JP7260575B2 - 地図生成装置 - Google Patents
地図生成装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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Description
(1)地図生成装置50は、点群地図エリアARaにおける車両101の走行履歴情報と、点群地図エリアARaに隣接する道路地図エリアARbにおける他の自動運転車両の走行履歴情報とに基づいて高精度地図情報を生成する地図生成部17と、車両101の走行履歴情報に基づいて生成された内部地図情報(点群地図情報)と、他の自動運転車両の走行履歴情報に基づいて生成された外部地図情報(道路地図情報)とを記憶する記憶部12と、点群地図と道路地図とを結合するように記憶部12に記憶された点群地図情報および道路地図情報の少なくとも一方を更新する地図情報更新部17bとを備える(図6)。
Claims (2)
- 第1エリアにおける第1車両の第1走行履歴と、前記第1エリアに隣接する第2エリアにおける第2車両の第2走行履歴と、に基づいて地図を生成する地図生成部と、
前記第1走行履歴に基づいて生成された第1地図の情報と、前記第2走行履歴に基づいて生成された第2地図の情報と、を記憶する記憶部と、
前記第1地図と前記第2地図とを結合するように、前記記憶部に記憶された前記第1地図および前記第2地図の少なくとも一方の情報を更新する地図情報更新部と、を備え、
前記第1地図の情報は、前記第1車両により取得された対象物までの距離情報に基づいて認識された点群の位置情報および反射強度の情報を含み、
前記第2地図の情報は、前記第2車両により取得された画像情報に基づいて認識された区画線の位置情報を含み、
前記地図生成部は、
前記記憶部に記憶された前記第1地図の情報に含まれる前記点群の位置情報に基づいて、路面に相当する点群を抽出し、前記点群の反射強度の情報に基づいて、抽出された点群のうち反射強度が所定強度以上の点群を前記区画線として認識することで、前記区画線の位置を認識する区画線認識部を有し、
前記地図情報更新部は、前記区画線認識部により前記区画線として認識された点群を包囲する区画線オブジェクトを生成し、生成された前記区画線オブジェクトの位置情報と、前記第2地図の情報に含まれる前記区画線の位置情報とに基づいて、前記第1地図上の区画線オブジェクトと前記第2地図上の区画線とが円滑に接続されるように、前記記憶部に記憶された前記第1地図および前記第2地図の少なくとも一方の情報を更新することを特徴とする地図生成装置。 - 請求項1に記載の地図生成装置において、
前記地図情報更新部は、さらに、前記第1地図の情報に対し、前記区画線オブジェクトの位置情報を付加し、前記第1地図の情報を更新することを特徴とする地図生成装置。
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JP2021028593A JP7260575B2 (ja) | 2021-02-25 | 2021-02-25 | 地図生成装置 |
CN202210136708.4A CN114987529A (zh) | 2021-02-25 | 2022-02-15 | 地图生成装置 |
US17/676,192 US11874135B2 (en) | 2021-02-25 | 2022-02-20 | Map generation apparatus |
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JP2021028593A JP7260575B2 (ja) | 2021-02-25 | 2021-02-25 | 地図生成装置 |
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JP2022129778A JP2022129778A (ja) | 2022-09-06 |
JP7260575B2 true JP7260575B2 (ja) | 2023-04-18 |
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US20230194268A1 (en) * | 2021-12-20 | 2023-06-22 | Gm Cruise Holdings Llc | Longitudinal-limited lane marking localizer |
Citations (1)
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JP2020148694A (ja) | 2019-03-15 | 2020-09-17 | 日立オートモティブシステムズ株式会社 | 自己位置推定装置、それを備えた自動運転システム、および、自己生成地図共有装置 |
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JP2859004B2 (ja) * | 1991-08-30 | 1999-02-17 | 東京瓦斯株式会社 | 図形処理装置 |
JP3840974B2 (ja) * | 2001-12-26 | 2006-11-01 | 松下電器産業株式会社 | 地図データ作成方法、地図データ作成装置及びナビゲーション装置 |
JP5541410B2 (ja) * | 2011-03-02 | 2014-07-09 | トヨタ自動車株式会社 | レーザレーダ装置 |
JP6174975B2 (ja) * | 2013-11-14 | 2017-08-02 | クラリオン株式会社 | 周囲環境認識装置 |
KR102254787B1 (ko) * | 2016-05-30 | 2021-05-21 | 미쓰비시덴키 가부시키가이샤 | 지도 데이터 차분 추출 장치, 지도 데이터 차분 추출 방법 및 기억 매체에 저장된 지도 데이터 차분 추출 프로그램 |
DE102017204342A1 (de) * | 2017-03-15 | 2018-09-20 | Continental Teves Ag & Co. Ohg | Verfahren zum Erstellen einer fusionierten Freiraumkarte, elektronische Steuerungsvorrichtung und Speichermedium |
WO2019006085A1 (en) * | 2017-06-30 | 2019-01-03 | Intel Corporation | V2X COMMUNICATIONS USING MULTIPLE RAT (MULTI-RAT) ACCESS TECHNOLOGIES |
JP6969962B2 (ja) * | 2017-10-05 | 2021-11-24 | トヨタ自動車株式会社 | 車両の運転支援及び/又は走行制御のための地図情報提供システム |
US11874134B2 (en) * | 2018-01-04 | 2024-01-16 | Pioneer Corporation | Map information-providing system, map information-providing method, and map information-providing program |
WO2019200182A2 (en) * | 2018-04-11 | 2019-10-17 | SeeScan, Inc. | Geographic map updating methods and systems |
KR102611927B1 (ko) * | 2018-07-11 | 2023-12-08 | 르노 에스.아.에스. | 주행 환경 정보의 생성 방법, 운전 제어 방법, 주행 환경 정보 생성 장치 |
JP7112281B2 (ja) * | 2018-08-17 | 2022-08-03 | 株式会社ゼンリンデータコム | ナビゲーション装置、プログラム |
JP2020034321A (ja) * | 2018-08-28 | 2020-03-05 | パイオニア株式会社 | 地図データ生成装置 |
JP7167732B2 (ja) * | 2018-11-05 | 2022-11-09 | トヨタ自動車株式会社 | 地図情報システム |
WO2021025216A1 (ko) * | 2019-08-08 | 2021-02-11 | 엘지전자 주식회사 | 경로 제공 장치 및 그것의 경로 제공 방법 |
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JP2020148694A (ja) | 2019-03-15 | 2020-09-17 | 日立オートモティブシステムズ株式会社 | 自己位置推定装置、それを備えた自動運転システム、および、自己生成地図共有装置 |
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CN114987529A (zh) | 2022-09-02 |
US20220268598A1 (en) | 2022-08-25 |
US11874135B2 (en) | 2024-01-16 |
JP2022129778A (ja) | 2022-09-06 |
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