JP2021156613A - Map data update device, map management system and program - Google Patents

Abstract

To provide a technique useful for generating map data.SOLUTION: A map data update device 20 includes a data editing unit 24 that generates output data including additional regulation data relating to a change in regulation content relating to regulations of movement of a moving body in a traffic lane on the basis of map data including data for each lane.SELECTED DRAWING: Figure 1

Description

One aspect of the disclosure relates to computer systems, processing methods, programs, and / or data structures.

A map generation system including a measurement vehicle and a map server device is known (Patent Document 1). In this map generation system, the measuring vehicle measures the undeveloped route in which the automatic driving map data required for automatic driving does not exist in the planned route of the autonomous driving vehicle, and the server measures the undeveloped route based on the measured data, and the automatic driving map data of the undeveloped route. Is generated and sent to the self-driving car.

JP-A-2019-95286

The present disclosure provides techniques useful for generating map information.

The map data updating device according to one aspect of the present disclosure is a map data creating unit that creates map data including data for each lane, and a map data creating unit that creates map data including data for each lane, and a map data updating device for moving a moving body in the lane based on the map data including data for each lane. It has a data editorial department that creates output data including additional regulation data related to changes in regulation contents related to regulation.

The additional regulation data includes information that can be shared by another person different from the map data updating device and the output destination of the output data, and information that cannot be shared by the other person.

The additional regulation data includes information for identifying the lane and information regarding the regulation content in the identified lane.

The program according to one aspect of the present disclosure is a step of creating map data including data for each lane, and a change in the regulation content regarding regulation of movement of a moving object in the lane based on the map data including data for each lane. Have the computer perform the steps to create output data, including additional regulatory data for.

The map management system according to one aspect of the present disclosure is a map data creation device that creates map data including data for each lane, and a moving body in the lane based on the map data created by the map data creation device. It has a map data updater having a data editing unit that creates output data including additional regulation data related to changes in the regulation contents related to movement regulation, and the data editing department is for each lane included in the map data. Create output data without updating the data.

FIG. 1 is a schematic configuration diagram relating to an example of a map management system according to an embodiment of the present disclosure. FIG. 2 is a diagram showing an example of the hardware configuration of the map data creating device and the map data updating device. FIG. 3 is a diagram showing an example of map data. FIG. 4 is a diagram showing an example of lane network data. FIG. 5 is a diagram showing an example of feature / attribute data. FIG. 6 is a diagram showing an example of operation regulation data. FIG. 7 is a diagram showing an example of map data for end users created by the map data update device. FIG. 8 is a diagram showing an example of additional regulation data. FIG. 9 is a flow chart showing an example of a processing procedure in the map data updating device. FIG. 10 shows an example of processing between the end user and the map data updating device when the end user acquires information related to the accident. FIG. 11 shows an example of processing between the end user and the map data updating device when the map data updating device acquires the information related to the operation regulation. FIG. 12 shows an example of processing between the end user and the map data updating device when a disaster occurs. FIG. 13 shows an example of processing between the end user and the map data updating device when the map data updating device acquires information such as the opening of a new road. FIG. 14 shows an example of processing between the map data creation device, the map data update device, and the end user when the information is updated to the map data creation device based on the information acquired by the map data update device. It is a thing.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted.

[System overview]
FIG. 1 is a diagram illustrating a schematic configuration of a map management system 1 which is an example of a processing system according to an embodiment of the present disclosure. The map management system 1 is a system that creates map data (map data for end users) for guidance control to support the driving of individual vehicles and outputs the map data to the vehicles. Examples of the end user include a vehicle driver, a vehicle owner, and the like. Vehicles are, in addition to manually driven vehicles, self-driving vehicles (eg, vehicles in which a control unit mounted on the vehicle controls acceleration, deceleration, or direction of travel) or semi-autonomous vehicles (eg, mounted on the vehicle). The control unit may be a vehicle that assists the driver of the vehicle by controlling a part of the acceleration, deceleration, or traveling direction). In the following embodiment, the case where the end user's vehicle is an autonomous driving vehicle will be described as an example, but the map management system 1 described in the following embodiment will move along the lane using the map data. It can be applied to various moving bodies that are guided and controlled.

[System configuration]
The map management system 1 includes a map data creating device 10 and a map data updating device 20. Further, the map management system 1 may further include an external device 30 that provides the map data updating device 20 with information necessary for updating the map data such as traffic regulation information.

The map data creating device 10 has a function of creating map data that can be used for controlling guidance to support the driving of a vehicle and providing the map data updating device 20 with the map data. The map data creation device 10 has, for example, a function of creating and providing overall map data of a target area. The map data creating device 10 is, for example, a device that can be managed by a map data manager or the like that manages the map data provided to the driving system manager or the like.

The map data update device 20 creates and outputs end user map data (output data) used by the end user E's vehicle by editing the map data provided by the map data creation device 10. Has the function of The map data updating device 20 creates map data for end users by, for example, referring to information provided by the external device 30 and performing processing such as adding useful information to the map data. The map data updating device 20 is, for example, a device that can be managed by a driving system administrator or the like that provides and manages a driving system used in the vehicle of the end user E.

The external device 30 is a device that provides information used by the map data updating device 20 when creating map data for end users. The external device 30 is, for example, a device that manages traffic regulation information, a device that manages weather information that may affect the movement of the vehicle, a device that manages event information that may affect road congestion, and a vehicle of end user E. Examples include devices for managing the types of the above. The external device 30 is not particularly limited. The information that can be considered in the end-user map data will be described in detail later, but the type and number of the external devices 30 can be changed according to the information used for creating the end-user map data in the map data update device 20. ..

The map data creating device 10 and the map data updating device 20 are computers that execute the main functions of the map management system 1. The computer that functions as the map data creating device 10 and the map data updating device 20 is not limited. In one example, the map data creating device 10 and the map data updating device 20 are composed of a large computer such as a business server.

