Map Information System

Abstract

The present invention provides a map information system, comprising: a vehicle configured to store at least one map information and autonomously drive based on the map information; and a map server configured to provide the map information to the vehicle. Wherein, the vehicle includes: an external environment sensor configured to acquire the surrounding environment information of the vehicle; and a controller configured to store the map information and perform driving control to make the vehicle drive autonomously. The controller is configured to determine whether the driving control based on the map information and the surrounding environment information can be executed based on whether the map information matches the surrounding environment information, and the controller notifies the map server of the position of the vehicle, and notifies the map server that the map information should be updated when it is determined that the driving control cannot be executed.

Description

Technical Field

[0001] The present invention relates to a map information system including a controller configured to control a vehicle and a map server configured to store a high-precision map for autonomous driving of the vehicle. In particular, the present invention relates to a map information system in which the map server updates the high-precision map based on information acquired by sensors mounted on the vehicle. Background Art

[0002] A known map data processing device for a vehicle accurately grasps the difference between a detailed map database for vehicle driving control and the actual road state / environment, and keeps the map database up-to-date, thereby achieving accurate driving control (for example, JP2016-161456A).

[0003] The map data processing device disclosed in JP2016-161456A first calculates update data based on map data calculated according to the recognition result of the surrounding environment and the driving condition of the vehicle based on reliability. Thereafter, when a difference occurs between the update data and the map data in the map database, the map data processing device determines whether the map data or the update data is correct, and performs an update process of the map database when the map database should be updated.

[0004] The map data processing device disclosed in JP2016-161456A performs an update process of the map database based on information from the vehicle. However, when, for example, a signal from a positioning satellite cannot be received, a difference may occur between the update data based on the surrounding environment and the map data in the map database. In this case, the map database may be updated incorrectly. Summary of the Invention

[0005] In view of the above background, an object of the present invention is to provide a map information system including a vehicle and a map server, the vehicle being configured to store at least one piece of map information and autonomously drive based on the map information, the map server being configured to provide the map information to the vehicle, and the map information system being capable of improving the determination accuracy regarding whether the map information should be updated based on information acquired by sensors mounted in the vehicle.

[0006] To achieve such an object, an aspect of the present invention provides a map information system 1, the map information system comprising: a vehicle V configured to store at least one piece of map information and autonomously travel based on the map information; and a map server 3 configured to provide the map information to the vehicle. Wherein, the vehicle includes: an external environment sensor 7 configured to acquire the surrounding environment information of the vehicle; and a controller 16 configured to store the map information and perform driving control to make the vehicle autonomously travel. The controller is configured to determine whether the driving control based on the map information and the surrounding environment information can be executed based on whether the map information matches the surrounding environment information, and the controller notifies the map server of the position of the vehicle and notifies the map server that the map information should be updated when it is determined that the driving control cannot be executed.

[0007] According to this aspect, when the vehicle cannot autonomously travel, the position of the vehicle that cannot autonomously travel is notified to the map server, and it is notified that the map information should be updated. The manager of the map server (hereinafter referred to as "map information manager") acquires the notification and conducts road surveys, etc. at the position of the vehicle included in the notification, so as to determine whether the map information matches the actual road. Therefore, the map information manager can determine whether the map information should be updated, thereby improving the accuracy of the determination of whether the map information should be updated.

[0008] In the above manner, preferably, when the map information does not match the surrounding environment information, the controller extracts the area where the map information does not match the surrounding environment information, determines whether there is a moving object in the area based on the detection result of the external environment sensor, and determines that the driving control based on the map information and the surrounding environment information cannot be executed when there is a moving object in the area.

[0009] According to this aspect, when there is a moving object in the area where the map information does not match the surrounding environment information, the driving control based on the map information and the surrounding environment information is stopped, thereby improving the safety of the vehicle.

[0010] In the above aspect, preferably, the map information system further includes: a vehicle sensor 8 configured to estimate the movement amount of the vehicle; and a receiver 10 configured to receive signals from positioning satellites. The controller is configured to perform a first driving control and a second driving control as the driving control. The first driving control is performed to estimate the position of the vehicle by using the movement amount based on the vehicle sensor, so that the vehicle autonomously drives. The second driving control is performed to estimate the position of the vehicle based on the signals from the positioning satellites received by the receiver, so that the vehicle autonomously drives based on the map information. And when the position of the vehicle cannot be estimated neither by using the movement amount based on the vehicle sensor nor based on the signals from the positioning satellites, the controller determines that the driving control based on the map information and the surrounding environment information cannot be performed, and notifies the map server of the position of the vehicle and notifies the map server that the map information should be updated.

[0011] According to this aspect, the controller can make the vehicle autonomously drive through two types of driving controls, thereby enhancing the redundancy of the driving control.

