JP7123830B2 - Map data update system, traveling probe information collecting device, traveling probe information providing device, and traveling probe information collecting method - Google Patents

Description

The present invention relates to a map data update system, a traveling probe information collecting device, a traveling probe information providing device, and a traveling probe information collecting method, and is particularly used in a system that collects probe information from a traveling vehicle and updates map data. It is suitable for

In general, navigation devices use map data to perform route search and travel guidance. In addition, map data is also used when a vehicle equipped with an automatic driving function performs automatic driving. This map data is generated by reflecting actual roads. Therefore, it is necessary to keep the map data up-to-date by updating it whenever various changes occur in the actual roads, such as the opening of new roads and the expansion of lanes.

2. Description of the Related Art Conventionally, there is known a technique for automatically updating map data based on travel probe information obtained when a vehicle actually travels a section in which no road exists in the map data. For example, information such as travel locus detected by an on-vehicle device mounted on a vehicle is uploaded as travel probe information to a server device via a communication network, and based on the travel probe information collected from a plurality of vehicles, the server device generates updated map data containing new roads. Then, by downloading the generated update map data from the server device to the vehicle-mounted device, the map data stored in the vehicle-mounted device is updated.

In particular, for autonomous driving, it is necessary to accurately grasp in which lane the vehicle is traveling. data) is required. There is also a need for navigation devices to provide lane-by-lane travel guidance, and in this case as well, map data having road data for each lane is required.

When generating such lane-based road data, it is desirable to collect traveling probe information from as many vehicles as possible for each lane in order to ensure the reliability of the road data generated. However, which lane the vehicle runs in is determined by the driver's judgment based on the positional relationship between the destination and the current location, road traffic conditions, and the driver's usual driving tendency. The running probe information is not always efficiently collected in the lanes.

In addition, when the desired vehicle that wishes to travel on the planned travel route is traveling on the planned travel route, a detour route that bypasses the planned travel route will be offered to other vehicles traveling on the planned travel route. A device is known in which, when a request to travel is transmitted and another vehicle travels a detour route in response to the request, the desired vehicle gives an incentive to the other vehicle (see, for example, Patent Document 1). In this way, by giving incentives to vehicles that desire to travel on the planned travel route to vehicles that are asked to travel on the detour route, it is possible to promote dispersion of the traffic flow.

Japanese Unexamined Patent Application Publication No. 2011-85980

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and is to efficiently collect driving probe information necessary to generate updated map data including road data for each lane. The purpose is to enable

In order to solve the above-described problems, in the map data update system of the present invention, the vehicle-mounted device detects the traveling position of the own vehicle and transmits the detected information to the server device as traveling probe information. Then, the vehicle-mounted device updates the existing map data stored in the map data storage unit by using update map data including road data for each lane sent from the server device. Further, the server device generates update map data based on the traveling probe information received from the vehicle-mounted device, and transmits the generated map data for update to the vehicle-mounted device. At this time, the server device additionally needs to collect traveling probe information in order to determine the content of the road data for each lane included in the update map data generated using the traveling probe information. A new road position not yet recorded as fixed in the existing map data, or an existing road including extended lanes not yet recorded as fixed in the existing map data, as the travel request position. is set, and travel-required information indicating the set travel-requested position is transmitted to the vehicle-mounted device. Based on this travel-required information, the in-vehicle device displays and presents the travel-requested position to the user.

According to the present invention configured as described above, when the server device generates updated map data based on the traveling probe information received from the vehicle-mounted device, the When additional travel probe information needs to be collected, a travel request position requiring additional travel probe information collection is set, the information is transmitted to the vehicle-mounted device, and presented to the user through a display. Therefore, the user is urged to drive the vehicle according to the requested travel position, and it can be expected that the number of vehicles that actually travel will increase accordingly. As a result, it is possible to efficiently collect traveling probe information necessary for generating updated map data including road data for each lane.

It is a figure showing an example of whole composition of a map data update system by this embodiment. It is a block diagram showing an example of functional composition of an in-vehicle device by this embodiment, and a server device. FIG. 5 is a diagram showing a display example of a travel request position; 4 is a flow chart showing an operation example of the map data update system according to the present embodiment; FIG. 5 is a diagram showing a display example of a travel request position; FIG. 11 is a block diagram showing an example of functional configurations of an in-vehicle device and a server device according to another embodiment; FIG. 5 is a diagram showing a display example of a travel request position; FIG. 4 is a diagram showing an example of setting a travel locus at an intersection as a required travel position;

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of the overall configuration of a map data update system according to this embodiment. As shown in FIG. 1, the map data update system of this embodiment includes a plurality of vehicle-mounted devices 100 mounted on a plurality of vehicles, and a server device 200 . The vehicle-mounted device 100 and the server device 200 are connected via a communication network 300 such as the Internet or a mobile phone network. The vehicle-mounted device 100 corresponds to the traveling probe information providing device in the claims, and the server device 200 corresponds to the traveling probe information collecting device in the claims.