FIG. 2 shows an example of the hardware configuration of the map data creating device 10 and the map data updating device 20. For example, the map data creating device 10 and the map data updating device 20 each have a control circuit 100. In one example, the control circuit 100 has one or more processors 101, a memory 102, a storage 103, a communication port 104, and an input / output port 105.

Processor 101 executes the operating system and application programs. The storage 103 is composed of a hard disk, a non-volatile semiconductor memory, or a storage medium of a retrievable medium (for example, a magnetic disk, an optical disk, etc.) and stores an operating system and an application program. The memory 102 temporarily stores the program loaded from the storage 103 or the calculation result by the processor 101. In one example, the processor 101 functions as each of the above functional modules by executing a program in cooperation with the memory 102. The communication port 104 performs data communication with another device via the communication network NW in accordance with a command from the processor 101. The input / output port 105 executes input / output of an electric signal to / from an input / output device (user interface) such as a keyboard, a mouse, and a monitor according to a command from the processor 101.

The map data creating device 10 and the map data updating device 20 may be configured by one or a plurality of computers, respectively. When a plurality of computers are used, one map data creating device 10 or a map data updating device 20 is logically configured by connecting these computers to each other via a communication network.

Next, the functional unit of each device constituting the map management system 1 will be described.

In the map management system 1 described above, the map data creation device 10 includes a map data creation unit 11. The map data creation unit 11 creates and updates map data on a regular basis (for example, every few months) and provides it to the map data update device 20 and the like. The map data creating device 10 acquires the information used for creating the map data for the end user in the map data updating device 20 from the map data updating device 20 as the information related to the updating of the map data, and uses it for creating the map data. You may.

The map data creating device 10 may be configured to provide map data to another map data updating device (map data updating device 20X shown in FIG. 1), as shown in FIG. 1, for example. As described above, the map data update device 20 may be provided for each operation system administrator. Therefore, the map data creating device 10 may be configured to provide common map data to the map data updating device provided for each operation system administrator.

The map data updating device 20 creates map data for the end user on a regular basis (for example, every several weeks to several months, which is shorter than several months) or at any time, and provides the map data to the vehicle of the end user E. That is, the map data update device 20 creates end-user map data at a cycle different from the map data created by the map data creation unit 11. Further, in order to create the map data for the end user in the map data update device 20, in addition to the map data acquired from the map data creation device 10, the update information transmitted from the external device 30 and the vehicle of the end user E are further prepared. Traffic information etc. sent from is used. In order to execute these processes, the map data update device 20 includes a map data acquisition unit 21, an update data acquisition unit 22, a data holding unit 23, a data editing unit 24, and an output unit 25.

The map data acquisition unit 21 has a function of acquiring map data from the map data creation device 10. The acquired map data is held by the data holding unit 23.

The update data acquisition unit 22 acquires the update data D50 transmitted from the external device 30 or the vehicle of the end user E or the like. The acquired update data D50 is used for creating map data for end users, and is held by the data holding unit 23. The update data D50 refers to all information that can be used for information such as driving regulations provided to the end user E's vehicle. That is, the update data D50 acquired from the external device 30 or the like is not limited to the information that specifies the driving regulation content for each lane.

The data holding unit 23 has a function of holding the map data D10 and the updated data D50. In addition, the map data for end users after creation may be retained.

The data editing unit 24 has a function of creating map data for end users by using the map data D10 and the update data D50. Further, the data editing unit 24 adds regulation data (additional data) for updating the end user map data held by the end user E vehicle to the end user E vehicle that already holds the end user map data. It also has a function to create regulation data). The additional regulation data is data for reflecting this information in the end user E's vehicle when the regulation contents are changed in various parts of the end user's map data held by the end user E's vehicle. Is. These will be described later.

The output unit 25 has a function of transmitting the created map data for the end user or additional regulation data to the vehicle of the end user E.

[program]
The program for making the computer function as the map data creation device 10 and the map data update device 20 is the map data creation unit 11 of the map data creation device 10 or the map data acquisition unit 21 of the map data update device 20. It includes a program code for functioning as an update data acquisition unit 22, a data holding unit 23, a data editing unit 24, and an output unit 25. This program may be provided after being fixedly recorded on a non-temporary recording medium such as a CD-ROM, a DVD-ROM, or a semiconductor memory. Alternatively, the program may be provided via a communication network as a data signal superimposed on a carrier wave. The provided program is stored in the storage 103, and the processor 101 executes the program in cooperation with the memory 102 to realize each of the above functional modules.

[data structure]
The data structure of each data handled in the map management system 1 will be described.

First, the map data D10 will be described. The map data D1 is created by the map data creating device 10. As shown in FIG. 3, the map data D1 includes road network data D11, lane network data D12, feature / attribute data D13, and driving regulation data D14.

The road network data D11 includes a plurality of road section information including information on a plurality of points including intersections and branch points of roads and information on roads between the plurality of points. The road network data D11 is information representing a road connection by a plurality of point information and a plurality of road section information.

The lane network data D12 includes a shape of a substantially center line of a lane for each lane and a plurality of lane section information (lane information) representing lanes in an arbitrary section. The lane network data D12 further includes identification information for identifying lane section information, coordinate information representing a coordinate point sequence of a substantially center line of the lane, and the like.

FIG. 4 shows an example of the lane network data D12. As shown in FIG. 4, the lane network data D12 includes lane section information expressing lanes as data. The lane section information may include, for example, identification information, coordinate information, entry side identification information, and exit side identification information. The identification information is information for the vehicle of the end user E (for example, a driving support system mounted on the moving body) to identify the lane section information corresponding to the lane section. The coordinate information is a coordinate point sequence (latitude, longitude, height) of the center line of the lane section, and is composed of a plurality of coordinates. The coordinate information is information for specifying the lane section in which the vehicle of the end user E travels.

