update control unit 12 performs the following processing as update data generation processing.
(1) It is determined that the version 2 of the content A of the client 3 is smaller than the version 3 of the content A of the update server 2, and the update data of the version 3 of the content A is generated. Further, in order to generate the update data for the content A, the content B included in the same update matching group as the content A is specified. It is determined that the content B of the client 3 and the lane content B of the update server 2 are the same version 2, and the update data of the content B is not generated.
The update data of the version 3 of the content A is transmitted to the client 3, and the client 3 (information control unit 21) updates the map data storage unit 22 with the update data of the version 3 of the content A.

  (2) It is determined that the content A of the client 3 and the content A of the update server 2 are the same version 3, and the update data of version 3 regarding the content A is not generated. Further, since the update data for the content A is not generated, the update data for the content B included in the same update matching group as the content A is not generated, and the map data update process ends. Therefore, even if the version 2 of the content B of the client 3 is smaller than the version 4 of the content B of the update server 2, the update data of the version 4 of the content B is not generated. The above processing is an example in which the map update system does not update the lane section information when the version of the road section information is already a specific version.

(3) It is determined that the version 3 of the content A of the client 3 is smaller than the version 5 of the content A of the update server 2, and the update data of the version 5 of the content A is generated. Further, in order to generate the update data for the content A, the content B included in the same update matching group as the content A is specified. It is determined that the version 2 of the content B of the client 3 is smaller than the version 4 of the content B of the update server 2, and the update data of the version 4 of the content B is generated.
The update data of version 5 of content A and version 4 of content B is transmitted to the client 3, and the client 3 (information control unit 21) stores map data using the update data of version 5 of content A and version 4 of content B. Update section 22. The process described above is an example of the control unit that updates the lane section information when the map update system acquires an update instruction to update the road section information to a specific version. Further, the above processing is an example in which the map update system updates the road section information to the specific version and the lane section information when the version of the road section information is smaller than the specific version (step S30). ..

  In the above-described first embodiment, when the version of the content A of the client 3 designated for update is smaller than the version of the content A of the update server 2, update data using the version of the content A of the update server 2 is generated. When generating the update data for the content A, for the content B included in the same update matching group as the content A, when the version of the content B of the client 3 is smaller than the version of the content B of the update server 2, Update data using the version of the content B can be generated. On the other hand, when the version of the content A of the update-designated client 3 is the same as the version of the content A of the update server 2, update data using the version of the content A of the update server 2 is not generated, and the same update as the content A is updated. The update data of the content B included in the matching group is not generated.

<Modification of Embodiment 1>
The above-described first embodiment can be modified as follows.
The update control unit 12 performs the following processing as the version information acquisition processing.
If the client 3 is the version 1 of the content A and the version 1 of the content B (both in the initial state), and the update server 2 is the version 5 of the content A and the version 4 of the content B (both for the fourth time), the client 3 The version 1 of the content A and the version 1 of the content B are acquired (step S10).

The update control unit 12 performs the following processing as the update designation acquisition processing.
The update designation for updating the content A input via the input unit 23 of the client 3 is acquired (step S20).

The update control unit 12 performs the following processing as update data generation processing.
It is determined that the version 1 of the content A of the client 3 is smaller than the version 5 of the content A of the update server 2, and the version 2 (first time), the version 3 (second time), and the version 5 (fourth time) of the content A are updated. The fact that the data exists is transmitted to the client 3. Hereinafter, an example of the case where the update of the content A is designated will be described separately in the situations (4) to (6).

  (4) When the update designation for updating the content A input via the input unit 23 of the client 3 to version 2 (first time) is acquired, version 2 update data of the content A is generated. Further, in order to generate the update data regarding the content A, the content B included in the same update matching group as the content A is specified. It is determined that the version 1 of the content B of the client 3 is smaller than the version 2 (first time) of the content B of the update server 2, and the update data of the version 2 of the content B is generated. Then, the update data of the version 2 of the content A and the version 2 of the content B (both are the first times) is transmitted to the client 3, and the client 3 (information control unit 21) updates the version 2 of the content A and the version 2 of the content B. The map data storage unit 22 is updated with the data.