In the map data update system of this embodiment, traveling probe information is transmitted from the in-vehicle device 100 of the vehicle in motion to the server device 200, and the server device 200 generates update map data based on this traveling probe information. By transmitting to the vehicle-mounted device 100, the map data stored in the vehicle-mounted device 100 is updated. As a result, when some changes occur in the actual roads, such as the opening of new roads or the expansion of lanes (lanes), the map data can be updated to reflect the changes and be kept up-to-date. I have to.

FIG. 2 is a block diagram showing a functional configuration example of the vehicle-mounted device 100 and the server device 200 according to this embodiment. As shown in FIG. 2, the vehicle-mounted device 100 of this embodiment includes a map data storage unit 10 as a storage medium. Further, the vehicle-mounted device 100 of the present embodiment includes, as a functional configuration, a detection unit 11, a traveling probe information transmission unit 12, a map data reception unit 13, a map data update unit 14, a travel required information reception unit 15, and a travel request position presentation unit. 16.

A HUD (head-up display) 101 is connected to the vehicle-mounted device 100 of the present embodiment. The HUD 101 may be of a type that projects an image onto the windshield of the vehicle, may be of a combiner type installed on the dashboard of the vehicle, or may be installed on the sun visor of the vehicle. It may be of visor type.

Each of the functional blocks 11 to 16 can be configured by hardware, DSP (Digital Signal Processor), or software. For example, when configured by software, each functional block 11 to 16 is actually configured with a computer CPU, RAM, ROM, etc., and a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. is realized by the operation of

As shown in FIG. 2, the server device 200 of this embodiment includes a traveling probe information storage unit 20 as a storage medium. In addition, the server device 200 of the present embodiment includes a traveling probe information receiving section 21, an update map data generating section 22, a map data transmitting section 23, and a required traveling information transmitting section 24 as functional configurations.

Each of the functional blocks 21 to 24 can be configured by hardware, DSP, or software. For example, when configured by software, each of the functional blocks 21 to 24 is actually configured with a computer CPU, RAM, ROM, etc., and a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. is realized by the operation of

The map data storage unit 10 of the in-vehicle device 100 stores map data. In this embodiment, the map data stored in the map data storage unit 10 is map data including road data for each lane. Road data for each lane is road data having road link information and node information for each lane.

The detection unit 11 detects the travel position of the own vehicle. That is, the detection unit 11 detects the running position of the own vehicle based on information obtained from a GPS receiver and an autonomous navigation sensor mounted on the vehicle. The information about the running position is, for example, absolute position information using latitude and longitude, and relative position information representing displacement from before a predetermined sampling period. The information indicating the traveling position is information having accuracy capable of specifying which lane on the road the vehicle is traveling. The detection unit 11 repeatedly executes this detection process at predetermined time intervals. As a result, the detection unit 11 detects the running position of the own vehicle at any time while the vehicle is running (including when the vehicle is stopped due to waiting for traffic lights, etc.).

The traveling probe information transmitting unit 12 transmits information detected by the detecting unit 11 (information indicating the traveling position of the host vehicle) to the server device 200 as traveling probe information. This traveling probe information includes identification information that can uniquely identify the vehicle from which the traveling probe information is detected.

The traveling probe information receiving unit 21 of the server device 200 receives the traveling probe information transmitted from the vehicle-mounted device 100 . The traveling probe information receiving unit 21 receives traveling probe information sent from the plurality of vehicle-mounted devices 100 at any time, and causes the traveling probe information storage unit 20 to store the information at any time. As a result, the traveling probe information storage unit 20 accumulates a plurality of pieces of traveling probe information on roads that actually exist. Here, the traveling probe information about roads that actually exist includes new roads that have not yet been recorded in the map data of the map data storage unit 10, existing roads that include extended lanes that have not yet been recorded in the map data, and the like. indicates the running position detected by the detection unit 11 when the vehicle runs.

Based on the traveling probe information (the traveling probe information accumulated in the traveling probe information storage unit 20) received by the traveling probe information receiving unit 21, the update map data generation unit 22 generates update map data including road data for each lane. Generate map data for Here, the update map data generating unit 22 identifies the traveling locus based on the traveling probe information for each vehicle (each identification information of the vehicle) stored in the traveling probe information storage unit 20, and Estimate the position of each lane. Then, the estimated position of the road and each lane is compared with the position of the road and each lane indicated by the road data included in the existing map data stored in the server device 200 as master data, and the difference is detected. . A difference is a new road or lane that does not exist in the existing map data.

When such a difference is detected, the update map data generation unit 22 generates update map data based on the traveling probe information of the road section where the difference is detected (hereinafter referred to as the difference road section). do. The update map data is map data of a predetermined range including the difference road section. The predetermined range can be determined arbitrarily. For example, when the map data is composed of rectangular block units of a predetermined size, it is conceivable that the range specified by one or more blocks including the differential road section is set as the predetermined range.

The map data transmission unit 23 transmits the update map data generated by the update map data generation unit 22 to the plurality of vehicle-mounted devices 100 . The map data receiving unit 13 of the in-vehicle device 100 receives the update map data transmitted from the server device 200 . The map data update unit 14 uses the update map data received by the map data reception unit 13 to update the existing map data stored in the map data storage unit 10 .