The approaching side identification information is lane section information corresponding to the lane section on the approaching side (the lane section in front of the lane section along the traveling direction). The exit side identification information is lane section information corresponding to the lane section on the exit side (the lane section on the rear side of the lane section along the traveling direction). The entry side identification information and the exit side identification information are used to specify the lane section connected before and after the lane section. For example, in the lane section information related to the lane section specified by the identification information L001, the identification information L002 is described as the approach side identification information. By referring to the approaching side identification information, it is possible to identify that the lane section corresponding to the identification information L001 is connected to the lane section corresponding to the identification information L002. In this way, by referring to the lane network data D12, it is possible to specify the connection relationship between the lane sections.

The feature / attribute data D13 includes detailed information about each feature that affects the passage of the end user E along the lane. Further, the feature / attribute data D13 may include information for associating the lane section information of the lane network data D12 with the local features. Examples of the features included in the feature / attribute data D13 include features showing road paint such as road markings and lane markings, and features installed on roads such as traffic lights and road signs. These features regulate the movement of vehicles moving in the lane.

FIG. 5 shows an example of feature / attribute data D13. As shown in FIG. 5, the feature / attribute data D13 includes feature identification information for identifying a feature, coordinate information indicating the position of the feature (information indicating latitude, longitude, and height), and feature type information. (Information that identifies the type) and related information (information that identifies the lane section affected by the feature) may be included. In the example shown in FIG. 5, information about the feature is shown as the feature / attribute data D13, but in addition, the feature / attribute data D13 includes the road section information and the lane network data of the road network data D11. Information for associating with the lane section information of D12 may be included.

The driving regulation data D14 includes information related to traffic regulation and the like to be considered when the vehicle of the end user E passes along the lane. For example, the lane network data D12 includes information on all lanes (lanes) in which a vehicle can move, but in reality, depending on the type of vehicle, traffic is restricted according to the lane in which movement is restricted and the time of day. Information such as regulated lanes may also be included in the lane network data D12. Therefore, by separately providing the driving regulation data D14, the lanes to which some kind of regulation should be given to the vehicle of the end user E are summarized as the driving regulation data D14 together with the specific regulation contents.

FIG. 6 shows an example of the operation regulation data D14. As shown in FIG. 6, the driving regulation data D14 includes identification information for identifying each regulation, identification information for identifying a lane section subject to regulation, content of regulation, and regulation time zone information (regulation is performed). Information indicating the time zone) may be included. In the example shown in FIG. 6, the information for specifying the section where automatic driving by the vehicle is prohibited for 24 hours (identification information X001) and the section where the moving speed of the vehicle is restricted to 40 km or less from 7:00 to 19:00 Information to be specified (identification information X002) and. The driving regulation data D14 contains information different from the above, for example, information for specifying the type of vehicle subject to regulation (for example, information representing a specific vehicle type such as an ordinary vehicle, a large vehicle, or a light vehicle). Etc. may be included. Such information is useful for identifying the type of vehicle, for example, when restrictions are imposed only on large vehicles.

FIG. 7 shows an example of the map data D20 for the end user created by the map data updating device 20. The map data update device 20 receives the map data D10 created by the map data creation device 10 and transmitted from the map data creation device 10, and adds the additional regulation data D30 to add the end user map data D20. do. The additional regulation data D30 includes the additional regulation open data D31 and the additional regulation closed data D32.

The additional regulation data D30 is operation regulation data added in the map data update device 20. The operation regulation data D14 included in the map data D10 of the map data creation device 10 is information related to the operation regulation already reflected as the operation regulation data D14 of the map data D10 in the map data creation device 10. On the other hand, the additional regulation data D30 added by the map data update device 20 may include information related to the driving regulation that cannot be reflected in the driving regulation data D14 of the map data D10. As an example, the additional regulation data D30 includes information on operation regulations that may occur in a short period of time such as intensive construction or accidents, information on operation regulations that may occur depending on the weather such as winter freezing, and construction work. -Includes information related to driving regulations that may occur only for specific vehicle types due to some cause of terrain.

Among the information that can be added as additional regulation data D30, there may be information that may be used in the vehicle of the end user E in general, but it is used only in the driving system used in the vehicle of the specific end user E. There may also be information to be obtained. For example, information on driving regulations that may occur due to a traffic accident, weather, or the like affects the driving of all vehicles, and therefore should be used for all vehicles of end user E. Therefore, for example, by sharing information with another person such as another map data updating device 20 managed by another operation system administrator or the like, more up-to-date information can be promptly provided to the map data for end users. Can be reflected. Such data can be treated as (open) information that can be shared with others. In the present embodiment, the "other" for one map data update device 20 is the map data update device 20 which is a party and the map data for end users created by the map data update device 20. Refers to a vehicle (device, etc.) different from the vehicle of the end user E who uses.

On the other hand, for example, it is difficult for a specific vehicle type to drive in a specific lane section due to the size of the vehicle body and the width of the vehicle body. In this case, since it is desirable information to be provided to the vehicle of the end user E of the vehicle type, the driving system administrator in which the vehicle of the end user E of the vehicle type exists may handle the information as additional regulation data. desired. However, since such information is unnecessary for the driving system administrator who does not handle the vehicle type, it is not necessary to handle it as additional regulation data. Therefore, such information may be configured not to be provided to other map data updating devices. In addition, other driving is performed from the viewpoint of providing detailed information or providing detailed services to the vehicle of the end user E as compared with the driving system provided by the other driving system administrator. Information that is not handled by the operation system provided by the system administrator can also be handled as additional regulation data. These data can also be treated as information that cannot be shared with others (closed).

As described above, the additional regulation data D30 may include the additional regulation open data D31 and the additional regulation closed data D32 as two types of information that can be shared with others.

