WO2023145738A1 - Système de mise à jour de carte, dispositif embarqué et serveur de gestion - Google Patents

Système de mise à jour de carte, dispositif embarqué et serveur de gestion Download PDF

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Publication number
WO2023145738A1
WO2023145738A1 PCT/JP2023/002143 JP2023002143W WO2023145738A1 WO 2023145738 A1 WO2023145738 A1 WO 2023145738A1 JP 2023002143 W JP2023002143 W JP 2023002143W WO 2023145738 A1 WO2023145738 A1 WO 2023145738A1
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information
map
vehicle
change
surrounding
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PCT/JP2023/002143
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English (en)
Japanese (ja)
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真也 阿部
智 堀畑
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株式会社デンソー
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Publication of WO2023145738A1 publication Critical patent/WO2023145738A1/fr

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    • 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

Definitions

  • the disclosure in this specification relates to a map update system that updates map information, an in-vehicle device, and a management server.
  • the device described in Patent Document 1 compares the position, shape, etc. of features detected by an external sensor mounted on a vehicle with feature information stored in a storage unit as map data. Then, when it is determined that there is a change in the feature detected by the external sensor, the difference information is transmitted to the server. The server updates the advanced map database based on the difference information.
  • Patent Document 1 when the feature information contained in the advanced map database is different from the position and shape of the map detected by the sensor mounted on the vehicle that actually traveled on the spot, the advanced map database Update map database.
  • the map information does not correctly represent the actual roads, features, etc., it does not necessarily mean that the map information must be updated.
  • the map information is used to control the behavior of the vehicle, it is not necessary to update the map information unless it affects vehicle control.
  • Patent Document 1 only uploads flags indicating the presence or absence of difference information, so there is a problem that the degree of change in features cannot be grasped.
  • the change identification flag described in Patent Document 1 indicates a change in the position of a feature
  • detailed difference information such as the amount of position change is unknown, it is impossible to determine whether the map needs to be updated. Therefore, even if the difference is minor and updating the map information is not necessary, if the map information is constantly updated just because there is a difference, there is a problem that the time and effort required to update the map information increases.
  • the object of the disclosure is to provide a map update system, an in-vehicle device, and a management server that can suppress updating of map information that is not essential. .
  • the present disclosure employs the following technical means to achieve the aforementioned objectives.
  • the map updating system disclosed herein is a map updating system for updating map information stored in a storage unit located in a vehicle, and includes peripheral information detected by a peripheral detection sensor mounted on the vehicle and map information.
  • an information generation unit that generates change information indicating a difference between the surrounding information and the map information when the information is different from the map information;
  • the information generation unit is a map update system that generates change information including the amount of change in the position of the feature when the difference between the surrounding information and the map information is the difference in the position of the target feature.
  • change information indicating the difference between the surrounding information and the map information is generated. Produced by the Department. If the difference between the surrounding information and the map information is the difference in the position of the target feature, the change information is information that includes the amount of change in the position of the feature. As a result, the amount of change in the position of the feature can be known, so it is possible to grasp whether the change in position is slight or not. This allows the update determination unit to determine that the map should not be updated when the change in position is minor, and to suppress updating of map information that is not essential.
  • the disclosed in-vehicle device is an in-vehicle device that is mounted on a vehicle and used, and includes a storage unit that stores map information, surrounding information detected by a surrounding detection sensor mounted on the vehicle, and map information. are different, an information generating unit for generating change information indicating a difference between the surrounding information and the map information; a vehicle communication unit for receiving new map information from the management server; and a map updating unit for updating the map information in the storage unit when new map information is received from the management server.
  • the in-vehicle device generates change information including the amount of change in the position of the feature.
  • the change information indicating the difference between the surrounding information and the map information is generated by the information generation unit.
  • the change information is information that includes the amount of change in the position of the feature.
  • the management server can determine not to update the map when the change in position is minor, and can suppress updating of map information that is not essential. .
  • the disclosed management server is a management server that communicates with in-vehicle devices installed in a plurality of vehicles and manages map information stored in a storage unit of the in-vehicle devices, and is a server communication that communicates with the in-vehicle devices.