The required traveling information transmission unit 24 of the server device 200 further adds traveling probe information to determine the content of the road data for each lane included in the update map data generated using the traveling probe information. A travel request position that needs to be collected is set, and travel request information indicating the set travel request position is transmitted to the vehicle-mounted device 100 . Here, the required travel information transmission unit 24 has not yet decided the content of the road data for each lane included in the update map data generated by the update map data generation unit 22 using the travel probe information. set a lane that does not exist as a travel request position.

When the update map data generation unit 22 generates the road data of the differential road section, it identifies the traveling locus based on the traveling probe information for each vehicle stored in the traveling probe information storage unit 20, and from the traveling locus It is possible to estimate the position of a road or the position of a lane within a road, but the estimated roads and lanes are accurate if the number of driving probes used for the estimation is small. However, it is not very reliable. The traveling trajectory indicated by the traveling probe information used is not always parallel and straight along the road or lane, and the location in the lane varies, and the traveling trajectory when changing lanes is not always the same. because it may contain

Therefore, in order to generate and establish reliable lane-by-lane road data, it is necessary to use travel probe information for a significant number of vehicles per lane. Therefore, the required traveling information transmitting unit 24, for example, determines the number of traveling probe information used for estimation ( The number of traveled loci) is determined to be less than a predetermined value, and lanes that are less than the predetermined value are regarded as lanes whose content cannot be determined, and such lanes are set as required travel positions. Setting the lane as the requested travel position means setting a straight line or curved line extending along the estimated lane as the requested travel position.

The required travel information indicating the travel request position set in this way is, for example, a set of absolute position information using latitude and longitude at predetermined intervals, similar to the information regarding the travel position of the vehicle detected by the detection unit 11. Alternatively, it may be a set of relative position information representing displacements at predetermined intervals from the latitude and longitude of the starting point. Note that the form of the required travel information is not limited to this. For example, provisional road links (including latitude and longitude information at the end points of the road links) may be set along the requested travel position, and a set of provisional road links may be configured as the required travel information.

In addition, when it is possible to grasp that the road has multiple lanes by estimation from the traveling trajectory based on the traveling probe information, the number of lanes estimated and the lanes whose contents cannot be determined among them (hereinafter referred to as Information indicating the position of an undeterminable lane (for example, information indicating the number of the lane from the left) may be configured as the travel-required information.

The travel required information receiving unit 15 of the vehicle-mounted device 100 receives the travel required information transmitted from the server device 200 . The requested travel position presenting unit 16 displays the requested travel position on the HUD 101 based on the required travel information received by the required travel information receiving unit 15 to present it to the user. For example, if the HUD 101 is of a windshield projection type and information about the real space around the vehicle is visualized (a state where the real space can be seen through the windshield), the travel request position The presentation unit 16 displays the travel request position superimposed on the real space information.

For example, it is assumed that the necessary travel information is a set of absolute position information using latitude and longitude at predetermined intervals, or a set of relative position information representing displacement at predetermined intervals from the latitude and longitude of the starting point. . In this case, the travel request position presenting unit 16 specifies a position corresponding to the travel position of the own vehicle (hereinafter referred to as the own vehicle equivalent position) from within the display range of the HUD 101 . Further, the required travel position presentation unit 16 calculates the deviation (direction and amount of deviation) between the travel position of the own vehicle detected by the detection unit 11 and the required travel position indicated by the required travel information. Then, the requested travel position presentation unit 16 converts the displacement in the real space calculated in this way into the displacement in the display space from the position corresponding to the own vehicle specified within the display range of the HUD 101, and converts the position into the converted position. The travel request position is displayed in a predetermined manner.

FIG. 3(a) is a diagram showing an example of a travel request position displayed on the windshield projection type HUD 101. FIG. A range indicated by a rectangular frame 30 in FIG. 3A (excluding the dashboard and instrument panel portions shown at the bottom) indicates the display range of the HUD 101 on the windshield. The requested travel position presenting unit 16 identifies the host vehicle equivalent position 31 from within the display range 30 of the HUD 101 . Here, as an example, the position several meters ahead of the actual traveling position detected by the detection unit 11 is calculated, and the position in the display space corresponding to the calculated position several meters ahead is set as the host vehicle equivalent position 31. have specified.

Further, the required travel position presenting unit 16 calculates the deviation between the travel position of the own vehicle detected by the detection unit 11 and the required travel position indicated by the required travel information, and The deviation is converted into a deviation in the display space from the own vehicle corresponding position 31 specified within the display range 30 of the HUD 101 . Then, at the converted position, a predetermined object 32 indicating that the position is the requested travel position is displayed. In the example of FIG. 3A, the object 32 is displayed at a position displaced in the horizontal direction from the position 31 corresponding to the own vehicle by the converted displacement amount.

An object 32 shown in FIG. 3A is incentive presentation information indicating that a predetermined incentive is given when the vehicle travels according to the required travel position. Here, an example is shown in which a mark designed to make the user imagine that bonus points can be obtained by traveling in accordance with the requested travel position is displayed as an object 32 . In this case, in the server device 200, based on the travel probe information indicating the travel position detected by the detection unit 11, it is determined whether or not the user actually traveled in the corresponding lane according to the travel request position. to be managed by giving bonus points. By increasing the user's rank, giving a present, or exchanging for a desired prize according to the acquired accumulated points, the user's motivation to travel according to the travel request position can be increased. can.