FIG. 8 shows an example of additional regulation data D30. FIG. 8 shows both the additional regulation open data D31 and the additional regulation closed data D32. As shown in FIG. 8, the additional regulation data D30, like the driving regulation data D14, has identification information for identifying the regulation, identification information for identifying the lane section subject to the regulation, the content of the regulation, and regulation. It may include time zone information (information indicating the time zone in which regulation is performed). In FIG. 8, as an example of the additional regulation open data D31, the regulation data whose regulation content is “congestion due to holding an event” is shown. In addition, as an example of the additional regulation closed data D32, three regulation data whose regulation contents are "autonomous driving prohibited for vehicle types A and B", "speed regulation (40 km or less)", and "lane impassable" are shown. ing. Whether the various data that can be included in the additional regulation data D30 are treated as the additional regulation open data D31 or the additional regulation closed data D32 can be determined by each of the map data update devices 20. The data determined to be treated as the additional regulation open data D31 may be stored in, for example, an area that can be referred to by another map data updating device. How to handle the additional regulation data D30 can be appropriately changed by the map data updating device 20. For example, "lane impassable" is shown as an example of the additional regulation closed data D32, but such information is obtained, for example, at a stage where the accuracy of the information is low (for example, only the information received from the vehicle of the end user E is acquired. Keep it closed at the stage where it is closed, and open it at the stage when it is confirmed that the accuracy of the information is sufficient (for example, when the information is received from the government office, etc. in addition to the information received from the end user E's vehicle). You can also.

The additional regulation data D30 added to the end-user map data can also be changed by each end-user E vehicle. For example, when the vehicle of the end user E is a specific vehicle type A, the information regarding the driving regulation that "vehicle types A and B are prohibited from automatic driving" is important. On the other hand, when it is specified that the vehicle of the end user E is a vehicle type different from the vehicle types A and B, the information regarding such driving regulation is not important. Therefore, the type, content, and the like of the additional regulation data D30 added to the map data for the end user in the map data update device 20 may be different for each vehicle of the end user E. As an example, when the vehicle type of the end user E's vehicle corresponds to the vehicle types A and B, the driving regulation information related to the above vehicle types A and B may be included in the additional regulation data D30. How the map data for the end user is generated can be appropriately changed in the map data updating device 20.

The type of additional regulation data is not particularly limited, and examples thereof include the information shown in Table 1 below. In Table 1 below, examples of handling "open" and "closed" are described. As an example, "A" in the item indicates the treatment that can be selected with the highest priority, and "B" in the item indicates the treatment that can be selected depending on more detailed conditions. "X" indicates a treatment that is unlikely to be selected. However, as described above, how to handle each information can be appropriately changed by the map data updating device 20 (for example, the handling is changed from 3 stages of A, B, and X to 5 stages, etc.), and only an example is shown. It is a thing.

The end-user map data may be created and provided immediately each time the above information is obtained, but it may also be configured to be collectively reflected in the end-user map data in consideration of the degree of urgency. good. For example, among the information shown in Table 1 above, the information for which "urgency" is set to "low" may not require the end-user map data to be updated in real time. Therefore, the end-user map data based on this information may be updated at the same time as other information (for example, reflected at the time of periodic update). However, the "urgency" in Table 1 can also be changed as appropriate by the map data updating device 20, and Table 1 shows an example of the determination.

When the vehicle of the end user E acquires the map data for the end user for the first time (for example, when driving in the area visited for the first time), the map data updating device 20 transfers the map data for the end user E to the figure. A set of information corresponding to the end-user map data D20 shown in No. 7 is provided. On the other hand, when the end user E vehicle has already acquired the end user map data once (for example, the end user E vehicle has visited the same area many times and has already acquired the end user map data. In the case), only the portion of the end-user map data D20 corresponding to the additional regulation data D30 may be provided to the end-user E's vehicle. For example, in an area where the end user E's vehicle repeatedly moves, it is assumed that the end user E's vehicle already holds the end user map data D20. In such a situation, when the map data updating device 20 acquires information for updating the data held in the vehicle of the end user E (for example, when new disaster information or the like is acquired), the map data updating device 20 The output unit 25 may be configured to reflect the additional regulation data D30 in the driving system in the vehicle of the end user E by transmitting the information to be updated as the additional regulation data D30 to the vehicle of the end user E.

[Processing procedure in the system]
The operation of the map data updating device 20 in the map management system 1 will be described with reference to FIG.

First, the map data update device 20 receives and acquires data (update data D50) that can be used for update in the update data acquisition unit 22 (step S01). The update data D50 may be acquired by the update data acquisition unit 22 periodically inquiring to the external device 30 or the like, or the information transmitted from the external device 30 or the end user E's vehicle may be updated as appropriate. The data acquisition unit 22 may be configured to acquire the data at any time. The data (update data D50) that can be used for the update acquired by the update data acquisition unit 22 is held by the data holding unit 23. At this time, the data holding unit 23 may manage the updated data D50 in an open / closed state according to the characteristics of the updated data D50.

Next, the map data updating device 20 receives and acquires the map data in the map data acquisition unit 21 (step S02). The map data is periodically provided by the map data creating device 10. The map data acquired by the map data updating device 20 is held by the data holding unit 23.

Note that steps S01 and S02 may be performed at the same time, and the order thereof is not particularly limited. Since the update data can be acquired from a plurality of external devices 30 or the vehicles of the end user E, there is a possibility that the update data is acquired more frequently.