[0012] Moreover, even when the signals from the positioning satellites become unreceivable, as long as the vehicle can autonomously drive, it is not notified to the map server that the map information should be updated. Therefore, when the controller determines that the map information does not match the surrounding environment information because the position of the vehicle itself (ego-vehicle position) cannot be estimated based on the signals from the positioning satellites, it is possible to prevent notifying the map server that the map information should be updated whenever the signals from the positioning satellites become unreceivable (for example, whenever the vehicle enters a tunnel).

[0013] In the above aspect, preferably, the map information includes additional information, the additional information includes information on the reception intensity of the signals from the positioning satellites in each lane, and the controller notifies the map server that the map information should be updated when determining that the reception intensity of the signals from the positioning satellites received by the receiver does not match the additional information.

[0014] According to this aspect, it is possible to notify the map server that the additional information does not reflect the actual situation.

[0015] In the above aspect, preferably, the map information system further includes an attitude angle sensor 8A configured to acquire the attitude angle of the vehicle. The map information includes additional information, the additional information includes gradient information indicating the gradient of the road surface, and the controller notifies the map server that the map information should be updated when determining that the gradient information at the position of the vehicle in the map information does not match the attitude angle of the vehicle acquired by the attitude angle sensor.

[0016] According to this aspect, the map server can be notified that the additional information does not reflect the actual situation.

[0017] In the above aspect, preferably, the at least one map information includes a plurality of map information, the controller is configured to store the plurality of map information generated at different time periods, and compare the plurality of map information with the surrounding environment information in the reverse order of occurrence time, and in the case where one map information in the plurality of map information matches the surrounding environment information and the one map information in the plurality of map information is not the latest one of the plurality of map information stored in the controller, the controller notifies the map server that the map information should be updated.

[0018] According to this aspect, even if the map information stored in the map server is updated based on incorrect information, the vehicle can autonomously drive based on the old map information before the update. In addition, since the notification is provided to the map server, the map information manager can appropriately determine whether the map information should be updated.

[0019] In the above solution, preferably, the map information system further includes an input / output device 14, the input / output device is configured to give a notification to the occupant and receive the input of the occupant, wherein, in the case where the map information does not match the surrounding environment information, the controller causes the input / output device to give a notification that the map information does not match the surrounding environment information, and receive an input on whether to notify the map server that the map information should be updated.

[0020] According to this aspect, when the input / output device receives an input from the occupant requesting to notify the map server, the controller notifies the map server that the map information should be updated. Therefore, it is determined by the occupant whether the map information should be updated, thereby improving the accuracy of the determination on whether to update the map information.

[0021] In the above aspect, preferably, the map information includes attribute information indicating the traveling direction of each lane, and when it is determined that the behavior of the surrounding vehicle acquired by the external environment sensor does not match the attribute information, the controller notifies the map server that the map information should be updated.

[0022] According to this aspect, it can be easily determined that the map information does not match the actual state around the vehicle, and when the map information does not match the actual state around the vehicle, the mismatch is notified to the map information manager.

[0023] In the above aspect, preferably, the map information includes the position information of lanes, and when it is determined that the number of lanes in front of the vehicle obtained from the external environment sensor does not match the number of lanes in front of the vehicle obtained from the map information, the controller notifies the map server that the map information should be updated.

[0024] According to this aspect, it is possible to easily determine that the map information does not match the actual state around the vehicle, and when the map information does not match the actual state around the vehicle, the mismatch is notified to the map information manager.

[0025] Therefore, according to the above aspect, a map information system can be provided, the map information system including: a vehicle configured to store at least one piece of map information and autonomously drive based on the map information; and a map server configured to provide map information to the vehicle, and the accuracy of determining whether the map information should be updated based on the information obtained by the sensors installed in the vehicle can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a functional block diagram showing the configuration of a map information system according to a first embodiment;

[0027] Figure 2A is an explanatory diagram for explaining a map stored in a navigation device;

[0028] Figure 2B is an explanatory diagram for explaining data of a high-precision map;

[0029] Figure 3 is a sequence diagram for explaining operations performed by the map information system in the case of autonomous driving of a vehicle;

[0030] Figure 4 is a flowchart of a determination process executed by a controller of a map information system according to a first embodiment;

[0031] Figure 5 is a flowchart of a determination process executed by a controller of a map information system according to a second embodiment;

[0032] Figure 6 is a flowchart of a determination process executed by a controller of a map information system according to a third embodiment;

[0033] Figure 7 is a flowchart of a determination process executed by a controller of a map information system according to a fourth embodiment; and

[0034] Figure 8 is a flowchart of a determination process executed by a controller of a map information system according to a fifth embodiment. Detailed implementation mode

[0035] In the following, a map information system 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0036] <<First Embodiment>>

[0037] As Figure 1 shown, the map information system 1 includes a vehicle system 2 installed on a vehicle (see Figure 1 "V" in

[0038] <Vehicle System>

[0039] First, the vehicle system 2 will be described. The vehicle system 2 includes a power system 4, a braking device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a communication device 9, a GNSS receiver 10, a navigation device 11, a driving operation member 12, a driving operation sensor 13, an HMI 14, a start switch 15, and a controller 16. Each component of the vehicle system 2 is interconnected via a communication means such as a controller area network (CAN) so that signals can be transmitted between them.