  • an update determination unit that, when receiving change information from a plurality of in-vehicle devices, statistically processes the plurality of change information and determines whether to update the map information; and a control unit for controlling the server communication unit to transmit the obtained map information to the in-vehicle device. If the difference between the surrounding information and the map information is the difference in the position of the target feature, the management server including the amount of change in the position of the feature is.
  • the change information is information that includes the amount of change in the position of the feature.
  • the amount of change in the position of the feature can be known, so it is possible to grasp whether the change in position is slight or not. This allows the update determination unit to determine that the map should not be updated when the change in position is minor, and to suppress updating of map information that is not essential.
  • FIG. 4 is a flowchart showing processing of the in-vehicle device 60;
  • FIG. 4 is a diagram showing the configuration of a management server 80;
  • 8 is a flowchart showing processing of a server control unit 83;
  • 9 is a flowchart showing processing of the in-vehicle device 60 of the second embodiment;
  • 9 is a flowchart showing processing of a server control unit 83 according to the second embodiment;
  • FIG. 1 is a diagram showing the overall configuration of a map updating system 100 of this embodiment.
  • the map update system 100 updates map information stored in the vehicle storage unit 30 located in the vehicle 200 .
  • the map update system 100 includes an in-vehicle system 10 mounted on a vehicle 200 and a management server 80 installed at an arbitrary position outside the vehicle 200 . In-vehicle system 10 and management server 80 can communicate via communication network 300 .
  • the in-vehicle system 10 includes an in-vehicle sensor 20 , a vehicle storage section 30 , a vehicle communication section 40 , a vehicle control section 50 and an in-vehicle device 60 . These are connected to the in-vehicle LAN 11 and communicate with each other via the in-vehicle LAN 11 .
  • Vehicle communication unit 40 is a communication unit that performs wireless communication, and communicates with another device such as management server 80 via communication network 300 .
  • the vehicle-mounted sensor 20 is a sensor mounted on the vehicle 200 to detect various information used for vehicle control.
  • the in-vehicle sensor 20 includes a surrounding detection sensor 21 , a GNSS receiver 24 , an inertial sensor 25 and a driver operation detection sensor 26 .
  • other sensors such as a sensor for detecting the state of the driver may be provided.
  • the surrounding detection sensor 21 is a sensor that is mounted on the vehicle 200 and detects various objects existing around the vehicle 200 . Objects also include planar objects such as pavement markings and lane markings.
  • FIG. 2 shows a camera 22 and a lidar 23 as the peripheral detection sensor 21 .
  • Camera 22 captures an image in front of vehicle 200 .
  • the camera 22 may be configured to photograph the sides and rear of the vehicle 200 .
  • the lidar 23 detects the positions of objects existing around the vehicle 200 by projecting and receiving light.
  • Periphery detection sensor 21 may include, in addition to or instead of these, other sensors that detect objects existing in the vicinity of vehicle 200, such as millimeter wave radar.
  • the GNSS receiver 24 receives navigation signals transmitted by navigation satellites of the GNSS (Global Navigation Satellite System), which is a satellite navigation system, and sequentially calculates the current position based on the received navigation signals.
  • Inertial sensor 25 is a sensor that detects inertia occurring in vehicle 200, and includes one or both of an acceleration sensor and an angular velocity sensor.
  • the GNSS receiver 24 and the inertial sensor 25 are sensors for successively detecting the current position of the vehicle 200 . Since a change in the current position indicates the behavior of vehicle 200 , GNSS receiver 24 and inertial sensor 25 are sensors that detect information indicating the behavior of vehicle 200 .
  • the driver operation detection sensor 26 is a sensor that detects an input operation performed by the driver to change or maintain the behavior of the vehicle 200 .
  • the driver operation detection sensor 26 is an accelerator sensor, a brake sensor, a steering sensor, a shift position sensor, and the like.
  • the vehicle storage unit 30 is writable and stores various information.
  • the vehicle storage unit 30 does not always have to be mounted on the vehicle 200 and may be detachable from the vehicle 200 .
  • the vehicle storage unit 30 may be detached and used by being connected to another information terminal at another location, for example, at a company.
  • a flash memory can be used for the vehicle storage unit 30.
  • a map database (hereinafter referred to as a map DB) is stored in the vehicle storage unit 30 .