Although the HUD 101 has been described here as being of the windshield projection type, the HUD 101 can be processed in the same way whether it is of the combiner type or the visor type. When the HUD 101 is of a combiner type or a visor type, an image of the real space around the own vehicle is projected on the HUD 101 based on an image captured by a camera mounted on the vehicle, and the requested travel position presenting unit 16 , the travel request position is displayed superimposed on the image representing the real space. In this case as well, the requested travel position presenting unit 16 calculates the deviation between the position corresponding to the host vehicle specified on the display range of the HUD 101 and the requested travel position indicated by the required travel information, and The upper shift is converted into a shift in the display space, and a predetermined object (incentive presentation information, etc.) indicating the travel request position is displayed at the converted position.

Further, here, the necessary travel information is configured by a set of absolute position information using latitude and longitude at predetermined intervals, or a set of relative position information representing displacement at predetermined intervals from the latitude and longitude at the starting point. An example of processing in the case of On the other hand, when a set of temporary road links set along the requested travel position is configured as the required travel information, the requested travel position presentation unit 16 causes the requested travel position to be displayed on the HUD 101 by the following processing. can be A display example of the HUD 101 in this case is shown in FIG.

That is, the requested travel position presenting unit 16 uses the latitude/route information of the temporary road link to specify the position within the display range 30 of the HUD 101 in the same manner as the method described with reference to FIG. A shift in the display space of the requested travel position with respect to the own vehicle equivalent position 31 is calculated. Then, the requested travel position presenting unit 16 displays an object 33 on a straight line along the provisional road link at the calculated displacement position in the display space. FIG. 3B shows an example in which an arrow indicating the running direction is displayed as an object 33 on a straight line. In the example of FIG. 3B, an object 32 as incentive presentation information is also displayed superimposed on the straight object 33 .

The temporary road link is set to extend along the lane of the road estimated when the update map data generation unit 22 generates the road data of the differential road section. Therefore, the object 33 on the straight line can be displayed in such a manner as to extend along the lane included in the real space information visualized on the HUD 101 . In FIG. 3B, since the road is straight, the object 33 is also straight, but if the road is curved, the object 33 will be curved.

Also, when the information indicating the number of lanes estimated by the update map data generation unit 22 and the position of an undeterminable lane among them (for example, information indicating the number of the lane from the left) is configured as the travel required information. The requested travel position presentation unit 16 may display the requested travel position on the HUD 101 by the following processing. A display example of the HUD 101 in this case is shown in FIG.

That is, the requested travel position presentation unit 16 detects a plurality of lanes by performing image recognition processing on the image projected on the HUD 101 (the image on the real space captured by the camera). Then, the undeterminable lane indicated by the travel-required information is specified from among the plurality of detected lanes, and a predetermined object is displayed at a position on the determined undeterminable lane. In FIG. 3(c), a lane object 34 having the same shape as the undeterminable lane (one of the plurality of lanes image-recognized) indicated by the required travel information is displayed, and the lane object 34 An object 32 as incentive presentation information is displayed overlaid. Instead of the lane object 34, an arrow object 33 as shown in FIG. 3B may be displayed.

Here, the case where an image captured by a camera is projected onto the HUD 101, image recognition is performed on the image, and the lane object 34 is displayed has been described. It is possible to display an image of the lane object 34 as shown in FIG. 3(c). That is, a plurality of lanes are detected by recognizing the image captured by the camera, and the position of the undeterminable lane specified based on the required travel information is mapped on the display space of the HUD 101. It is possible to display the image of the lane object 34 at the position where the undeterminable lane exists on the display space of .

FIG. 4 is a flow chart showing an operation example of the map data update system according to this embodiment configured as described above. First, the update map data generation unit 22 of the server device 200 generates update map data including differential road sections based on the traveling probe information accumulated in the traveling probe information storage unit 20 (step S1). Next, the required traveling information transmitting unit 24 determines whether the content can be determined for each lane of the road estimated when the update map data generating unit 22 generates the road data of the differential road section (for example, the (Step S2).

Here, when it is determined that there is a lane whose content cannot be determined, the travel required information transmitting unit 24 sets the lane whose content cannot be determined as a travel request position, and indicates the set travel request position. The information is transmitted to the in-vehicle device 100 (step S3). After that, the process returns to step S1, and further uses the additional traveling probe information stored in the traveling probe information storage unit 20 to regenerate the map data including the difference road section.

On the other hand, when the required traveling information transmitting unit 24 determines that the content of the generated update map data can be determined (for example, for all lanes of the difference road section, the number of traveling probe information used for the estimation is If it is equal to or greater than the predetermined value), the map data transmission unit 23 transmits the update map data generated by the update map data generation unit 22 to the in-vehicle device 100 (step S4). This completes the processing of the server device 200 for generating and transmitting update map data for one differential road section.