[0040] The power system 4 is a device configured to apply a driving force to the vehicle. For example, the power system 4 includes at least one of an internal combustion engine (such as a gasoline engine and a diesel engine) and an electric motor. The braking device 5 is a device configured to apply a braking force to the vehicle. For example, the braking device 5 includes: a brake caliper configured to press a brake pad against a brake rotor; and an electric cylinder configured to supply hydraulic pressure to the brake caliper. The braking device 5 may further include a parking braking device configured to restrict wheel rotation via a cable. The steering device 6 is a device configured to change the steering angle of the wheels. For example, the steering device 6 includes: a rack and pinion mechanism configured to steer the wheels; and an electric motor configured to drive the rack and pinion mechanism. The power system 4, the braking device 5, and the steering device 6 are controlled by the controller 16.

[0041] The external environment sensor 7 is a sensor configured to detect objects outside the vehicle by capturing electromagnetic waves, sound waves, etc. from the vehicle's surrounding environment. The external environment sensor 7 includes a plurality of sonars 17 and a plurality of external cameras 18. The external environment sensor 7 may further include a millimeter wave radar and / or a lidar. The external environment sensor 7 is configured to output a detection result to the controller 16.

[0042] Each sonar 17 is constituted by a so-called ultrasonic sensor. The sonar 17 emits ultrasonic waves to the surrounding environment of the vehicle and captures its reflected waves, thereby detecting the position (distance and direction) of an object. The plurality of sonars 17 are respectively provided at the rear and front of the vehicle.

[0043] Each external camera 18 is a device configured to capture an image of the surrounding environment of the vehicle. For example, the external camera 18 is a digital camera using solid-state imaging elements such as CCD and CMOS. The external camera 18 may be composed of a stereo camera or a monocular camera. The plurality of external cameras 18 include: a front camera configured to capture an image in front of the vehicle; a rear camera configured to capture an image behind the vehicle; and a pair of side cameras configured to capture images of the two lateral sides of the vehicle.

[0044] The vehicle sensor 8 is a sensor configured to detect the state of the vehicle. The vehicle sensor 8 includes: a vehicle speed sensor configured to detect the speed of the vehicle; an acceleration sensor 8A configured to detect the longitudinal and lateral accelerations of the vehicle; a yaw rate sensor configured to detect the angular velocity about the yaw axis of the vehicle; a direction sensor configured to detect the direction of the vehicle; and so on. For example, the yaw rate sensor may include a gyro sensor. The vehicle sensor 8 may further include: an inclination sensor configured to detect the inclination of the vehicle body; and a wheel speed sensor configured to detect the rotational speed of each wheel.

[0045] In the present embodiment, the vehicle sensor 8 includes a six-axis inertial measurement unit (IMU) configured to detect longitudinal acceleration, lateral acceleration, vertical acceleration, roll rate (angular velocity about the roll axis), pitch rate (angular velocity about the pitch axis), and yaw rate (angular velocity about the yaw axis).

[0046] The communication device 9 is configured to mediate communication between the controller 16 and a device outside the vehicle (e.g., the map server 3). The communication device 9 includes a router configured to connect the controller 16 to the Internet. The communication device 9 may have a function of mediating wireless communication between the controller 16 (i.e., the controller 16 of the host vehicle) and the controllers of surrounding vehicles and between the controller 16 and roadside devices on the road.

[0047] The GNSS receiver 10 (host vehicle position recognition device) is configured to receive signals (hereinafter referred to as "GNSS signals") from each positioning satellite constituting the Global Navigation Satellite System (GNSS). The GNSS receiver 10 is configured to output the received GNSS signals to the navigation device 11 and the controller 16.

[0048] The navigation device 11 consists of a computer equipped with known hardware. The navigation device 11 is configured to identify the current position (longitude and latitude) of the vehicle based on the vehicle's previous driving history and the GNSS signals output from the GNSS receiver 10. The navigation device 11 is configured to store road data (hereinafter referred to as "navigation map data") regarding the area or country where the vehicle is traveling. The navigation device 11 is configured to store the navigation map data in a RAM, HDD, SSD, etc.