  • the map DB contains map information.
  • the map information includes specific information for specifying road signs, road markings and lane markings. Road signs, pavement markings and lane markings are mandated by law and are provided to ensure the safe and smooth movement of traffic on roads. Road signs are, for example, information signs, warning signs, regulatory signs and instruction signs.
  • the specific information is information for specifying these types and contents. Map information is realized by map information called a high-precision map, for example.
  • a high-definition map is a three-dimensional map that contains information about features that exist around roads.
  • Features include traffic lights and road signs.
  • the information about the traffic light is traffic light information specifying the traffic light, such as the coordinates of the traffic light, the shape of the signal, and the size of the traffic light.
  • a high-definition map includes not only three-dimensional information but also two-dimensional information existing on the road surface.
  • the two-dimensional information is, for example, the type of road marking, the position of the road marking, the position of the marking line, and the type of the marking line.
  • the vehicle control unit 50 acquires behavior information indicating the behavior of the vehicle 200 and peripheral information indicating objects existing around the vehicle 200 from the in-vehicle sensor 20 .
  • the vehicle control unit 50 also acquires map information from the map DB stored in the vehicle storage unit 30 .
  • the vehicle control unit 50 uses the acquired information to perform vehicle control for controlling the behavior of the vehicle 200 .
  • Vehicle control unit 50 can be realized by a configuration including at least one processor.
  • Signal stop control is control to stop at a stop line when the light of the target traffic light is red and the vehicle is not traveling in the lane indicated by the arrow light.
  • a plurality of traffic signals can be detected by the surrounding detection sensor 21 , which one is the target traffic signal is determined from the position and orientation of the traffic signal with respect to the vehicle 200 .
  • the signal information stored in the map information is used to identify the target signal from the signals detected by the surrounding detection sensor 21 . Then, the lights that are on at the specified target signal are determined.
  • Lane keeping control is control for automatically traveling in the same lane while successively detecting the positions of the lane markings and the vehicle 200 in the vehicle width direction. Lane keeping control is executed using the position and shape of the lane markings recognized using the periphery detection sensor 21 and the position and shape of the lane markings included in the map information.
  • the in-vehicle device 60 is mounted on the vehicle 200 and used.
  • the in-vehicle device 60 can be realized by a configuration including at least one processor.
  • the in-vehicle device 60 can be implemented by a computer including a processor, nonvolatile memory, RAM, I/O, bus lines connecting these components, and the like.
  • a program for operating a general-purpose computer as the in-vehicle device 60 is stored in the non-volatile memory.
  • a processor executes a program stored in non-volatile memory while using the temporary storage function of RAM.
  • the in-vehicle device 60 has an information generator 61, an accuracy calculator 62, and a map updater 63 as functional blocks. Execution by these functional blocks means that the method corresponding to the program is executed.
  • the information generation unit 61 When the surrounding information detected by the surrounding detection sensor 21 and the map information in the map DB are different, the information generation unit 61 generates change information indicating the difference between the surrounding information and the map information. Differences between the surrounding information and the map information include, for example, differences in the positions of features, differences in the positions of road markings, and differences in the line type of lane markings. In determining whether there is a difference between the surrounding information and the map information, the information generating section 61 does not need to generate change information if the difference is a detection error of the surrounding detection sensor 21 .
  • the information generation unit 61 When the difference between the surrounding information and the map information is the difference in the position of the target feature, the information generation unit 61 generates change information including the amount of change in the position of the feature. If there is a difference of, for example, 100 mm in the position of the feature between the surrounding information and the map information, the change information includes information including the amount of change of 100 mm.
  • the information generation unit 61 If there is a difference between the specific information of the surrounding information and the specific information of the map information, the information generation unit 61 generates change information including both the information of the specific information of the surrounding information and the specific information of the map information. For example, if the boundary information has dashed division lines and the map information has solid division lines, the change information includes information that the division lines are dashed lines in the surrounding information and solid lines in the map information. including information. In other words, the change information includes both peripheral information and map information.
  • accuracy calculation unit 62 calculates the detection accuracy of surrounding information of surrounding detection sensor 21.