Next, the map data update device 20 creates end-user map data based on the map data and the update data in the data editing unit 24 (step S03). Specifically, first, the data editing unit 24 identifies the vehicle of the end user E to be provided. Next, the data editing unit 24 prepares the map data related to the area to be provided among the map data held by the data holding unit 23 according to the vehicle of the specified end user E. Further, the data editing unit 24 selects information to be included in the end user map data from the update data D50 held in the data holding unit 23. Examples of the information to be included in the map data for the end user include information relating to the area to be provided, information highly related to the characteristics (vehicle type / owner) of the end user E, and the like. The method of selecting information is not limited to these. The data editing unit 24 selects information to be included in the end user map data from the update data D50, and combines it with the map data D10 as additional regulation data D30 (see FIG. 7). As a result, the map data D20 for the end user is created. The data editing unit 24 may create map data for the end user in response to a request transmitted from the vehicle of the end user E, for example. Further, the data editing unit 24 may periodically create map data for end users. Further, for example, when the update data acquisition unit 22 acquires highly urgent information (information indicated as having high “urgency” in Table 1) as update data D50, the data editing unit 24 may use the data editing unit 24. , It may be possible to create map data for end users.

Next, the map data updating device 20 transmits the created end-user map data to the target end-user E vehicle by the output unit 25 (step S04). As a result, the vehicle of the end user E refers to the additional regulation data D30 and updates the information of the map data for the end user held by the vehicle. The vehicle of the end user E refers to the information indicating that the section specified by the additional regulation data D30 is capable / unautomatically driven. The vehicle of the end user E can be controlled to start / stop the automatic driving.

Next, the procedure for updating the map data for the end user by the map data updating device 20 will be described with reference to FIGS. 10 to 14. The procedure shown in FIGS. 10 to 14 provides additional regulation data D30 to the end user E vehicle when the end user E vehicle has already acquired end user map data for the target area. This is what I expected. In the following cases, it is assumed that the possibility of automatic driving is changed, but as described above, the content of the driving regulation for the vehicle of the end user E is limited to the content related to the possibility of automatic driving. It's not a thing. The examples described below can also be applied to other driving regulation contents and their changes exemplified above.

FIG. 10 shows an example of interaction between the end user E's vehicle and the map data updating device 20 when the end user E's vehicle acquires information related to an accident that has occurred in the vicinity of the own vehicle. In such a case, when the vehicle of the end user E detects the occurrence of an accident (step S11), the information related to the accident (information for identifying the lane section affected by the accident) is mapped from the vehicle of the end user E. It is transmitted to the data update device 20. The update data acquisition unit 22 of the map data update device 20 acquires the information as update data D50 (step S12). At this time, the data editing unit 24 determines that this information should be reflected urgently. The data editing unit 24 creates, as information corresponding to the additional regulation data D30, information that defines that automatic operation is not possible in the corresponding section (step S13). The created information is transmitted as additional regulation data D30 from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information held by the vehicle (step S14). The vehicle of the end user E refers to the information indicating that the automatic driving is not possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to stop the automatic driving (step S15). As an example of this control, in a lane section where automatic driving is not possible, in order to guide the vehicle along the coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Information is not output.

Next, when the vehicle of the end user E detects the recovery of the failure due to the accident, the information related to the recovery of the accident (information for identifying the lane section, etc., which has been eliminated from the influence of the accident and has become passable) is the information of the end user E. It is transmitted from the vehicle to the map data update device 20. Information that identifies that the update data acquisition unit 22 of the map data update device 20 has been restored is acquired as update data D50 (step S16). This information may be known not only from the information transmitted from the vehicle of the end user E but also from the information transmitted from the external device 30 relating to the government office or the like having jurisdiction over the road. When the update data acquisition unit 22 of the map data update device 20 acquires this information, the data editing unit 24 provides information that defines that automatic operation is possible in the corresponding section as information corresponding to the additional regulation data D30. Create (step S17). The created information is transmitted as additional regulation data D30 from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information of the map data for the end user held by the vehicle (step S18). The vehicle of the end user E refers to the information indicating that the automatic driving is possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to start automatic driving (step S19). As an example of this control, in a lane section where autonomous driving is possible, in order to guide the vehicle along the coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Information is output. It should be noted that the information for switching from the state in which automatic driving is possible to the state in which automatic driving is not possible is highly urgent, but the information for switching from the state in which automatic driving is not possible to the state in which automatic driving is not possible may not be said to be highly urgent. In such a case, the processing from the creation of the additional regulation data D30 (S17) that stipulates that the data editing unit 24 can automatically drive to the change of the control content in the vehicle of the end user E (S19) is a map. The information specifying that the update data acquisition unit 22 of the data update device 20 has been restored may not be acquired as the update data D50, but may be performed at the timing of creating the periodic additional regulation data D30 thereafter.

FIG. 11 shows an example of the exchange between the vehicle of the end user E and the map data updating device 20 when the map data updating device 20 acquires the information related to the driving regulation from the external device 30 or the like. The update data acquisition unit 22 of the map data update device 20 acquires information on the operation regulation from the external device 30 (step S21). At this time, the data editing unit 24 determines whether or not this information should be reflected urgently. When the data editing unit 24 determines that the information should not be reflected urgently, it creates information corresponding to the additional regulation data D30 at an appropriate timing, which stipulates that automatic operation in the corresponding section is impossible. (Step S22). Information that should not be reflected urgently is, for example, a place where the lane marking is rubbed and unclear, and the lane marking is clarified by construction. When the map data (step S02) acquired by the map data acquisition unit 21 includes the division line information related to the division line, it is not necessary to urgently reflect the information. Here, as an example of appropriate timing, the regulation information based on the acquired update data D50 is included at the timing of creating the periodic additional regulation data D30. The created information is transmitted as additional regulation data D30 from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information held by the end user map data held by the vehicle (step S23). Refer to the information indicating that automatic driving is not possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to stop the automatic driving. As an example of this control, for example, in a lane section where automatic driving is not possible, the vehicle is guided along a coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Do not output the information to do.