In the in-vehicle device 100, the travel-required information receiving unit 15 monitors whether or not the travel-required information is received from the server device 200 (step S5). It is monitored by the map data receiving section 13 (step S7). When the required travel information receiving unit 15 receives the required travel information, the required travel position presenting unit 16 displays the required travel position on the HUD 101 and presents it to the user based on the received required travel information (step S6). .

Further, when the map data receiving unit 13 receives update map data, the map data updating unit 14 updates the existing map data stored in the map data storage unit 10 to the map data received by the map data receiving unit 13. It is updated with map data for update (step S8). After that, the in-vehicle device 100 determines whether or not the ACC of the vehicle is turned off (step S9), and if it is not turned off, the process returns to step S5. On the other hand, when the ACC is turned off, the processing of the vehicle-mounted device 100 shown in the flowchart of FIG. 4 is terminated.

As described in detail above, in the present embodiment, the server apparatus 200 has lanes whose contents cannot be determined with respect to road data for each lane included in update map data generated using traveling probe information. In some cases, a travel request position indicating the position of the lane for which additional travel probe information needs to be collected is set, and travel request information indicating the set travel request position is transmitted to the vehicle-mounted device 100 . The in-vehicle device 100 displays the requested travel position on the HUD 101 based on this travel-required information and presents it to the user.

According to this embodiment configured as described above, when the server device 200 generates updated map data based on the traveling probe information received from the vehicle-mounted device 100, the content of the road data for each lane is determined. When it is necessary to additionally collect traveling probe information, a travel request position that requires additional collection of traveling probe information is set, the information is transmitted to the in-vehicle device 100, and is presented to the user through display on the HUD 101. be. Therefore, the user is urged to drive the vehicle according to the requested travel position, and it can be expected that the number of vehicles that actually travel will increase accordingly. As a result, the server device 200 can efficiently collect traveling probe information necessary to generate updated map data including road data for each lane.

In the above embodiment, as shown in FIGS. 3(a) to 3(c), an example has been described in which the travel request position is displayed superimposed on the information of the real space around the own vehicle visualized on the HUD 101. The invention is not so limited. For example, the travel request position presenting unit 16 detects a A bird's-eye view map image obtained by viewing the surroundings of the vehicle position from a virtual viewpoint in the sky may be displayed on the HUD 101, and the travel request position may be displayed on the bird's-eye map image and presented to the user.

FIG. 5 is a diagram showing an example of displaying the requested travel position on the bird's-eye view map image. FIG. 5 is a display example that can be applied when information indicating the number of lanes estimated by the update map data generation unit 22 and the positions of undeterminable lanes therein is configured as required travel information. . In the example of FIG. 5, the new road RT on which the vehicle is currently traveling (indicated by the dotted line in FIG. 5, but the road data is not yet recorded in the map data storage unit 10) is generated by the update map data generation unit A lane image 50 schematically representing the number of lanes estimated by 22 is popped up, and objects 52 and 53 indicating the required travel position are displayed at the lane positions corresponding to the undeterminable lanes. In the example of FIG. 5, an object 52 as incentive presentation information is displayed superimposed on an arrow object 53 indicating the running direction in an undeterminable lane.

Although an example of pop-up displaying the lane image 50 on the bird's-eye view map image is shown here, it is also possible to display the lane image 50 in a pop-up on the three-dimensional map image as described later.

When displaying an image such as that shown in FIG. 5, or when displaying images such as those shown in FIGS. The information may be displayed on a normal display installed on a board, console, or the like.

Further, in the above embodiment, as shown in FIGS. 3(a) to 3(c), an example has been described in which the travel request position is displayed superimposed on the information of the real space around the host vehicle visualized on the HUD 101. The invention is not so limited. For example, after temporarily updating the map data in the map data storage unit 10 with undetermined map data including lanes estimated by the update map data generating unit 22, a map image displayed based on the updated map data. The travel request position may be displayed superimposed on the . In this case, instead of the HUD 101, a normal display installed on a dashboard, console, or the like may be used.

FIG. 6 is a block diagram showing a functional configuration example of the vehicle-mounted device 100' and the server device 200' in this case. In FIG. 6, the components denoted by the same reference numerals as those shown in FIG. 2 have the same functions, and redundant description will be omitted here. As shown in FIG. 6, the vehicle-mounted device 100' includes a map data receiving unit 13', a map data updating unit instead of the map data receiving unit 13, the map data updating unit 14, and the travel request position presenting unit 16 shown in FIG. 14' and a travel request position presentation unit 16'. Further, the server device 200 ′ has a map data transmission section 23 ′ instead of the map data transmission section 23 . In addition to the functions described with reference to FIG. It has the functions described below.

The map data transmission unit 23' of the server device 200' transmits the map data including the undetermined content to the in-vehicle device 100 when the content of the update map data generated by the update map data generation unit 22 is undetermined. '. It is assumed that the number of lanes on the road has been estimated and the road link information and node information have been generated for each lane even at the stage where the content is undetermined. In other words, although it is possible to generate road data for each lane, the amount of driving probe information used for the generation is not sufficient, and the reliability of the generated road data cannot be guaranteed. The map data transmission section 23' transmits the update map data generated by the update map data generation section 22 to the vehicle-mounted device 100'.

