WO2020045344A1 - Système de génération de carte et dispositif embarqué - Google Patents

Système de génération de carte et dispositif embarqué Download PDF

Info

Publication number
WO2020045344A1
WO2020045344A1 PCT/JP2019/033314 JP2019033314W WO2020045344A1 WO 2020045344 A1 WO2020045344 A1 WO 2020045344A1 JP 2019033314 W JP2019033314 W JP 2019033314W WO 2020045344 A1 WO2020045344 A1 WO 2020045344A1
Authority
WO
WIPO (PCT)
Prior art keywords
map
unit
vehicle
route information
information
Prior art date
Application number
PCT/JP2019/033314
Other languages
English (en)
Japanese (ja)
Inventor
茂裕 武藤
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019141129A external-priority patent/JP7063310B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN201980056571.8A priority Critical patent/CN112639917A/zh
Priority to DE112019004347.1T priority patent/DE112019004347T5/de
Publication of WO2020045344A1 publication Critical patent/WO2020045344A1/fr
Priority to US17/186,930 priority patent/US20210180959A1/en

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids

Definitions

  • the present disclosure relates to a map generation system and an in-vehicle device.
  • the present disclosure is intended to provide a map generation system that can provide highly reliable map data and maintain highly fresh map data, and a vehicle-mounted device.
  • a map generation system includes a server including a map generation unit, a quality confirmation result reflection unit, an assisted driving control unit, a difference calculation unit, a map quality determination unit, and road information acquisition. And an in-vehicle device having the unit.
  • the map generation unit generates a temporary map and transmits the temporary map to the in-vehicle device
  • the difference calculation unit generates a first route information generated from the temporary map and a second route information generated from the road information acquired from the road information acquisition unit. From the route information, a difference amount A between the first route information and the second route information is calculated, and when the difference amount A is equal to or less than a predetermined value, the determination result indicating that the quality of the temporary map is acceptable is obtained.
  • the quality confirmation result reflecting unit which has transmitted the quality confirmation result reflecting unit and received the determination result, transmits a signal for updating the temporary map to a formal map to the vehicle-mounted device. According to this configuration, it is possible to provide a map generation system that can provide highly reliable map data and maintain highly fresh map data.
  • FIG. 1 is a block diagram showing a schematic configuration of a map generation system according to the embodiment.
  • FIG. 2 is a sequence diagram showing an outline of processing in the map generation system.
  • FIG. 3 is a sequence diagram illustrating an outline of processing in the map generation system.
  • FIG. 4 is a sequence diagram showing an outline of processing in the map generation system.
  • FIG. 5 is a diagram illustrating an example of a changed portion of the temporary map.
  • the map generation system 1 includes a server 10, a vehicle-mounted device 20, and a road information providing vehicle 30.
  • the server 10, the in-vehicle device 20, and the road information providing vehicle 30 are communicatively connected via a communication unit 12 and a communication unit 22 via a wireless communication network 40 so that data can be transmitted and received.
  • the server 10 includes a control unit 11 and a communication unit 12.
  • the control unit 11 and the communication unit 12 are connected by a data communication line 13.
  • the control unit 11 is configured by a processor having a CPU, a RAM, a ROM, an I / O, and the like, for example.
  • the control unit 11 includes a map generation unit 11a and a quality confirmation result reflection unit 11b.
  • the communication unit 12 transmits data information including map information and the like to the vehicle-mounted device 20 and the road information providing vehicle 30 of the verification vehicle via the wireless communication network 40.
  • the control unit 11 realizes functional units such as a map generation unit 11a and a quality check result reflection unit 11b by executing a program stored in a ROM, for example.
  • the map data may be, for example, data including coordinate information of various features existing along a road.
  • Such map data in one aspect, corresponds to data for autonomously driving a vehicle along a road.
  • the map generator 11a generates a temporary map and a formal map based on the acquired map data.
  • the quality confirmation result reflecting unit 11b updates the map information based on the acquired temporary map determination information.
  • the quality confirmation result reflecting unit 11b generates a signal indicating that the distributed temporary map is an official map based on the acquired temporary map determination information.
  • the quality confirmation result reflecting unit 11b transmits, via the communication unit 12, a signal using the official map and the temporary map as official maps to the vehicle-mounted device 20 of the verification vehicle or the road information providing vehicle 30.