  (5) When the update designation for updating the content A input via the input unit 23 of the client 3 to version 3 (second time) is acquired, update data of version 3 of the content A is generated. Further, in order to generate the update data regarding the content A, the content B included in the same update matching group as the content A is specified. It is determined that the version 1 of the content B of the client 3 is smaller than the version 2 (second time) of the content B of the update server 2, and the update data of the version 2 of the content B is generated. Then, the update data of the version 3 of the content A and the version 2 of the content B (both are the second times) is transmitted to the client 3, and the client 3 (information control unit 21) transmits the version 3 of the content A and the version 2 of the content B. The map data storage unit 22 is updated using the update data of 2.

  (6) When the update designation for updating the content A input via the input unit 23 of the client 3 to version 5 (fourth time) is acquired, update data of version 5 of the content A is generated. Further, in order to generate the update data regarding the content A, the content B included in the same update matching group as the content A is specified. It is determined that the version 1 of the content B of the client 3 is smaller than the version 4 (the fourth time) of the content B of the update server 2, and the update data of the version 4 of the content B is generated. Then, the update data of the version 5 of the content A and the version 4 of the content B (the fourth time in each case) is transmitted to the client 3, and the client 3 (the information control unit 21) updates the version 5 of the content A and the version 4 of the content B. The map data storage unit 22 is updated using the data (step S30).

  In the modified example of the first embodiment described above, the client 3 can specify the update based on the versions 2, 3, and 5 of the content A, and the client 3 can specify the update of the content A according to the version of the content A specified by the update specification. Update data can be generated for a particular version. Further, when the version of the content B of the client 3 is smaller than the version of the content B of the update server 2, the content B included in the same update matching group as the content A is updated using the version of the content B of the update server 2. Data can be generated. In this way, the client 3 can update and specify the content A to the latest version, or can update and specify the content A to an arbitrary version.

<Embodiment 2>
The system configuration of the map update system 1 of the second embodiment is the same as that of the first embodiment.
FIG. 5A is a diagram for explaining the concept of map data according to this embodiment. Each of LL20 to LL22 represents lane section information. CL20 represents lane marking information. SG20 represents sign information. TR20 represents traffic signal information. ST20 represents stop line information. R20 to R27 each represent related information.

  The lane section information LL20 is associated with the sign information SG20 by the related information R20. The lane section information LL21 is associated with the sign information SG20 by the related information R21. The lane section information LL22 is associated with the sign information SG20 by the related information R22. The lane section information LL20 is associated with the marking line information CL20 by the related information R23. The lane section information LL20 is associated with the traffic signal information TR20 by the related information R24. The lane section information LL21 is associated with the traffic signal information TR20 by the related information R25. The lane section information LL22 is associated with the traffic signal information TR20 by the related information R26. The stop line information ST20 is associated with the traffic signal information TR20 by the related information R27.

  FIG. 5B is a diagram for explaining the details of the lane section information LL20 of the lane network data 31, and has the same configuration as the content described in FIG. 2B.

  FIG. 5C is a diagram for explaining the details of the marking line information CL20, the sign information SG20, the traffic signal information TR20, and the stop line information ST20 included in the feature data 32. The lane marking information CL20 includes identification information for identifying the lane marking information CL20, coordinate information indicating coordinates of a start position and an end position of the lane marking corresponding to the lane marking information, and a type of the lane marking ( White solid line, white broken line, yellow solid line, etc.) is included. The other lane marking information also has the same configuration as the lane marking information CL20 and CL21. The sign information SG20 includes, in addition to the identification information, coordinate information that represents the coordinates of the feature corresponding to the sign information and type information that represents the type (regulatory sign, warning sign, etc.) of the sign information. .. The traffic signal information TR20 includes, in addition to the identification information, coordinate information representing the coordinates of the feature corresponding to the traffic signal information and the type of the traffic signal information (a traffic signal, an arrow traffic light, a pedestrian signal, a bicycle signal, etc.). It contains the type information shown. The stop line information ST20 includes, in addition to the identification information, coordinate information indicating the coordinates of the stop line corresponding to the stop line information.