  • the detection accuracy of the surrounding detection sensor 21 changes depending on various external factors. For example, when the vehicle 200 is traveling through a group of tall buildings, there are many shadows of the tall buildings on the road surface, and the contrast between the shadows and the sunlight reduces the detection accuracy. In addition, when the vehicle 200 is located in a downtown area, parking on the street reduces the detection accuracy of lane markings, because many vehicles are parked on the street in the downtown area. Further, when the vehicle is traveling through a tunnel, the brightness in the vicinity of the entrance/exit of the tunnel rapidly changes between inside and outside of the tunnel, which lowers the detection accuracy. Therefore, detection accuracy differs depending on the position of vehicle 200 .
  • detection accuracy varies depending on the weather at the position of vehicle 200 . For example, whether or not it is raining may be determined based on the operation status of wipers, or weather information may be obtained from another device through vehicle communication unit 40 . Also, during the detection time of the afternoon sun or the morning sun, the position of the sun may be low and it may be difficult for the camera 22 to photograph. Therefore, depending on the detection time, the detection accuracy is lowered.
  • the accuracy calculation unit 62 calculates the detection accuracy of peripheral information in consideration of the factors that affect the detection accuracy as described above. As described above, for example, when the vehicle 200 is located in a downtown area, the lane marking detection accuracy may be low, so the lane marking detection accuracy is set low. Based on the position of vehicle 200, the weather at the position of vehicle 200, the road surface condition around vehicle 200, and the detection time of the surrounding information, the detection accuracy is set low when there is a risk that the detection accuracy will decrease.
  • Such detection accuracy is calculated using a preset control map and a formula set based on the correlation.
  • Accuracy calculator 62 calculates the detection accuracy periodically, for example, every few seconds.
  • the accuracy calculation unit 62 stores the calculated accuracy in the vehicle storage unit 30 as accuracy information together with the calculation time and the calculation position.
  • the map update unit 63 updates the map information in the map DB when new map information is given. Further, when the vehicle communication unit 40 receives new map information from the management server 80, the map update unit 63 updates the map information in the map DB.
  • the flowchart shown in FIG. 3 is repeatedly executed by the in-vehicle device 60 in a short period of time.
  • step S1 the surrounding information and the map information are compared, and the process proceeds to step S2.
  • step S2 it is determined whether or not there is a difference between the surrounding information and the map information. If there is a difference, the process proceeds to step S3.
  • step S3 since there is a difference, change information is generated, and the process moves to step S4.
  • step S4 control is performed to transmit the accuracy information from the vehicle communication unit 40 to the management server 80 together with the change information, and this flow ends.
  • the change information and the accuracy information are sent to the management server 80.
  • the management server 80 communicates with the in-vehicle devices 60 installed in the plurality of vehicles 200 and manages the map information stored in the vehicle storage unit 30 of the in-vehicle devices 60 .
  • the management server 80 includes a server communication section 81, a server storage section 82, and a server control section 83, as shown in FIG.
  • Server communication unit 81 is a communication unit that communicates with vehicle communication unit 40 via communication network 300 .
  • the server communication unit 81 may be connected to the communication network 300 by wire, or may be connected to the communication network 300 wirelessly.
  • the server storage unit 82 stores a distribution map DB.
  • the distribution map DB is a database storing map information to be distributed to the vehicle 200 in order to update part or all of the map DB stored in the vehicle storage unit 30 . Therefore, the latest map information is stored in the distribution map DB.
  • the server control unit 83 can be realized by a configuration including at least one processor.
  • the server control unit 83 can be realized by a computer including a processor, nonvolatile memory, RAM, I/O, bus lines connecting these components, and the like.
  • a program for operating a general-purpose computer as the server control unit 83 is stored in the nonvolatile memory.
  • a processor executes a program stored in non-volatile memory while using the temporary storage function of RAM.
  • server control unit 83 controls the server storage unit 82 to store the received information together with the time of reception. Further, when the map information in the distribution map DB is updated, server control unit 83 controls server communication unit 81 to transmit the updated map information to vehicle 200 .
  • the server control unit 83 can grasp changes in the change information in chronological order. For example, if the positional deviation in the change information of a certain feature was several millimeters at first, but after a few days it has become several tens of millimeters, the position of the feature has changed due to factors such as construction work. It can be predicted that Therefore, it is possible to grasp the cause of occurrence of the change information at an earlier stage.