  • the in-vehicle device 20 is installed in a verification vehicle that verifies the temporary map.
  • the in-vehicle device 20 includes a control unit 21, a communication unit 22, and sensors.
  • the sensors are devices capable of acquiring information necessary for assisted driving and automatic driving of the vehicle.
  • the sensors include a road information acquisition unit 23 for recognizing a road and a situation around the road, a steering angle sensor 24 for detecting a steering angle of a steering wheel or a steering wheel of a vehicle, a vehicle speed sensor 25 for detecting a vehicle speed, and a satellite emitted from an artificial satellite.
  • a satellite positioning system 26 for performing position measurement and time distribution using signals transmitted from the vehicle, and an inertial sensor 27 for detecting inertia of the vehicle are included.
  • the road information acquisition unit 23 includes a camera, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), a millimeter wave radar, and the like. These are examples of the sensors, and other sensors required by the map generation system 1 may be appropriately provided.
  • LiDAR Light Detection and Ranging or Laser Imaging Detection and Ranging
  • millimeter wave radar and the like.
  • the vehicle-mounted device 20 detects the exact position of the vehicle in chronological order based on the information obtained from these sensors.
  • the road surrounding information is grasped, such as grasping of road conditions such as lanes and grasping features such as roadside zones and signs.
  • the control unit 21, the communication unit 22, and the sensors are connected by a data communication line 28.
  • the data communication line 28 is a vehicle-mounted network such as a vehicle-mounted LAN or CAN.
  • the control unit 21 is configured by a processor including a CPU, a RAM, a ROM, an I / O, and the like.
  • the control unit 21 includes a support driving control unit 21a that controls the assist driving and the automatic driving of the vehicle, a map information generation unit 21b that generates map information, a difference calculation unit 21c that calculates a difference amount of various generated route information, And a map quality judgment unit 21d for judging the quality of the map.
  • the control unit 21 executes, for example, a program stored in the ROM by the CPU to control functions of the functional units such as the assisted driving control unit 21a, the map information generation unit 21b, the difference calculation unit 21c, and the map quality determination unit 21d. It controls the communication unit 22, the road information acquisition unit 23, the steering angle sensor 24, the vehicle speed sensor 25, the satellite positioning system 26, the inertial sensor 27, and the like.
  • the description of the road information providing vehicle 30 is omitted from the drawing, the same configuration as the vehicle-mounted device 20 shown in FIG. 1, that is, a control unit including a support driving control unit, a map information generation unit, a difference calculation unit, and a map quality determination unit , A communication unit, a road information acquisition unit, a steering angle sensor, a vehicle speed sensor, a satellite positioning system, an inertial sensor, and the like.
  • the road information providing vehicle 30 transmits and receives various data information to and from the server 10 via the wireless communication network 40. Although three vehicles X, Y, and Z are illustrated as the road information providing vehicles 30, one or more vehicles may be used.
  • the road information providing vehicle 30 obtains road information from a video or the like detected by a road information obtaining unit included in the road information providing vehicle 30 (S101).
  • the road condition includes not only information on the road on which the vehicle travels, but also information on roadside conditions, information on road signs, bridges, stations, shops, and other features, landmarks, and the like.
  • landmarks include, for example, traffic lights, poles, commercial signs, shops, iconic buildings such as historic buildings, and road markings.
  • the pole includes a street light, a mirror, a telephone pole, and the like.
  • Road marking refers to paint painted on the road surface mainly for traffic control and traffic regulation.
  • the road marking includes, for example, a lane boundary line (for example, a so-called lane marking, lane mark) indicating a boundary of a lane, a pedestrian crossing, a stop line, a guiding zone, a safety zone, a regulation arrow, and the like.
  • road markings include road studs such as chatter bars and botsdots.
  • a signboard corresponding to a traffic sign such as a regulation sign, a guide sign, a warning sign, or an instruction sign may be employed as a landmark.
  • the guide sign refers to a direction sign, a sign indicating a region name, a sign indicating a road name, a notice sign indicating a doorway of an expressway, a service area, and the like.
  • the map coordinate data of the roads and the features and the information of the feature changes are obtained by the official map distributed to the road information providing vehicle 30, the route information generated by the official map, and sensors such as cameras. It is detected by the difference from the road condition. These map coordinate data and feature change information are transmitted to the server 10 (S101).