  FIG. 5D is a diagram for explaining the details of the related information R20 included in the attribute data 33, and has the same configuration as the content described in FIG. 2D.

  FIG. 6A is a diagram for explaining the details of the update status information included in the attribute data 33 of the update server 2. Each of the update status information is for identifying the content C (including the lane section information LL20 to LL22), the content D (including the traffic signal information TR20), and the content E (including the marking line information CL20) of the update status information. Identification information, reference destination information indicating the content reference destination of the update status information, version information indicating the update status in each of a plurality of versions of the content (initial status, first to fourth times), multiple versions of the content Position information (latitude, longitude, altitude) regarding each of the above. The reference destination information can be arbitrarily set according to the content that needs to be referred. For example, a plurality of lane section information may be set as reference destination information of one sign information (one sign information 1 for a plurality of lane section information), and one lane section information may be referred to one sign information. It is also possible to set it as advance information (1 sign information for 1 lane section information). In addition, when there is a plurality of entry side identification information or exit side identification information for one lane section information, reference destination information (for one lane section information is used by using the entry side identification information or the exit side identification information Multiple lane section information) may be set, and if there is one entry side identification information or one exit side identification information for one lane section information, reference is made using the entry side identification information or exit side identification information. It may be set as destination information (1 lane section information for 1 lane section information). Further, a plurality of traffic signal information may be set as reference information of one stop line information (one stop line information for a plurality of traffic signal information), and one traffic signal information may be referred to for one stop line information. It may be set as information (1 stop line information for 1 traffic signal information). Further, a plurality of lane section information may be set as reference destination information of one lane line information (one lane line information for a plurality of lane section information), and one lane section information may be set to one lane line information. May be set as reference destination information (1 lane line information for 1 lane section information).

  FIG. 6B is a diagram for explaining the details of the update status information included in the attribute data 33 of the client 3, and its specific configuration is the same as the configuration described in FIG. 6A.

  Hereinafter, the details of the version information acquisition process, the update designation acquisition process, and the update data generation process will be described with reference to FIGS. 4 to 6 as appropriate.

The update control unit 12 performs the following processing as the version information acquisition processing.
Hereinafter, an example in which the content C (including the lane section information LL20 to LL22) is designated to be updated will be described by dividing the situations (7) to (9).

  (7) The client 3 is version 1 of content C, version 1 of content D, version 1 of content E (all in the initial state), and the update server 2 is version 2 of content C, version 2 of content D, content E Version 2 of the above (the first time in each case), the version 1 of the content C, the version 1 of the content D, and the version 1 of the content E of the client 3 are acquired.

  (8) The client 3 is the version 2 of the content C, the version 2 of the content D, the version 2 of the content E (all are the first times), and the update server 2 is the version 3 of the content C, the version 2 of the content D, the content E. 2 (both are the second times), the version 2 of the content C, the version 2 of the content D, and the version 2 of the content E of the client 3 are acquired.

  (9) The client 3 is the version 3 of the content C, the version 2 of the content D, and the version 2 of the content E (each is the second time), and the update server 2 is the version 3 of the content C, the version 4 of the content D, the content E. If the version 2 is the second version (the third time in each case), the version 3 of the content C, the version 2 of the content D, and the version 2 of the content E of client 3 are acquired (step S10).

The update control unit 12 performs the following processing as the update designation acquisition processing.
For (7) to (9), the update designation for updating the content C input via the input unit 23 of the client 3 is acquired (step S20).