  • the server control unit 83 has a threshold determination unit 84, a detection accuracy determination unit 85, and an update determination unit 86 as functional blocks. Execution by these functional blocks means that the method corresponding to the program is executed.
  • the detection accuracy determination unit 85 uses at least one of the position of the vehicle 200, the weather at the position of the vehicle 200, the road surface condition around the vehicle 200, and the detection time of the surrounding information to detect the surrounding information of the surrounding detection sensor 21. Determine precision.
  • the detection accuracy determination unit 85 also takes into account the accuracy information transmitted from the in-vehicle device 60 to determine the detection accuracy. For example, when the accuracy information of in-vehicle device 60 does not include weather information, detection accuracy determination unit 85 acquires weather information from another device and uses it to determine detection accuracy. In other words, the final detection accuracy is determined using information that is not included in the accuracy information of the in-vehicle device 60 but that can be obtained by the detection accuracy determination unit 85 .
  • the detection accuracy determination unit 85 when the detection accuracy determination unit 85 receives accuracy information from a plurality of in-vehicle devices 60, it statistically processes the plurality of accuracy information to determine detection accuracy. For example, when the detection accuracy varies in the same time period or the same weather, the detection accuracy is determined using the variance, standard deviation, median value, average value, and the like of the detection accuracy. In other words, if accuracy information is received indicating that a certain vehicle-mounted device 60 has extremely low detection accuracy, but a plurality of other vehicle-mounted devices 60 have high detection accuracy, the information that the detection accuracy is low is erroneous. There is a risk. Therefore, by statistical processing, information with low detection accuracy is handled lightly, and information detected by other multiple in-vehicle devices 60 is handled heavily to determine the detection accuracy.
  • the threshold determining unit 84 determines a threshold for determining whether to update map information.
  • the threshold value has an initial value at the time of manufacture, and is then modified as appropriate.
  • the threshold is updated using change information and detection accuracy.
  • the threshold is a value that requires update of the map information when the change information exceeds the threshold, and does not require update when the change information is equal to or less than the threshold.
  • the threshold is also a value corresponding to the amount of change. For example, if the threshold is 1 m and the amount of change in the position of the feature in the change information is 1.1 m, the threshold is exceeded.
  • the change information is specific information, it is a value corresponding to the degree of change of the sign. For example, if the difference between the signs is completely different, specifically, if the speed limit sign is 40 km/h and 60 km/h, the difference level is 10, and if the colors of the signs are different, the difference level is is level 1, the change information can be expressed in 10 levels.
  • the threshold is then set to level 5, for example.
  • the information generator 61 of the in-vehicle device 60 generates change information.
  • the change information includes information on the division lines of the map information and the division lines of the peripheral information.
  • the threshold determination unit 84 determines that the division lines in the peripheral information are division lines that have deteriorated over time from the division lines in the map information, and that there is no difference, that is, the difference level is low. can do. In this case, there is no need to update the map information. Therefore, the threshold value determination unit 84 sets the threshold value of the lane marking at the detection point of the change information to the side that does not require updating, and sets the difference level of the threshold value to the large side.
  • the change information is generated by the information generation unit 61 of the in-vehicle device 60 because there is a difference between the map information sign and the surrounding information sign.
  • the change information includes information about the map information sign and the surrounding information sign.
  • the threshold determination unit 84 can determine that the map information sign is a sign that is covered by another object and that there is no difference. In this case, there is no need to update the map information. Therefore, the threshold value determination unit 84 sets the threshold value of the sign at the detection point of this change information to the side where updating is unnecessary, that is, to the large side.
  • the threshold determination unit 84 also uses the detection accuracy determined by the detection accuracy determination unit 85 to determine the threshold. Specifically, change information with high detection accuracy is used to determine the threshold without using change information with low detection accuracy, ie, low detection accuracy.