  • assisted driving assisted driving or automatic driving
  • assisted driving or the like assisted driving or the like is not executed. It may be performed in a state.
  • assisted driving or the like the operation such as the route generation based on the formal map is performed in the background of the operation of the assisted driving control unit.
  • a flag indicating that verification has been completed is given to a portion that has been verified and has no problem.
  • the QA flag may be given for each feature such as a landmark, or may be given in a group unit divided for each predetermined section of the road.
  • the verification vehicle that has received the provisional map performs verification of the provisional map in the vehicle-mounted device 20 included in the verification vehicle. Specifically, the in-vehicle device 20 generates the first route information in the shadow mode using the temporary map (S103). The first route information is generated in the assisted driving control unit 21a of the vehicle-mounted device 20 of the verification vehicle.
  • the shadow mode refers to an operation mode in which the assisted driving control unit 21a generates route information for assisted driving and the like, but does not execute assisted driving of the vehicle using the generated route information.
  • the assisted driving or the like when performing the assisted driving or the like with the verification vehicle, the assisted driving or the like is performed based on the route generated based on the official map currently officially distributed in the verification vehicle. That is, verification is performed in the shadow mode based on the route information generated by the provisional map while performing assisted driving or the like based on the official map.
  • the in-vehicle device 20 In the verification vehicle, the in-vehicle device 20 generates the second route information based on information acquired by the road information acquisition unit 23, the steering angle sensor 24, the vehicle speed sensor 25, the satellite positioning system 26, and the sensors including the inertial sensor 27. (S104).
  • the second route information is generated by the assisted driving control unit 21a.
  • S103 and S104 are both executed in the shadow mode.
  • the difference calculation unit 21c calculates the difference A between the first route information and the second route information (S105).
  • the difference amount A is caused by, for example, a change in a feature such as an increase or decrease of a sign, a detour of a route during construction, and the like.
  • the map information generation unit 21b generates difference map information based on the difference amount A.
  • the difference map information may be generated, for example, as feature change coordinate data or detour route coordinate data.
  • the map quality determination unit 21d determines the quality of the temporary map (S106).
  • the quality of the temporary map is determined based on whether or not the difference A between the first route information and the second route information is equal to or less than a predetermined value. If the difference A is equal to or less than the predetermined value, the quality of the provisional map is acceptable, and if the difference A exceeds the predetermined value, it is determined to be rejected.
  • the temporary map is updated as an official map, and thereafter, assisted driving and the like are performed based on the official map.
  • the server 10 distributes the updated official map to the road information providing vehicle 30 (S107).
  • the verification of the temporary map described above is performed, for example, at the automatic driving level 2 or lower, and when the verification result is passed, the verified temporary map is compared with the automatic driving level at which the distributed temporary map is verified. May be applied to the higher-order automatic operation level 3.
  • the temporary map data can include automation level information to which the temporary map can be applied.
  • the temporary map is verified in a state where the automatic driving level is lower, and if the verification result is passed, the temporary map after the verification is set to the next higher automatic driving level than the automatic driving level that verified the temporary map. You may make it apply.
  • FIG. 3 shows a modification of the processing flow described in FIG.
  • the first route information is generated in the shadow mode using the temporary map (S103), and then, using the official map at this time, the road information acquisition unit 23, the vehicle speed sensor 25, the satellite positioning system 26, the inertia Based on the route information generated from the information obtained from the sensors such as the sensor 27, the third route information on which the verification vehicle has actually traveled is specified and stored (S204). That is, in S204, the third route information which is the route actually traveled by the assisted driving or the like by the vehicle-mounted device 20 of the verification vehicle is stored. In S204, a route that has actually traveled without being controlled by assisted driving or the like may be used as the third route information.