The map data receiving unit 13' of the in-vehicle device 100' receives map data including undetermined contents. The map data update unit 14' updates the existing map data stored in the map data storage unit 10 using the map data including undetermined contents. The travel request position presenting unit 16' displays the map data including the undetermined contents stored in the map data storage unit 10 (road difference road section included in the updated map data transmitted at the undetermined stage). data), a 3D map image of the surroundings of the vehicle is displayed on the display 101', and the travel request position is displayed on the 3D map image and presented to the user. The display 101' is a normal display installed on a dashboard, console, or the like.

In the configuration as shown in FIG. 6, the required travel information indicating the required travel position is composed of, for example, a set of road links corresponding to undeterminable lanes included in the update map data generated in the undetermined stage. It is possible to Alternatively, the travel-required information may be composed of information indicating the number of lanes included in the road data contained in the update map data generated in the undetermined stage and the positions of undeterminable lanes therein. .

FIG. 7 is a diagram showing an example of the requested travel position displayed on the 3D map image on the display 101'. In the example of FIG. 7, a belt-shaped object 73 formed along the undeterminable lane indicated by the travel-required information is superimposed on the 3D map image including the undeterminable lane, and the belt-shaped object 73 is displayed. An object 72 as incentive presentation information is displayed overlaid. Instead of the strip-shaped object 73, an arrow object 33 as shown in FIG. 3B may be displayed, or a lane object 34 as shown in FIG. 3C may be displayed.

The 3D map image shown in FIG. 7 may be provisionally generated by the update map data generator 22, including peripheral objects (sidewalks, crosswalks, buildings, etc.) in addition to roads (lanes). In addition to the running position of the own vehicle, the detection unit 11 also detects images and positions of surrounding objects, and transmits the information including the surrounding objects to the server device 200 as traveling probe information. A three-dimensional map image including roads and peripheral objects may be generated based on the traveling probe information.

Also, here, an example of displaying the object 73 indicating the requested travel position superimposed on the 3D map image has been described, but similar to FIG. Objects 52 and 53 indicating the requested travel position may be displayed at the position of the lane corresponding to the undeterminable lane.

Further, in the above-described embodiment, regarding the road data for each lane included in the update map data generated using the traveling probe information, an example will be described in which a lane whose content has not been determined is set as the travel request position. However, the present invention is not limited to this. For example, the required travel information transmitting unit 24 may set a travel locus at an intersection whose content cannot be determined as the travel request position.

At an intersection where at least one of the intersecting roads has a plurality of lanes, it is possible that a lane change is made when turning left or right. For example, as shown by two arrows 81 and 82 in FIG. 8, when a vehicle traveling in the leftmost lane (left-turn lane) of a certain road turns left at an intersection, there are 2 arrows on the exit side road after the left turn. If there are two lanes, there may be a trajectory that keeps the left lane as shown by arrow 81 and a trajectory that shifts to the right lane as shown by arrow 82 . Similarly, as shown by two arrows 83 and 84 in FIG. 8, when a vehicle traveling in the rightmost lane (right-turn lane) of a certain road turns right at an intersection, If there are two lanes, there may be a trajectory that keeps the right lane as indicated by arrow 83 and a trajectory that changes to the left lane as indicated by arrow 84 .

In such a case, for example, when the number of traveling probe information related to the traveling locus indicated by the arrow 82 is small, the required traveling information transmitting unit 24 transmits the traveling locus indicated by the arrow 82 at an intersection whose content is not determined. A travel locus is identified, and the travel locus is set as the required travel position. In this way, for each of various travel trajectories that can be taken at the intersection, a travel request position indicating a travel position (travel trajectory) at which additional travel probe information needs to be collected is set, and the HUD 101 (or display 101 ′) is set. ) to the user.

Further, in the above-described embodiment, the detection unit 11 detects the traveling position of the own vehicle, and the traveling probe information transmitting unit 12 transmits this as traveling probe information to the server device 200 (200'). An example of generating map data containing data has been described. Map data generated in this manner is useful for navigation for route search and travel guidance. On the other hand, the detecting unit 11 detects the surrounding environment in addition to the traveling position of the own vehicle, and the traveling probe information transmitting unit 12 transmits these as traveling probe information to the server device 200 (200'). High-definition map data including road data may be generated.

In this case, the map data storage unit 10 of the vehicle-mounted device 100 (100') stores high-definition map data. In addition to road link information and node information used to set the driving trajectory to the destination, high-definition map data is necessary for autonomous driving control based on the relationship with the surrounding environment and self-position. It includes various surrounding environment information such as road width, road center, division line, shoulder line, connection between roads, crosswalks, stop lines, traffic signs, traffic lights, signboards, etc. Information on the surrounding environment includes information indicating what kind of things are at what positions.