FIG. 12 shows an example of interaction between the end user E's vehicle and the map data updating device 20 when a disaster occurs in an area related to the end user E's vehicle. In such a case, when a disaster occurs (step S31), the update data acquisition unit 22 of the map data update device 20 collects information about the disaster (step S32). The information collected at this time is not limited to lane-based information, but is, for example, damage information for each area (positional coordinates of the area where strong winds occurred, position coordinates of areas where flooding occurred, etc.), or future impact. Information for predicting the position coordinates of the generated area can be mentioned. This information can be collected from the external device 30. When the update data acquisition unit 22 acquires such information, the data editing unit 24 of the map data update device 20 identifies a lane in which automatic driving should be disabled (step S33). To specify the lane in which automatic driving should be disabled, for example, the data editing unit 24 compares the position coordinates of the lane section information with the position coordinates of the damage information. When the position coordinates of the lane section information are included in the position coordinates of the damage information, the data editing unit 24 specifies that the lane section is a lane section in which automatic driving should be disabled. Next, the data editing unit 24 determines that this information should be reflected urgently, and provides information corresponding to the additional regulation data D30, which stipulates that automatic driving in the corresponding section is not possible. Create (step S34). The created information is transmitted as additional regulation data D30 from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information held by the end user map data held by the vehicle (step S35). The vehicle of the end user E refers to the information indicating that the automatic driving is not possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to stop the automatic driving. As an example of this control, for example, in a lane section where automatic driving is not possible, the vehicle is guided along a coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Do not output the information to do.

Next, the update data acquisition unit 22 of the map data update device 20 collects information on the damage caused by the disaster according to the stage where the disaster converges after a certain amount of time (for example, one week or the like) (step S36). Step S37). The information collected at this time includes, for example, information on the position coordinates of the closed section caused by a landslide or a fallen tree generated as a result of a disaster, but is not limited thereto. This information can be collected from the external device 30. When the update data acquisition unit 22 acquires such information, the data editing unit 24 of the map data update device 20 refers to the information and asks whether the section in which automatic operation is disabled should be changed to enable automatic operation. The setting is reviewed (step S38). As an example, the data editing unit 24 compares the position coordinates of the lane section information with the position coordinates of the closed section. When the position coordinates of the lane section information are not included in the position coordinates of the closed section, the data editing unit 24 specifies that the lane section is a lane section capable of automatic driving. In addition, the data editing unit 24 may change the automatic driving as a whole except for the lane section that is closed to traffic. However, the method is not limited to the method of reviewing the setting, and the data editing unit 24 can review the setting in more detail by referring to the damage information and the like.

If it is determined that it is necessary by the above review, the data editing unit 24 creates information that defines that automatic operation is possible in the corresponding section as information corresponding to the additional regulation data D30 (step S39). The created information is transmitted as additional regulation data D30 from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information of the map data for the end user held by the vehicle (step S40). The vehicle of the end user E refers to the information indicating that the automatic driving is possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to start automatic driving. As an example of this control, in a lane section where autonomous driving is possible, in order to guide the vehicle along the coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Information is output. Since there is a high degree of urgency in switching the automatic driving availability status based on a disaster, if such information is obtained as an example, immediate response will be taken. Further, the processing from the information collection (S37) to the update of the data in the vehicle of the end user E (S40) after the disaster is resolved may be repeated at regular intervals (for example, every week).

FIG. 13 shows an example of the exchange between the vehicle of the end user E and the map data updating device 20 when the map data updating device 20 acquires information such as the opening of a new road from the external device 30 or the like. When the update data acquisition unit 22 of the map data update device 20 acquires the information related to the opening of the new road from the external device 30 as the update data D50, the data editing unit 24 confirms the changes in the information related to the opening of the new road. (Step S51). Next, the data editing unit 24 of the map data updating device 20 determines whether or not automatic driving is permitted for the newly opened road (step S52). For example, when a newly opened road is composed of two lanes on each side and the width of each lane of the two lanes is a predetermined value (for example, 3 m) or more, the data editing unit 24 can automatically drive the two lanes. Judge that. On the other hand, when the newly opened road is composed of two lanes on each side and the width of each lane of the two lanes is less than a predetermined value (for example, 3 m), the data editing unit 24 automatically operates the two lanes. Judge that it is impossible. If the accuracy of the information on the new road acquired in advance is low (for example, the road shape of the new road is unknown, the lane width of the lane constituting the new road is unknown, etc.), the data editorial unit 24 May make it impossible to uniformly drive the lane section constituting the new road.

When it is determined that automatic driving is possible for the newly opened road, the data editing unit 24 creates additional regulation data D30 regarding the new road (step S53). At this time, in addition to the information for specifying whether automatic driving is possible or not regarding the new road, for example, the data editorial unit 24 already has information such as adding information indicating whether or not to turn left (or right) to the existing road connected to the new road. Additional regulatory data D30 for roads may be created. These additional regulation data D30 are transmitted from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information of the map data for the end user held by the vehicle (step S54). The vehicle of the end user E refers to the information indicating that the automatic driving is possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to start automatic driving. As an example of this control, in a lane section where autonomous driving is possible, in order to guide the vehicle along the coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Information is output.