The update control unit 12 performs the following processing as update data generation processing.
(7) It is determined that the version 1 of the content C of the client 3 is smaller than the version 2 of the content C of the update server 2, and the update data (including the position information) of the version 2 of the content C is generated. Further, the content D and the content E including the reference destination information with the content C as the reference destination are specified. It is determined that the version 1 of the content D of the client 3 is smaller than the version 2 of the content D of the update server 2, and the update data (including the position information) of the version 2 of the content D is generated. Further, it is determined that the version 1 of the content E of the client 3 is smaller than the version 2 of the content E of the update server 2, and the update data (including the position information) of the version 2 of the content E is generated. The update data of the version 2 of the content C, the version 2 of the content D, and the version 2 of the content E is transmitted to the client 3, and the client 3 (information control unit 21) transmits the version 2 of the content C, the version 2 of the content D, and the content E. The map data storage unit 22 is updated using the update data of version 2 of the above.
The process described above is an example of the control unit that updates the feature position information using the feature update information when the map update system acquires the update instruction to update the lane section information to the specific version. In addition, the map update system is an example of updating the first feature position information and the second feature position information when an update instruction for updating the lane section information to a specific version is acquired.

(8) It is determined that the version 2 of the content C of the client 3 is smaller than the version 3 of the content C of the update server 2, and update data (including position information) of the version 3 of the content C is generated. Further, the content D and the content E including the reference destination information with the content C as the reference destination are specified. It is determined that the content D of the client 3 and the content D of the update server 2 are the same version 2, and the update data of the content D is not generated. It is determined that the content E of the client 3 and the content E of the update server 2 are the same version 2, and the update data of the content E is not generated.
The update data of the version 3 of the content C is transmitted to the client 3, and the client 3 (the information control unit 21) updates the map data storage unit 22 with the update data of the version 3 of the content C.

(9) It is determined that the content C of the client 3 and the content C of the server 2 are the same version 3, and the update data of the content C is not generated. Further, the content D and the content E including the reference destination information with the content C as the reference destination are specified. It is determined that the version 2 of the content D of the client 3 is smaller than the version 4 of the content D of the update server 2, and the update data (including the position information) of the version 4 of the content D is generated. It is determined that the content E of the client 3 and the content E of the server 2 are the same version 2, and the update data of the content E is not generated.
The update data of the version 4 of the content D is transmitted to the client 3, and the client 3 (information control unit 21) updates the map data storage unit 22 with the update data of the version 4 of the content D (step S30).

  In the above-described second embodiment, when the version of the content C of the update-designated client 3 is smaller than the version of the content C of the update server 2, update data using the version of the content C of the update server 2 is generated. You can Further, regardless of whether or not the update data of the content C is generated, the content D including the reference destination information with the content C as a reference destination is specified, and the version of the content D of the client 3 is greater than the version of the content D of the update server 2. When the value is small, it is possible to generate update data using the version of the content D of the update server 2. Similarly, when the content E including the reference destination information with the content C as the reference destination is specified and the version of the content E of the client 3 is smaller than the version of the content E of the update server 2, the content E of the update server 2 Update data using the version can be generated.

<Modification 1 of Embodiment 2>
As shown in FIG. 6C, in the update status information of the update server 2 and / or the client 3, the content C that is the reference destination includes version information 1 to 4, and the content D and content E do not include version information. May be

In Modification 1 of Embodiment 2 described above, since only the content C that is the reference destination includes version information 1 to 4, the amount of data regarding the version is greater than that in the case where each of the content C, D, and E includes version information. Can be reduced.

<Modification 2 of Embodiment 2>
FIG. 7A is a diagram for explaining the details of the update status information included in the attribute data 33 of the update server 2. Each of the update status information is for identifying the content C (including the lane section information LL20 to LL22), the content D (including the traffic light information TR20), and the content F (including the stop line information ST20) of the update status information. Identification information, reference destination information indicating the reference destination of the content of the update status information, update matching group information indicating the group of the content of the update status information, and update status of each of the multiple versions of the update status information. Version information (initial state, first to fourth times), and position information (latitude, longitude, altitude) regarding each of a plurality of versions of the content. Here, the content D includes reference destination information having the content C as a reference destination, but the content F does not include reference destination information having the content C as a reference destination.

    FIG. 7B is a diagram for explaining the details of the update status information included in the attribute data 33 of the client 3, and its specific configuration is the same as the configuration described in FIG. 7A.

  Hereinafter, the details of the version information acquisition process, the update designation acquisition process, and the update data generation process will be described with reference to FIGS. 4, 5, and 7 as appropriate.