When using high-definition map data for automatic driving, the detection unit 11 detects the traveling position of the own vehicle based on information obtained from the GPS receiver and the autonomous navigation sensor mounted on the vehicle, and the vehicle Based on the information obtained from various sensors such as millimeter-wave radar, ultrasonic sensors, laser radar, and optical cameras installed in the vehicle, various objects (roads, lane markings, road shoulders, pedestrian crossings, stop lines, traffic signs, traffic lights, billboards, etc.) are detected as the surrounding environment of the vehicle. The detection unit 11 detects what kind of object is at what position when viewed from the position of the vehicle.

In the above embodiment, the number of traveling probe information (the number of traveling trajectories) used for estimation for each lane of the road estimated when the update map data generation unit 22 generates the road data of the difference road section. Although an example has been described in which a lane in which is less than a predetermined value is regarded as an undeterminable lane and the travel request position is set, the present invention is not limited to this. For example, for each lane of the road data generated by the update map data generation unit 22, it is determined whether or not a given accuracy requirement is satisfied, and lanes that do not satisfy the accuracy requirement are regarded as undeterminable lanes and travel request positions are determined. may be set.

For example, for autonomous driving, it is necessary to know where the vehicle is and what shapes of objects (roads and surroundings) are in its surroundings with centimeter-level accuracy. Detailed map data is required. In order to generate high-definition map data, it is necessary to collect more traveling probe information. Accuracy requirements in this case refer to requirements that must be met as high-definition map data used for automated driving. The required traveling information transmission unit 24 determines whether or not the lanes included in the road data generated by the update map data generation unit 22 satisfy the accuracy requirements, and determines lanes that do not satisfy the accuracy requirements as undeterminable lanes. Set the travel request position.

Further, in the above-described embodiment, an example in which the server device 200 (200') detects the differential road section has been described, but the present invention is not limited to this. For example, the vehicle-mounted device 100 (100') may detect the differential road section and transmit the traveling probe information to the server device 200 (200') only when the vehicle is traveling in the differential road section. .

In addition, the above-described embodiments are merely examples of specific implementations of the present invention, and the technical scope of the present invention should not be construed in a limited manner. Thus, the invention may be embodied in various forms without departing from its spirit or essential characteristics.

10 map data storage unit 11 detection unit 12 travel probe information transmission unit 13, 13' map data reception unit 14, 14' map data update unit 15 required travel information reception unit 16, 16' travel request position presentation unit 20 travel probe information storage Part 21 Traveling probe information receiving part 22 Updating map data generating part 23, 23' Map data transmitting part 24 Traveling information required transmitting part 100, 100' Vehicle-mounted device (traveling probe information providing device)
200, 200' server device (traveling probe information collecting device)

Claims (12)