  • the difference B between the first route information and the third route information is calculated (S205), and the quality of the temporary map is determined (S106).
  • Other processing flows are the same as those shown in FIG. According to the processing flow according to the modified example shown in FIG. 3, it is possible to reflect a change in the road condition due to the actual traveling route and the like.
  • FIG. 4 shows the processing flow after updating the temporary map as a formal map (S107), that is, the processing flow following FIG. 2 or FIG.
  • the road information providing vehicle 30 may be either a vehicle provided with an assisted driving control system for performing assisted driving of the vehicle or a vehicle provided with an automatic driving control system for automatically driving the vehicle.
  • the road information providing vehicle 30 that has received the distribution of the official map from the server 10 generates fourth route information based on the official map (S301). In this case, it does not matter whether the road information providing vehicle 30 actually performs vehicle control such as assisted driving using the fourth route information. That is, the road information providing vehicle 30 may verify the formal map in the shadow mode.
  • the road information providing vehicle 30 acquires road information from the road information acquisition unit 23 (S302).
  • the road information providing vehicle 30 generates fifth route information generated from the road information obtained by the road information obtaining unit such as a camera (S303).
  • the fifth route information is a predicted route generated based on the information acquired from the road information acquisition unit 23.
  • the road information providing vehicle 30 performs vehicle control such as assisted driving using the fifth route information. It doesn't matter if you do. That is, the road information providing vehicle 30 may verify the formal map in the shadow mode.
  • the road information providing vehicle 30 calculates the difference C between the fourth route information and the fifth route information (S304). The calculated difference amount is stored in a storage unit (not shown).
  • the road information providing vehicle 30 is based on the route information generated from information by sensors such as a road information acquisition unit, a vehicle speed sensor, a satellite positioning system, and an inertial sensor.
  • Six path information is specified and stored (S305).
  • a route that has actually traveled without being controlled by assisted driving or the like may be used as the sixth route information.
  • the road information providing vehicle 30 calculates a difference D between the fourth route information and the sixth route information (S306).
  • the calculated difference amount is stored in a storage unit (not shown).
  • the road information providing vehicle 30 determines the quality of the official map from the difference amounts C and D (S307).
  • the quality of the official map is that if the difference amounts C and D exceed a predetermined value, the quality has deteriorated, that is, the feature information on the official map has changed from the time of distribution and no longer matches the actual feature. Meaning, in this case, reject. If the quality of the official map is rejected, the road information providing vehicle 30 transmits to the server 10 the changed map coordinate data and the feature change information that is the changed feature information.
  • the changed map coordinate data and the feature change information are transmitted from the plurality of road information providing vehicles 30 to the server 10 and are sequentially accumulated in the server 10. Is done.
  • the server 10 When a predetermined number of changed map coordinate data and feature change information are accumulated, the server 10 generates a provisional map as shown in S102 of FIG. 2 or FIG.
  • the determination result indicating that the quality determination result of the provisional map is rejected is transmitted to the server 10, and the server that receives the determination result is transmitted.
  • the quality confirmation result reflecting unit 11b of No. 10 does not transmit a signal indicating that the temporary map is an official map to the vehicle-mounted device 20.
  • the map generation unit 11a of the server 10 generates a temporary map again taking into account the newly accumulated map coordinate data and feature change information, and performs a processing flow as shown in FIGS. In the in-vehicle device 20, verification of the provisional map and quality determination are performed.
  • the driver's occupant's operation intervention is not required. If the generated route information matches the first route information estimated based on the distributed official map, the road condition acquired by sensors such as cameras is incorrect. Then, the official map may be regarded as correct.
  • the verification vehicle that has received the provisional map verifies the provisional map, and if the verification result is good, may use the verification result as it is for control of assisted driving, automatic driving, and the like without reporting the verification result to the server.