The update control unit 12 performs the following processing as the version information acquisition processing.
Hereinafter, an example in which the content D (traffic light information TR20) is designated to be updated will be described separately in the situations (10) to (12).

  (10) The client 3 is the version 1 of the content C, the version 1 of the content D, the version 1 of the content F (all are in the initial state), and the update server 2 is the version 1 of the content C, the version 1 of the content D, the content F. If the version 2 of the client 3 is the first version, the version 1 of the content C, the version 1 of the content D, and the version 1 of the content F of the client 3 are acquired.

  (11) The client 3 is the version 1 of the content C, the version 1 of the content D, the version 1 of the content F (all are the first times), and the update server 2 is the version 3 of the content C, the version 1 of the content D, the content F. Version 2 (both of which are the second times), the version 1 of the content C, the version 1 of the content D, and the version 1 of the content F of the client 3 are acquired.

  (12) The client 3 is the version 3 of the content C, the version 1 of the content D, and the version 2 of the content F (all are the third times), and the update server 2 is the version 3 of the content C, the version 5 of the content D, and the content F. If the version is 4 (the fourth time in each case), the version 3 of the content C, the version 1 of the content D, and the version 2 of the content F of the client 3 are acquired (step S10).

The update control unit 12 performs the following processing as the update designation acquisition processing.
Regarding (10) to (12), the update designation for updating the content D input via the input unit 23 of the client 3 is acquired (step S20).

The update control unit 12 performs the following processing as update data generation processing.
(10) It is determined that the content D of the client 3 and the content D of the update server 2 are the same version 1, and the update data of the content D is not generated. It is determined that the content C of the client 3 (including the reference destination information that is the reference destination of the update-designated content D) and the content C of the update server 2 are the same version 1, and the update data of the content C is not generated. Further, since the update data of the update-designated contents D and C is not generated, the update data of the contents D and the contents F included in the same update matching group as the contents C is not generated, and the map data update process is ended. ..

(11) It is determined that the content D of the client 3 and the content D of the update server 2 are the same version 1, and the update data of the content D is not generated. It is determined that the version 1 of the content C of the client 3 (including the reference destination information that is the reference destination of the update-designated content D) is smaller than the version 3 of the content C of the update server 2, and the version 3 of the content C is updated. Generate data (including location information). In order to generate the update data of the content C, the content F included in the same update matching group as the content C is specified. It is determined that the version 1 of the content F of the client 3 is smaller than the version 2 of the content F of the update server 2, and update data (including position information) of the version 2 of the content F is generated.
Update data of version 3 of content C and version 2 of content F is transmitted to the client 3, and the client 3 (information control unit 21) stores map data using the update data of version 3 of content C and version 2 of content F. Update section 22.

(12) It is determined that the version 1 of the content D of the client 3 is smaller than the version 5 of the content D of the update server 2, and the update data (including the position information) of the version 5 of the content D is generated. It is determined that the content C of the client 3 (including reference destination information that is a reference destination of the update-designated content D) and the content C of the update server 2 are the same version 3, and update data of the content C is not generated. Further, in order to generate the update data of the content D designated to be updated, the content F included in the same update matching group as the content D is specified. It is determined that the version 2 of the content F of the client 3 is smaller than the version 4 of the content F of the update server 2, and the update data (including the position information) of the version 4 of the content F is generated.
Update data of version 5 of content D and version 4 of content F is transmitted to the client 3, and the client 3 (information control unit 21) stores map data using the update data of version 5 of content D and version 4 of content F. The section 22 is updated (step S30).

  In Modification 2 of Embodiment 2 above, the update-designated content D is designated to be updated, and when update data relating to either the content D or the content C is generated, the content included in the same update matching group is generated. It is possible to specify F and generate update data using the version of the content F of the update server 2.

<Embodiment 3>
The system configuration of the map update system 1 of the third embodiment is the same as that of the first embodiment.
FIG. 8A is a diagram for explaining the concept of the map data of this embodiment. Each of LL30 to LL33 represents lane section information. CL30 to CL35 represent lane marking information indicating lane markings. BL30 to BL33 each represent road boundary line information indicating a road boundary line. R30 to R37 each represent related information.