FIG. 14 shows the map data creation device 10, the map data update device 20, and the end user E when the information is updated to the map data creation device 10 based on the information acquired by the map data update device 20. It shows an example of vehicle exchange. The update data acquisition unit 22 of the map data update device 20 enables automatic driving with map data for lane sections where automatic driving is actually difficult or impossible from the external device 30 or the vehicle of end user E. Acquire the information that it is found that the state is present (step S61). For example, the driving system has the conditions of the driving environment necessary for the automatic driving system to operate (for example, the width of the lane in which the vehicle travels is 3 m or more), but is inadequate when operating the driving system (for example). For example, it may be discovered that the required driving environment conditions are not met. Next, the data editing unit 24 of the map data updating device 20 stipulates that the lane section specified by the above information cannot be automatically operated in the corresponding section as the information corresponding to the additional regulation data D30. Information is created (step S62). The additional regulation data D30 is transmitted from the output unit 25 of the map data update device 20 to the vehicle of the end user E. The vehicle of the end user E refers to the additional regulation data D30 and updates the information of the map data for the end user held by the vehicle (step S63). The vehicle of the end user E refers to the information indicating that the automatic driving is not possible in the section specified by the additional regulation data D30. Next, the vehicle of the end user E is controlled to stop the automatic driving. As an example of this control, for example, in a lane section where automatic driving is not possible, the vehicle is guided along a coordinate point sequence (latitude, longitude, height) of the center line included in the lane section information corresponding to the lane section. Do not output the information to do.

On the other hand, the map data updating device 20 transmits (feedback) information to the map data creating device 10 that the setting of whether or not the automatic operation is possible in the specific section of the map data specified in the above process is incorrect (step S64). ). Based on this result, the map data creation unit 11 of the map data creation device 10 confirms the information (contents of feedback) that the setting of whether or not automatic operation is possible in the predetermined section of the received map data is inaccurate. It is confirmed whether or not the information should be reflected in the map data (step S65). For example, if the information that the setting of whether or not automatic driving is possible in a specific section of the map data is inaccurate is information that should be considered only in a specific vehicle type or the like, the map data creation unit 11 regulates the operation of the map data. It is not reflected in the data D14. On the other hand, if the information that the setting of whether or not automatic driving is possible in a specific section of the map data is inaccurate is important information for the entire vehicle, the map data creation unit 11 changes the driving regulation data D14. Judge that it is necessary. When it is determined that the operation regulation data D14 needs to be changed, the map data creation unit 11 refers to the information that the setting of whether or not automatic operation is possible in a specific section of the map data is inaccurate, and is based on the information. The operation regulation data D14 is rewritten (feedback) (step S66) and reflected when the map data is regularly upgraded (step S67). Further, after the periodic version upgrade, the map data D10 including the updated operation regulation data D14 is transmitted from the map data creation device 10 to the map data update device 20. Further, the map data updating device 20 updates the map data D10 including the updated driving regulation data D14 (step S68). Further, if necessary, the map data update device 20 may also provide the vehicle of the end user E with additional regulation data D30 based on the data update (step S69). Here, the case where the feedback from the map data update device 20 is reflected in the regular version upgrade (S67) has been described, but depending on the urgency of the information provided, it may be temporary in addition to the regular version upgrade. You may upgrade the version.

Although the map data creation device 10 is not shown in the examples shown in FIGS. 10 to 13, in these examples, the map data creation device 10 may not transmit / receive information to / from the map data update device 20 or the like. Therefore, it is omitted. If necessary, the map data creating device 10 may update the operation regulation data D14 by referring to the information transmitted from the map data updating device 20 as in the example shown in FIG. Whether the map data creating device 10 accepts feedback from the map data updating device 20 or whether the map data updating device 20 transmits feedback to the map data creating device 10 is a policy of each device in the map management system 1. It will be changed according to the above. Therefore, the degree to which the map data creating device 10 and the map data updating device 20 cooperate with each other can be changed as appropriate.

[effect]
The map data updating device according to one embodiment of the present disclosure regulates the movement of a moving body in a lane based on a map data creation unit that creates map data including data for each lane and map data including data for each lane. It has a data editorial department that creates output data including additional regulation data related to changes in the regulation contents.

The program according to one form of the present disclosure includes a step of creating map data including data for each lane, and a change in the regulation content regarding regulation of movement of a moving object in a lane based on the map data including data for each lane. Have the computer perform the steps of creating output data, including such additional regulatory data.

The map management system according to one form of the present disclosure is a map data creation device that creates map data including data for each lane, and a map data creation device that creates map data to move a moving body in a lane. It has a map data updater that has a data editing unit that creates output data including additional regulation data related to changes in regulation content, and the data editing department updates the data for each lane included in the map data. Create output data without doing.

The map management system, map data updater, and program described above may provide techniques useful for generating map data for end users. As described in the above embodiment, in the map management system, map data is created by the map data creation device, and the map data is prepared by the operation system administrator or the like in a state suitable for each operation system and used by the operation system. Provided to the end user. Here, the map data creating device generally upgrades the map data on a regular basis and provides it to the operation system administrator or the like while maintaining the data of the entire map data. However, it is difficult for the map data creating device to reflect the short-term driving regulation information in the map data. As an example, even if the map data creation device acquires short-term regulation information after a regular version upgrade, it may be difficult to reorganize the map data that reflects this information. On the other hand, there is an increasing need for operation system administrators to provide more convenient information to end users who use their own systems. According to the above map management system, map data update device, and program, a map data update device that can be managed by the operation system administrator, etc. is provided separately from the map data creation device, and additional regulation data is added to the map data update device. It is possible to create data for output including. Therefore, the regulation information grasped at a timing different from the periodic version upgrade of the map data in the map data creation device can also be reflected in the map data for the end user. Therefore, it is possible to provide the end user with map data including more detailed regulation contents.

Further, in the above configuration, even if some additional regulation data is added in the map data updating device, the map data itself is not modified based on this information. Further, unless feedback is given from the map data update device to the map data creation device, the map data creation device does not make any changes based on the additional regulation data. In this way, since the map data creation device and the map data update device can operate independently, the map data update device can flexibly create additional regulation data according to the needs of the end user and the like. can. In addition, the map data creation device can also perform regular version upgrades without considering the presence or absence of additional regulation data.

Further, the additional regulation data may be in a mode including information that can be shared by another person different from the map data updating device and the output destination of the output data, and information that cannot be shared by the other person. With such a configuration, information that cannot be shared by others can be included in the additional regulation data. Therefore, for example, information useful in a specific map data update device can be included in the additional regulation data. In addition, by handling information that is useful to others so that it can be shared with others, it may be possible to disseminate highly urgent information and the like to a wider range of end users.