  • the verification vehicle may report to the server only when the verification result of the temporary map is not good.
  • the server may determine that the verification result of the temporary map is good based on not receiving the transmission of the verification result that is not good during the predetermined verification period.
  • the vehicle that has received the distribution of the official map specifies the detailed position of the vehicle on the map based on the verified official map and the information acquired by the road information acquisition unit 23, and performs automatic driving.
  • the vehicles include a verification vehicle including the on-vehicle device 20 and a road information providing vehicle 30.
  • the following effects can be obtained.
  • the verification of the provisional map by the in-vehicle device 20 of the verification vehicle and the verification of the formal map by the road information providing vehicle 30 are performed.
  • a map generation system capable of maintaining highly fresh map data can be provided.
  • the updated official map data is not transmitted from the server 10 to the vehicle-mounted device 20 for vehicles that have already distributed the provisional map, Is transmitted to the in-vehicle device 20 from the server 10, and the amount of data to be transmitted can be reduced. As a result, it becomes possible for the in-vehicle device 20 to quickly acquire the official map. Further, since the amount of data communicated on the wireless communication network 40 can be reduced, it is possible to avoid a delay in communication of the entire wireless communication network 40 and the like.
  • the quality determination of the provisional map in the vehicle-mounted device 20 of the vehicle for verifying the provisional map is performed in a mode in which the vehicle is not assisted by using the route information generated from the provisional map. Will be implemented. That is, the verification of the temporary map is performed in the shadow mode. Therefore, since assisted driving or the like is not performed using the unverified temporary map, it is possible to avoid problems such as erroneous guidance of the vehicle.
  • the map data generated by the server and distributed to the vehicle may be a traveling trajectory model.
  • the traveling trajectory model is data indicating a traveling trajectory that becomes a reference during automatic driving.
  • the traveling trajectory model can be, for example, an average of traveling trajectories for each lane.
  • the traveling trajectory model may also be generated as a temporary map or adopted as a formal map by being verified by the above method.
  • the verification target of the distributed map may be a virtual feature, not a real thing such as a lane marking or a feature.
  • the virtual feature refers to a virtual (having no entity) object for controlling the vehicle.
  • the virtual features include the above-described traveling trajectory model, a virtual lane boundary in an intersection, and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Système de génération de carte comprenant : un serveur (10) comportant une unité de génération de carte (11a) et une unité d'indication de résultat de confirmation de qualité (11b) ; et un dispositif embarqué (20) comportant une unité de commande d'assistance à la conduite (21a), une unité de calcul de différence (21c), une unité de détermination de qualité de carte (21d) et une unité d'acquisition d'informations routières (23). L'unité de génération de carte génère une carte préliminaire et la transmet au dispositif embarqué ; l'unité de calcul de différence calcule, sur la base des premières informations routières générées à partir de la carte préliminaire et de secondes informations routières générées à partir des informations routières acquises auprès de l'unité d'acquisition d'informations routières, une différence A entre les premières informations routières et les secondes informations routières et, lorsque la différence A est égale ou inférieure à une valeur prédéfinie, l'unité de calcul de différence transmet, à l'unité d'indication de résultat de confirmation de qualité, un résultat de détermination indiquant que la qualité de la carte préliminaire est acceptable ; et l'unité d'indication de résultat de confirmation de qualité qui a reçu le résultat de détermination transmet, au dispositif embarqué, un signal de mise à jour de la carte préliminaire pour en faire une carte définitive.
PCT/JP2019/033314 2018-08-31 2019-08-26 Système de génération de carte et dispositif embarqué WO2020045344A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201980056571.8A CN112639917A (zh) 2018-08-31 2019-08-26 地图生成系统、车载装置
DE112019004347.1T DE112019004347T5 (de) 2018-08-31 2019-08-26 Kartenerzeugungssystem, fahrzeuginterne vorrichtung
US17/186,930 US20210180959A1 (en) 2018-08-31 2021-02-26 Map generation system, in-vehicle device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2018-163077 2018-08-31
JP2018163077 2018-08-31
JP2019-141129 2019-07-31
JP2019141129A JP7063310B2 (ja) 2018-08-31 2019-07-31 地図生成システム、車載装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/186,930 Continuation US20210180959A1 (en) 2018-08-31 2021-02-26 Map generation system, in-vehicle device