  • the threshold determination unit 84 also updates the threshold as appropriate. Upon receiving the change information and the accuracy information from the plurality of in-vehicle devices 60, the threshold determination unit 84 statistically processes the plurality of change information and the accuracy information to determine the threshold. For example, even if the change information is detected with high accuracy, if the change information varies, the variance, standard deviation, median value, average value, etc. of the change information with high detection accuracy are used to determine the threshold value. In other words, if a certain in-vehicle device 60 receives change information indicating an extremely small positional deviation, but a plurality of other in-vehicle devices 60 receive change information indicating that the positional deviation is large, the information with small positional deviation is erroneous. There is a possibility that it is. Therefore, by statistical processing, the change information is weighted to determine the threshold.
  • the threshold for the positional deviation of the feature was initially 500 mm, and the average value of the positional deviation of the statistically processed change information increased day by day and reached 450 mm, the threshold is lowered. to 480 mm.
  • the map information can be updated at an appropriate timing.
  • the update determination unit 86 uses the change information and the detection accuracy to determine whether map information needs to be updated.
  • the update determination unit 86 uses the threshold determined by the threshold determination unit 84 to determine whether map information needs to be updated. Therefore, the update determination unit 86 determines whether or not to update the map information using a threshold determined by statistically processing a plurality of pieces of change information.
  • the update determination unit 86 controls the server communication unit 81 to transmit the updated map information to the in-vehicle device 60 .
  • the update determination unit 86 determines that it is necessary to update the map information, it creates update map data from the distribution map DB. Then, the created update map data is transmitted to the in-vehicle system 10 .
  • the map update unit 63 updates the map DB.
  • the update map data may be transmitted by specifying the receiving party, or may be transmitted in a broadcast manner without specifying the receiving party.
  • the receiving side determines whether or not to update the update map data based on the version of the update map data.
  • the flowchart shown in FIG. 5 is repeatedly executed by the management server 80 in a short period of time.
  • step S11 change information and accuracy information are acquired via the server communication unit 81, and the process proceeds to step S12.
  • step S12 the detection accuracy determination unit 85 determines the detection accuracy using the accuracy information, and the process proceeds to step S13.
  • step S13 the update determination unit 86 determines whether or not the map information needs to be updated. If the update is required, the process proceeds to step S14, and if the update is not required, the flow ends. In step S13, the update determination unit 86 uses the threshold value and statistically processed change information to determine whether update is necessary.
  • step S14 since updating is necessary, the change information is used to update the map information in the distribution map DB, and the process proceeds to step S15.
  • step S15 the server communication unit 81 is controlled to transmit the updated map information to the in-vehicle device 60, and this flow ends.
  • the map updating system 100 of this embodiment detects the difference between the surrounding information and the map information when the surrounding information detected by the surrounding detection sensor 21 mounted on the vehicle 200 is different from the map information. is generated by the information generator 61 . If the difference between the surrounding information and the map information is the difference in the position of the target feature, the change information is information that includes the amount of change in the position of the feature. As a result, the amount of change in the position of the feature can be known, so it is possible to grasp whether the change in position is slight or not. Accordingly, the update determination unit 86 can determine that the map should not be updated when the change in position is minor, and can suppress updating of map information that is not essential.
  • the information generation unit 61 when there is a difference between the specific information of the surrounding information and the specific information of the map information, the information generation unit 61 generates change information including both the specific information of the surrounding information and the specific information of the map information. to generate By using the change information, the grounds for the difference between the surrounding information and the map information are clarified. Therefore, the change information can provide information necessary for determining whether map information needs to be updated.
  • the update determination unit 86 uses change information and detection accuracy to determine whether map information needs to be updated. Detection accuracy is determined by the position of vehicle 200 and the like. The detection accuracy of peripheral information varies depending on the detection conditions due to the advantages and disadvantages of each sensor used. Since the necessity of update is determined by using such detection accuracy and change information, change information with high detection accuracy can be obtained without using change information with low detection accuracy, in other words, change information with detection errors or large noise. can be determined using Therefore, updating of map information that is not essential can be further suppressed.
  • the update determination unit 86 when change information is acquired from a plurality of vehicles 200, the update determination unit 86 statistically processes the plurality of change information and determines whether map information needs to be updated. It is difficult to judge whether it is correct information or incorrect information from one change information, but by statistically processing multiple change information, the certainty of the change information, that is, the reliability can be obtained. be able to. Thus, it is possible to determine whether map information needs to be updated using highly reliable change information statistically processed.