In addition, the data editing unit may be in a mode of selecting additional regulation data according to the output destination of the output data. With such a configuration, it is possible to create output data including additional regulation data according to the characteristics of the end user of the output destination, so that output data that is more convenient for the end user can be created.・ It will be possible to provide.

The additional regulation data may be in a mode including information for identifying a lane and information regarding the content of regulation in the specified lane. With such a configuration, the regulation contents for a specific lane can be appropriately included in the output data to the vehicle of the end user E, and therefore the information is appropriately used in the vehicle of the end user E. be able to.

[Modification example]
The present disclosure has been described in detail above based on the embodiment. However, the present disclosure is not limited to the above embodiment. The present disclosure can be modified in various ways without departing from its gist.

A part of the function as the map data updating device 20 described in the above embodiment may be provided in, for example, the vehicle of the end user E. That is, the functions of the devices described in the above embodiment may be distributed. Further, data that can be expected to be shared with others, such as open update data D50 and additional regulation open data D31, can be shared with others other than the map data update device 20. It may be configured to be held in the above.

Further, in the above embodiment, the case where the map management system 1 includes the map data creating device 10 and the map data updating device 20 has been described, but the configuration is not limited to this. As an example, the map data updating device 20 may include a function as the map data creating unit 11 of the map data creating device 10 described in the above embodiment.

Further, in the above embodiment, the map data update device 20 transmits only the end user map data D20 to the end user E vehicle and the additional regulation data D30 included in the end user map data D20. I explained the case and the case. The output data for the output destination may include the additional regulation data D30, and it is not particularly limited whether or not the additional regulation data D30 is provided to the end user E's vehicle in the state of including the map data D10. For example, when the map data D10 is updated after the periodic version upgrade, the map data updating device 20 is configured to provide a set of map data D20 for the end user to the vehicle of the end user E. May be good.

Further, in the above embodiment, the case where the update data D50 held in the data holding unit 23 is the information acquired from the external device 30 or the like has been described, but the acquisition route of the update data D50 is not particularly limited and the data. The information may be updated in the holding unit 23. For example, information on road construction, etc. is provided in advance by the government agency, etc. that has jurisdiction over the construction. The construction period, etc. may be changed as appropriate depending on the progress of construction and the weather. In such a case, the data holding unit 23 may hold information for specifying a period different from the actual construction period based on the initial information. In such a case, for example, by setting the update data D50 in a state where the map data update device 20 can be automatically or semi-automatically updated, more accurate information is provided to the end user E's vehicle based on the updated information. It becomes possible.

Further, the information included in the data structure described in the above embodiment is an example, and information other than the above-mentioned information may be included, or the information may be described in a format different from the above-mentioned format. .. For example, in the above embodiment, the case where the map data D10 includes the road network data D11, the lane network data D12, the feature / attribute data D13, and the driving regulation data D14 has been described, but the classification of these data is an example. Is. For example, the data structure may be such that the feature data and the attribute data are handled clearly differently. Further, as described above, the classification and handling of the data included in the map data D10 are not limited to those described in the above embodiment. Further, the data structure of the additional regulation data D30 may be changed according to the data structure of the map data D10. Further, the additional regulation data D30 may include information different from the regulation content for each lane.

When comparing the magnitude relations of two numbers in a computer system, either of the two criteria "greater than or equal to" and "greater than" may be used, and the two criteria "less than or equal to" and "less than" Either of them may be used. The selection of such criteria does not change the technical significance of the process of comparing the magnitude relations of two numbers.

The processing procedure of the method executed by each device is not limited to the example in the above embodiment. For example, some of the steps (processes) described above may be omitted, or each step may be executed in a different order. In addition, any two or more steps of the above-mentioned steps may be combined, or a part of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to each of the above steps.

The embodiments described in all or part of the above embodiments include control of handling of map data, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data, or provision of appropriate functions. Providing appropriate data, programs, recording media, equipment and / or systems, such as other enhancements or provision of appropriate functions, reduction of data and / or program capacity, miniaturization of equipment and / or systems, and data. , Reduction of production / manufacturing costs of programs, equipment or systems, facilitation of production / manufacturing, shortening of production / manufacturing time, etc. Solve one problem.

1 ... Map management system, 10 ... Map data creation device, 11 ... Map data creation unit, 20 ... Map data update device, 21 ... Map data acquisition unit, 22 ... Update data acquisition unit, 23 ... Data retention unit, 24 ... Data Editorial unit, 25 ... Output unit, 30 ... External device.

Claims (5)

A map data creation unit that creates map data including data for each lane,
Based on the map data including the data for each lane, the data editorial department that creates the output data including the additional regulation data related to the change of the regulation contents regarding the regulation of the movement of the moving body in the lane, and the data editorial department.
A map data updater. The additional regulation data according to claim 1, wherein the additional regulation data includes information that can be shared by another person different from the map data updating device and the output destination of the output data, and information that cannot be shared by the other person. Map data updater. The map data updating device according to claim 1 or 2, wherein the additional regulation data includes information for identifying the lane and information regarding the regulation content in the specified lane. Steps to create map data including data for each lane,
Based on the map data including the data for each lane, the step of creating the output data including the additional regulation data related to the change of the regulation content regarding the regulation of the movement of the moving body in the lane, and the step of creating the output data.
A program that lets your computer run. A map data creation device that creates map data including data for each lane,
Map data having a data editing unit that creates output data including additional regulation data related to changes in regulation contents related to regulation of movement of moving objects in the lane based on the map data created by the map data creation device. Update device and
Have,
The data editing unit is a map management system that creates output data without updating the data for each lane included in the map data.

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