  The lane section information LL30 is associated with the lane marking information CL30 and CL31 by the related information R30. The lane section information LL31 is associated with the lane marking information CL31, CL32 by the related information R31. The lane section information LL32 is associated with the lane marking information CL33 and CL34 by the related information R32. The lane section information LL33 is associated with the lane marking information CL34 and CL35 by the related information R33. The lane section information LL30 is associated with the boundary line information BL30 by the related information R34. The lane section information LL31 is associated with the boundary line information BL31 by the related information R35. The lane section information LL32 is associated with the boundary line information BL32 by the related information R36. The lane section information LL33 is associated with the boundary line information BL33 by the related information R37.

  FIG. 8B is a diagram for explaining the details of the lane section information LL30 of the lane network data 31, and has the same configuration as the content described in FIG. 2B.

  FIG. 8C is a diagram for explaining details of the division line information CL20 and CL21 and the boundary line information BL30 included in the feature data 32, and has the same configuration as the content described in FIG. 5C. ..

  FIG. 8D is a diagram for explaining the details of the related information R30 and R34 included in the attribute data 33, and has the same configuration as the content described in FIG. 2D.

  FIG. 9A is a diagram for explaining the details of the update status information included in the attribute data 33 of the update server 2, and its specific configuration is the same as the configuration described in FIG. 7A. ..

  FIG. 9B is a diagram for explaining the details of the update status information included in the attribute data of the client 3, and its specific configuration is the same as the configuration described in FIG. 7B.

  Hereinafter, the details of the version information acquisition process, the update designation acquisition process, and the update data generation process will be described with reference to FIGS. 4, 8, and 9 as appropriate.

The update control unit 12 performs the following processing as the version information acquisition processing.
Hereinafter, an example will be described in which the contents I (partition line information CL30 to CL35) are designated to be updated by dividing the situations (13) and (14).

  (13) Client 3 is version 1 of content G, version 1 of content H, version 1 of content I, version 1 of content J (all in the initial state), and update server 2 is version 2 of content G, content H Version 1, version 1 of content I, version 2 of content J (first time), version 1 of content G of client 3, version 1 of content H, version 1 of content I, version of content J Get 1.

  (14) The client 3 has the version 1 of the content G, the version 1 of the content H, the version 1 of the content I, and the version 1 of the content J (the first time), and the update server 2 has the version 2 of the content G and the content H. Version 1 of the content I, version 3 of the content I, and version 2 of the content J (the second time in each case), the version 1 of the content G of the client 3, the version 1 of the content H, the version 1 of the content I, the version of the content J. Get 1.

The update control unit 12 performs the following processing as the update designation acquisition processing.
Regarding (13) and (14), the update designation for updating the content I input via the input unit 23 of the client 3 is acquired (step S20).

The update control unit 12 performs the following processing as update data generation processing.
(13) It is determined that the content I of the client 3 and the content I of the update server 2 are the same version 1, and the update data of the content I is not generated.
Further, since the update data of the content I is not generated, the update data of the content G, the content H, and the content J included in the same update matching group as the content I is not generated, and the map data update process is ended.

(14) It is determined that the version 1 of the content I of the client 3 is smaller than the version 3 of the content I of the update server 2, and the update data (including the position information) of the version 3 of the content I is generated. Further, since the update data of the content I is generated, the content G, the content H, and the content J included in the same update matching group as the content I are specified. It is determined that the version 1 of the content G of the client 3 is smaller than the version 2 of the content G of the update server 2, and the update data (including the position information) of the version 2 of the content G is generated. It is determined that the content H of the client 3 and the content H of the update server 2 are the same version 1, and the update data of the content H is not generated. It is determined that the version 1 of the content J of the client 3 is smaller than the version 2 of the content J of the server 2, and update data (including position information) of the version 2 of the content J is generated.
The update data of the version 3 of the content I, the version 2 of the content G, and the version 2 of the content J is transmitted to the client 3, and the client 3 (information control unit 21) transmits the version 3 of the content I, the version 2 of the content G and the content J. The map data storage unit 22 is updated using the update data of version 2 of the above.