Publications (1)

Publication Number Publication Date
WO2020045344A1 true WO2020045344A1 (fr) 2020-03-05

Family

ID=69645191

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/033314 WO2020045344A1 (fr) 2018-08-31 2019-08-26 Système de génération de carte et dispositif embarqué

Country Status (1)

Country Link
WO (1) WO2020045344A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112698655A (zh) * 2020-12-28 2021-04-23 江苏北斗卫星导航检测中心有限公司 一种拖拉机自动驾驶路径判别准确率测试方法及系统
DE102020200154A1 (de) * 2020-01-08 2021-07-08 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bereitstellen von Daten zum Erstellen einer digitalen Lokalisierungskarte

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007310198A (ja) * 2006-05-19 2007-11-29 Denso Corp 地図データ提供装置
WO2008126431A1 (fr) * 2007-04-09 2008-10-23 Mitsubishi Electric Corporation Dispositif de traitement d'informations de carte
WO2015193941A1 (fr) * 2014-06-16 2015-12-23 株式会社日立製作所 Système de génération de carte et procédé de génération de carte
JP2018081252A (ja) * 2016-11-18 2018-05-24 株式会社デンソー 地図データ提供システム
US20180188036A1 (en) * 2017-01-04 2018-07-05 Robert Bosch Gmbh Method for validating a digital map for a vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007310198A (ja) * 2006-05-19 2007-11-29 Denso Corp 地図データ提供装置
WO2008126431A1 (fr) * 2007-04-09 2008-10-23 Mitsubishi Electric Corporation Dispositif de traitement d'informations de carte
WO2015193941A1 (fr) * 2014-06-16 2015-12-23 株式会社日立製作所 Système de génération de carte et procédé de génération de carte
JP2018081252A (ja) * 2016-11-18 2018-05-24 株式会社デンソー 地図データ提供システム
US20180188036A1 (en) * 2017-01-04 2018-07-05 Robert Bosch Gmbh Method for validating a digital map for a vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020200154A1 (de) * 2020-01-08 2021-07-08 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bereitstellen von Daten zum Erstellen einer digitalen Lokalisierungskarte
CN112698655A (zh) * 2020-12-28 2021-04-23 江苏北斗卫星导航检测中心有限公司 一种拖拉机自动驾驶路径判别准确率测试方法及系统

Similar Documents

Publication Publication Date Title
JP7063310B2 (ja) 地図生成システム、車載装置
US11543832B2 (en) Method and apparatus for controlling an autonomous vehicle
CN106715224B (zh) 高度自动化驾驶功能的功能许可
US10239539B2 (en) Vehicle travel control method and vehicle travel control device
US8160811B2 (en) Method and system to estimate driving risk based on a hierarchical index of driving
US9127956B2 (en) Technique for lane assignment in a vehicle
CN102132335B (zh) 行驶环境识别装置
US11320282B2 (en) Driving control method and driving control device
JP5802659B2 (ja) 車両の構成要素を制御する方法
JP7035945B2 (ja) 地図情報システム
CN108490950B (zh) 一种基于虚拟轨道的变道方法及系统
CN110562222B (zh) 用于弯道场景的紧急制动控制方法、车载设备和存储介质
US10705530B2 (en) Vehicle travel control method and vehicle travel control device
RU2660425C1 (ru) Устройство вычисления маршрута движения
WO2020045344A1 (fr) Système de génération de carte et dispositif embarqué
CN112567439A (zh) 一种交通流信息的确定方法、装置、电子设备和存储介质
JP2021113816A (ja) 出力装置、制御方法、プログラム及び記憶媒体
US11292491B2 (en) Server and vehicle control system
CN106803353B (zh) 用于确定交通信号灯的变换规则的方法和车载系统
CN113686595A (zh) 车辆耐久测试方法、装置、云控平台及系统
CN113227831B (zh) 基于多传感器数据融合的护栏估计方法和车载设备
CN112204347B (zh) 用于检查是否可安全进行行驶模式转换的方法
KR102670005B1 (ko) 현실-가상 정보 융합을 통한 자율주행 검증 시스템
CN113819920B (zh) 针对易于拥堵路段的自动驾驶非自主导航方法
JP7040995B2 (ja) 信頼度算出装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19853467

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19853467

Country of ref document: EP

Kind code of ref document: A1