A map data update system comprising an in-vehicle device and a server device,
The above-mentioned in-vehicle device
a detection unit that detects the running position of the own vehicle;
A traveling probe information transmission unit that transmits information detected by the detection unit to the server device as traveling probe information;
a map data receiving unit that receives updated map data including road data for each lane from the server device;
a map data update unit for updating existing map data stored in a map data storage unit using the update map data;
As the traveling position where the traveling probe information needs to be collected , the position of a new road that is not yet recorded as being fixed in the existing map data stored in the map data storage unit, or the existing position of the road a travel-required information receiving unit that receives travel-required information indicating a travel-requested position set with a position of an existing road including an extended lane that has not yet been recorded as fixed in the map data ;
a travel request position presenting unit that displays the travel request position and presents it to a user based on the travel required information;
The above server device
a traveling probe information receiving unit that receives the traveling probe information;
an update map data generation unit that generates the update map data based on the traveling probe information received by the traveling probe information reception unit;
a map data transmission unit configured to transmit the update map data generated by the update map data generation unit to the in-vehicle device;
The travel request position that additionally requires the collection of travel probe information in order to determine the content of the road data for each lane included in the update map data generated using the travel probe information. and a travel required information transmitting unit configured to transmit the travel required information indicating the set required travel position to the vehicle-mounted device. 2. The requested travel position presenting unit presents the requested travel position to the user by displaying incentive presentation information indicating that a predetermined incentive is given if the vehicle travels according to the requested travel position. The map data update system described in . 3. The travel request position presenting unit displays the travel request position on a head-up display that visualizes information of a real space around the host vehicle, and presents the travel request position to the user. map data update system. The map data transmitting unit transmits the map data including the undetermined content to the vehicle-mounted device at a stage where the content of the update map data generated by the update map data generating unit is undetermined,
The map data receiving unit receives the map data including the undetermined content,
The map data updating unit updates the existing map data stored in the map data storage unit using the map data including the undetermined content,
The requested travel position presenting unit displays a map image based on the map data including the undetermined content stored in the map data storage unit, displays the requested travel position on the map image, and displays the requested travel position to the user. 3. The map data update system according to claim 1, wherein the map data update system presents the map data. The requested travel position presenting unit displays a map image based on the map data stored in the map data storage unit, displays the requested travel position on the map image, and presents the requested travel position to the user. 3. The map data update system according to claim 1 or 2. The required traveling information transmission unit causes the update map data generation unit to generate the update map data with respect to the road data for each lane included in the update map data generated using the traveling probe information. A lane whose content cannot be determined because the number of running trajectories specified from the running probe information used for generation is less than a predetermined value is set as the required running position. 6. The map data update system according to any one of 1 to 5. The required traveling information transmission unit causes the update map data generation unit to generate the update map data with respect to the road data for each lane included in the update map data generated using the traveling probe information. A travel locus at an intersection whose content cannot be determined because the number of travel loci specified from the travel probe information used for generation is less than a predetermined value is set as the travel request position. The map data update system according to any one of claims 1 to 5. The update map data generating unit identifies the travel locus based on the travel probe information, and determines the position of the road and each lane in the road estimated from the travel locus, and the existing map stored as master data. Detecting the difference between the position of the road and each lane recorded in the data as a differential road section, and generating the update map data based on the traveling probe information of the differential road section,
The required traveling information transmitting unit determines the number of the traveling locus used for estimation for each lane in the road estimated from the traveling locus when the updating map data generating unit generates the updating map data. is less than a predetermined value, and the lane that is less than the predetermined value is set as the travel request position.
2. The map data update system according to claim 1, wherein: A map data update system comprising an in-vehicle device and a server device,
The above-mentioned in-vehicle device
a detection unit that detects the running position of the own vehicle;
A traveling probe information transmission unit that transmits information detected by the detection unit to the server device as traveling probe information;
a map data receiving unit that receives updated map data including road data for each lane from the server device;
a map data update unit for updating existing map data stored in a map data storage unit using the update map data;
a travel required information receiving unit that receives travel required information indicating a required travel position set as a travel position requiring collection of the travel probe information;
a travel request position presenting unit that displays the travel request position and presents it to a user based on the travel required information;
The above server device
a traveling probe information receiving unit that receives the traveling probe information;
an update map data generation unit that generates the update map data based on the traveling probe information received by the traveling probe information reception unit;
a map data transmission unit configured to transmit the update map data generated by the update map data generation unit to the in-vehicle device;
The travel request position that additionally requires the collection of travel probe information in order to determine the content of the road data for each lane included in the update map data generated using the travel probe information. and a required travel information transmission unit configured to transmit the required travel information indicating the set travel request position to the vehicle-mounted device,
The map data transmitting unit transmits the map data including the undetermined content to the vehicle-mounted device at a stage where the content of the update map data generated by the update map data generating unit is undetermined,
The map data receiving unit receives the map data including the undetermined content,
The map data updating unit updates the existing map data stored in the map data storage unit using the map data including the undetermined content,
The requested travel position presenting unit displays a map image based on the map data including the undetermined content stored in the map data storage unit, displays the requested travel position on the map image, and displays the requested travel position to the user. Present
A map data update system characterized by: A traveling probe information collecting device for collecting traveling probe information used for generating update map data from an on-vehicle device,
A traveling probe information receiving unit that receives the traveling probe information indicating the traveling position of the vehicle detected by the vehicle-mounted device from the vehicle-mounted device;
an update map data generation unit that generates the update map data including road data for each lane based on the traveling probe information received by the traveling probe information reception unit;
a map data transmission unit configured to transmit the update map data generated by the update map data generation unit to the in-vehicle device;
Regarding the road data for each lane included in the update map data generated using the traveling probe information, as a traveling request position that requires additional collection of traveling probe information in order to determine the content, Set the location of new roads not yet recorded as fixed in the existing map data, or existing roads with extended lanes not yet recorded as fixed in the existing map data. and a traveling required information transmitting unit for transmitting required traveling information indicating the set required traveling position to the vehicle-mounted device. A traveling probe information providing device for providing a server device with traveling probe information used to generate update map data,
a detection unit that detects the running position of the own vehicle;
A traveling probe information transmission unit that transmits information detected by the detection unit to the server device as traveling probe information;
a map data receiving unit that receives updated map data including road data for each lane from the server device;
a map data update unit for updating existing map data stored in a map data storage unit using the update map data;
As the traveling position where the traveling probe information needs to be collected , the position of a new road that is not yet recorded as being fixed in the existing map data stored in the map data storage unit, or the existing position of the road a travel required information receiving unit for receiving, from the server device, travel required information indicating a required travel position in which a position of an existing road including an extended lane that has not yet been recorded in the map data as a fixed one is set;
A traveling probe information providing device, comprising: a required traveling position presenting unit that displays the required traveling position and presents it to a user based on the required traveling information. A method for a server device to collect traveling probe information used for generating update map data from an in-vehicle device,
a step in which the traveling probe information receiving unit of the server device receives the traveling probe information indicating the traveling position of the vehicle detected by the in-vehicle device from the in-vehicle device;
a step in which the update map data generation unit of the server device generates the update map data including road data for each lane based on the traveling probe information received by the traveling probe information reception unit;
a step in which the map data transmission unit of the server device transmits the update map data generated by the update map data generation unit to the in-vehicle device;
The necessary traveling information transmission unit of the server device further adds traveling probe information in order to determine the content of road data for each lane included in the update map data generated using the traveling probe information. as a travel request position that requires the collection of a new road position that has not yet been recorded as fixed in the existing map data, or that is not yet recorded as fixed in the existing map data. and setting a position of an existing road including an extended lane that does not exist, and transmitting required travel information indicating the set travel request position to the vehicle-mounted device.

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