  • FIG. This embodiment is characterized in that it determines whether or not the automatic driving application is malfunctioning and that it uses the lane ID.
  • the lane ID is also called lane information.
  • the lane ID is information that identifies the lane in which vehicle 200 is traveling. For example, in the case of a road with three lanes in each direction, six lanes are given different lane IDs.
  • the lane ID is included in the peripheral information detected by the peripheral detection sensor 21 .
  • the surrounding detection sensor 21 performs map matching between the map information and the current position, and acquires the lane ID held by the map DB. Periphery detection sensor 21 also uses the number of detected lane markings and the number of lanes included in the map information, for example, to identify the driving lane, and acquires the lane ID. When the surrounding detection sensor 21 cannot identify the driving lane, it outputs information indicating that the lane cannot be identified.
  • the case where the lane cannot be identified is, for example, the case where the lane marking cannot be detected due to rain, nighttime, or damage to the lane marking.
  • An automated driving application is a vehicle control that controls the behavior of the vehicle, such as signal stop control and lane keeping control.
  • the automatic driving application controls the behavior of the vehicle 200 using surrounding information and map information, and may not operate normally depending on change information.
  • the flowchart shown in FIG. 6 is repeatedly executed by the in-vehicle device 60 in a short period of time.
  • step S21 the surrounding information and the map information are compared, and the process proceeds to step S22.
  • step S22 it is determined whether or not there is a difference between the surrounding information and the map information. If there is a difference, the process proceeds to step S23.
  • step S23 since there is a difference, it is determined whether or not there is a malfunction in the automated driving application based on the difference. If there is a malfunction, the process proceeds to step S24.
  • An autonomous driving app malfunction is when it does not work properly due to differences.
  • step S24 since there is a difference and there is an application malfunction, change information is generated, and the process proceeds to step S25.
  • step S25 it is determined whether or not the lane ID can be acquired, and if it can be acquired, the process moves to step S26, and if it cannot be acquired, the process moves to step S27. This is because the lane ID may not be acquired as described above.
  • step S26 the lane ID can be acquired, so control is performed to transmit the lane ID and accuracy information from the vehicle communication unit 40 to the management server 80 along with the change information, and this flow ends.
  • step S27 since the lane ID cannot be obtained, control is performed to transmit the accuracy information together with the change information from the vehicle communication unit 40 to the management server 80, and this flow ends.
  • the change information and the accuracy information are sent to the management server 80.
  • information on the application side regarding the cause of the application malfunction such as the type of application that is malfunctioning, may be sent together.
  • the lane ID is also transmitted together with the change information.
  • the flowchart shown in FIG. 7 is repeatedly executed by the management server 80 in a short period of time.
  • step S31 change information, accuracy information and lane ID are acquired via the server communication unit 81, and the process proceeds to step S32.
  • step S32 the detection accuracy determination unit 85 determines the detection accuracy using the accuracy information and the lane ID, and proceeds to step S33.
  • step S33 the update determination unit 86 determines whether or not the map information needs to be updated. If the update is required, the process proceeds to step S34, and if the update is not required, the flow ends. In step S33, the update determination unit 86 uses the threshold value and statistically processed change information to determine whether or not update is necessary.
  • step S34 since updating is necessary, the change information is used to update the map information in the distribution map DB, and the process proceeds to step S35.
  • step S35 the server communication unit 81 is controlled to transmit the updated map information to the in-vehicle device 60, and this flow ends.
  • the detection accuracy determination unit 85 also uses the lane ID to determine the detection accuracy. Specifically, the detection accuracy determination unit 85 uses the lane ID to determine if the vehicle is traveling in a lane with a short distance to an object with a difference, and if the vehicle is traveling in a lane with a large distance. Set the detection accuracy higher than the case. In other words, when the lane ID can be specified, the difference information detection accuracy is increased while traveling on the closest link of the feature, and the detection accuracy is lowered as the lane is farther, so that only the difference information from the far lane is available. In this case, updating in an unreliable state can be suppressed.
  • the detection accuracy can be set low for features whose detection accuracy varies depending on the driving lane, for example, on a road with three or more lanes, except for driving in the end lane.