  In the third embodiment described above, the content I for which the reference destination information is not set is designated to be updated, and when the update data related to the content I is generated, the content G, the content H, and the content G included in the update matching group of the content I and It is possible to specify the content J and generate update data using the version of the content G, the version of the content H, and the version of the content J of the update server 2. On the other hand, when the update data regarding the content I is not generated, the update data regarding the content G, the content H, and the content J included in the update matching group of the content I is not generated.

  The map data 20 includes the road network data 30, the lane network data 31 and the attribute data 33 described in the first embodiment, the lane network data 31, the feature data 32 and the attribute data 33 described in the second embodiment, and the third embodiment. The lane network data 31, the feature data 32, and the attribute data 33 described above may be included.

  The map data 20 includes the information described in at least two embodiments (including modification examples) of the first to third embodiments, and the map data is used to perform the processing (FIGS. 2 to 4) of the first embodiment. Processing of the modification of the first embodiment (FIGS. 2 to 4), processing of the second embodiment (FIGS. 4 to 7), processing of the modification of the second embodiment (FIGS. 4 to 7), processing of the third embodiment (FIG. It may be configured to perform all the processes described in at least two embodiments (including modified examples) of FIGS. 4, 8, and 9).

  Further, as the map data update processing, processing using the road network data 30, the feature data 32 and the attribute data 33 may be performed, and the road network data 30, the lane network data 31, the feature data 32 and the attribute data 33. You may perform the process using.

  The map update data distribution method realized by Patent Document 1 includes the same character string data as the character string data included in the update data included in the base point update data, and is within a predetermined distance from the map element of the base point update data. The other update data unit existing in is searched as the related update data, and the base point update data and the related update data are delivered to the terminal. Therefore, other update data that does not include the same character string as the base update data is searched as related update data and is not delivered to the terminal, which may not always be a desirable update. The embodiment described above solves these problems.

  Aspects described in all or part of the above embodiments provide a map update system capable of appropriately updating map data, improve processing speed, improve processing accuracy, improve usability, and use data. Appropriate data, program, recording medium, such as improvement of functions or provision of appropriate functions, provision of other functions or provision of appropriate functions, reduction of data and / or program capacity, downsizing of device and / or system, etc. Provision of device and / or system, and data, program, recording medium, device and / or data, program, recording medium, device and / or data, program, device / system production / production cost reduction, production / manufacturing ease, production / production time reduction, etc. Resolve any one issue of system production / manufacturing optimization.

1 Map Update System 2 Update Server 3 Client 11 Map Data Storage Unit 12 Update Data Generation Unit 21 Information Control Unit 22 Map Data Storage Unit 23 Update Unit 30 Road Network Data 31 Lane Network Data 32 Feature Data
33 attribute data

Claims (5)

A map update system for updating map data used to control an autonomous vehicle,
Road network data including road section information on a predetermined section of the road,
A storage unit having lane network data including lane section information regarding a predetermined section of a lane forming a road,
The lane section information is information used for controlling the autonomous vehicle based on a route obtained using the road section information,
The map update system further includes a control unit that updates the lane section information when an update instruction to update the road section information to a specific version is acquired. The map update system according to claim 1,
The map update system in which the control unit does not update the lane section information when the version of the road section information is already the specific version. The map update system according to claim 1 or 2, wherein
The map update system in which the control unit updates the road section information to the specific version and updates the lane section information when the version of the road section information is smaller than the specific version. A map update system for updating map data used to control an autonomous vehicle,
Lane network data including lane section information regarding a predetermined section of the lanes that form the road,
A storage unit having feature position information indicating the latitude, longitude, and height of the feature installed around the road;
The lane section information and the feature position information are information used for controlling the autonomous vehicle,
The map update system further includes a control unit that updates the feature position information when an update instruction to update the lane section information to a specific version is acquired. The map update system according to claim 4,
The feature position information includes first feature position information that is a lane marking as the feature and second feature position information that is a traffic light as the feature,
The control unit updates the first feature position information and updates the second feature position information when an update instruction to update the lane section information to a specific version is acquired.

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