  • the automatic driving application if there is a difference and the automatic driving application operates normally, it is determined that there is no problem with the map, and the difference information is not sent to the management server 80. Conversely, in the case of an application malfunction in which the automatic driving application does not operate normally, information such as the type of the malfunctioning application is also transmitted to the management server 80 together with the change information. This makes it possible to transmit difference information that requires update of map information.
  • the management server 80 is configured outside the vehicle 200, but the configuration is not limited to this. Management server 80 may be mounted on vehicle 200 . Therefore, the in-vehicle device 60 may have the functions of the server control unit 83 such as the update determination unit 86 . Further, the identification information may be information that identifies the type of at least one of road signs, road markings, and lane markings.
  • the map update unit 63 of the in-vehicle device 60 updates the map DB online based on the update map data distributed from the management server 80, but the configuration is limited to this. not a thing Updating of the map DB may be performed offline.
  • the update determination unit 86 uses change information and detection accuracy to determine whether map information needs to be updated, but the configuration is not limited to this.
  • the update determination unit 86 may determine whether or not update is necessary using only the change information without using the detection accuracy.
  • the update determination unit 86 uses the threshold that varies by the threshold determination unit 84 to determine whether or not update is necessary, but the configuration is not limited to this.
  • the threshold may be a fixed value.
  • the functions realized by the in-vehicle device 60 and the server control unit 83 in the first embodiment described above may be realized by hardware and software different from those described above, or a combination thereof.
  • In-vehicle device 60 and server control unit 83 may communicate with, for example, another control device, and the other control device may perform part or all of the processing.
  • the in-vehicle device 60 and the server control unit 83 are realized by electronic circuits, they can be realized by digital circuits including many logic circuits or analog circuits.
  • the in-vehicle device 60 is used in the vehicle 200, but it is not limited to being mounted in the vehicle 200, and at least part of it may not be mounted in the vehicle 200. .

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Abstract

Dans un système de mise à jour de carte (100), si des informations d'environnement détectées par un capteur de détection d'environnement (21) installé dans un véhicule (200) et des informations de carte diffèrent, des informations de changement indiquant une différence entre les informations d'environnement et les informations de carte sont générées par une unité de génération d'informations (61). Les informations de changement sont des informations qui contiennent la quantité de changement de la position d'une caractéristique si la différence entre les informations d'environnement et les informations de carte est une différence concernant la position de la caractéristique. Ceci permet de connaître la quantité de changement de la position de la caractéristique, ce qui permet de déterminer si le changement de la position est mineur ou non.
PCT/JP2023/002143 2022-01-26 2023-01-24 Système de mise à jour de carte, dispositif embarqué et serveur de gestion WO2023145738A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018181974A1 (fr) * 2017-03-30 2018-10-04 パイオニア株式会社 Dispositif de détermination, procédé de détermination, et programme
JP2020038359A (ja) * 2018-08-31 2020-03-12 株式会社デンソー 地図システム、車両側装置、方法および記憶媒体
US20200302639A1 (en) * 2019-03-19 2020-09-24 Electronics And Telecommunications Research Institute Apparatus and method for managing feature point map
JP2021004936A (ja) * 2019-06-25 2021-01-14 株式会社Ｍｏｂｉｌｉｔｙ Ｔｅｃｈｎｏｌｏｇｉｅｓ 地図更新データ生成装置及び地図更新データ生成方法
JP2021157241A (ja) * 2020-03-25 2021-10-07 株式会社デンソー 地図更新装置及び地図更新プログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018181974A1 (fr) * 2017-03-30 2018-10-04 パイオニア株式会社 Dispositif de détermination, procédé de détermination, et programme
JP2020038359A (ja) * 2018-08-31 2020-03-12 株式会社デンソー 地図システム、車両側装置、方法および記憶媒体
US20200302639A1 (en) * 2019-03-19 2020-09-24 Electronics And Telecommunications Research Institute Apparatus and method for managing feature point map
JP2021004936A (ja) * 2019-06-25 2021-01-14 株式会社Ｍｏｂｉｌｉｔｙ Ｔｅｃｈｎｏｌｏｇｉｅｓ 地図更新データ生成装置及び地図更新データ生成方法
JP2021157241A (ja) * 2020-03-25 2021-10-07 株式会社デンソー 地図更新装置及び地図更新プログラム

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