[0049] The navigation device 11 is configured to set a route from the vehicle's current position to a destination input by the occupant based on the GNSS signals and the navigation map data, and output the route to the controller 16. When the vehicle starts to drive, the navigation device 11 provides route guidance to the destination to the occupant.

[0050] As Figure 2A shown, the navigation device 11 is configured to store information about points (nodes: see the black circles in Figure 2A ) arranged on each road and line segments (links) connecting the nodes as road information on the map.

[0051] For example, each node stored in the navigation device 11 can be set at a feature point such as an intersection or a confluence point. The navigation device 11 is configured to store each link associated with the distance between the nodes connected by the link. The navigation device 11 is configured to obtain an appropriate route from the vehicle's current position to the destination based on the distance between the nodes, and output information indicating the route to the controller 16. The output information indicating the route includes points (nodes) on the road corresponding to the route and links corresponding to the vectors connecting these nodes.

[0052] The driving operation member 12 is provided inside the vehicle compartment and configured to accept input operations by the occupant for controlling the vehicle. The driving operation member 12 includes a steering wheel, an accelerator pedal, and a brake pedal. The driving operation member 12 may also include a shift lever, a parking brake lever, a turn signal operation lever, etc.

[0053] The driving operation sensor 13 is a sensor configured to detect the operation amount of the driving operation member 12. The driving operation sensor 13 includes: a steering angle sensor configured to detect the operation amount of the steering wheel; an acceleration sensor configured to detect the operation amount of the accelerator pedal; and a brake sensor configured to detect the operation amount of the brake pedal. The driving operation sensor 13 is configured to output the detected operation amount to the controller 16. The driving operation sensor 13 may also include a grip sensor configured to detect the occupant's grip on the steering wheel. For example, the grip sensor includes at least one capacitance sensor provided on the outer peripheral portion of the steering wheel.

[0054] The HMI 14 is configured to notify the occupant of various information through display and / or voice, and accept the input operations of the occupant. For example, the HMI 14 includes a touch panel 23 and a sound generating device 24. The touch panel 23 includes a liquid crystal display, an organic EL display, etc., and is configured to accept the input operations of the occupant. The sound generating device 24 is composed of a buzzer and / or a speaker. The HMI 14 is configured to display a driving mode switching button on the touch panel 23. The driving mode switching button is configured to accept the switching operation of the occupant for the driving mode of the vehicle (e.g., autonomous driving mode and manual driving mode).

[0055] The HMI 14 also mediates the input to / from the navigation device 11 as an interface. That is, when the HMI 14 accepts the input operation of the occupant for the destination, the navigation device 11 starts to set the route to the destination. In addition, when the navigation device 11 provides the route guidance to the destination, the HMI 14 displays the current position of the vehicle and the route to the destination.

[0056] The start switch 15 is a switch for starting the vehicle system 2. That is, the occupant presses the start switch 15 when sitting on the driver's seat and stepping on the brake pedal, thereby starting the vehicle system 2.

[0057] The controller 16 is composed of at least one electronic control unit (ECU), and the ECU includes a CPU, a ROM, a RAM, etc. The CPU performs operation processing according to the program, so the controller 16 performs various types of vehicle control. The controller 16 can be composed of one piece of hardware, or can be composed of a unit including multiple pieces of hardware. The functions of the controller 16 can be executed at least in part by hardware such as LSI, ASIC, and FPGA, or can be executed by a combination of software and hardware.

[0058] <Controller>

[0059] As Figure 1 shown, the controller 16 includes an external environment recognition unit 30, an autonomous driving control unit 31 (ADAS: Advanced Driving Assistance System), a map position recognition unit 32 (MPU: Map Positioning Unit), and a detection information acquisition unit 33. These components can be composed of independent electronic control units and are interconnected via a gateway (Central Gateway: CGW). Alternatively, these components can be composed of an integrated electronic control unit.

[0060] The external environment recognition unit 30 is configured to recognize the objects existing in the surrounding environment of the vehicle based on the detection results of the external environment sensor 7, and thus obtain the information about the position and size of the object. The objects recognized by the external environment recognition unit 30 include the dividing line, lane, road end, road shoulder, and obstacles existing on the driving route of the vehicle.

[0061] Each demarcation line is a line shown in the vehicle traveling direction. Each lane is an area demarcated by one or more demarcation lines. Each road end is the end of a road. Each road shoulder is an area between the demarcation line at the end arranged in the vehicle width direction and the road end. For example, each obstacle can be an obstacle (guardrail), a utility pole, a surrounding vehicle, a pedestrian, etc.

[0062] The external environment recognition unit 30 is configured to recognize the position of an object around the vehicle relative to the vehicle by analyzing an image captured by each external camera 18. For example, the external environment recognition unit 30 can recognize the distance and direction from the vehicle to the object in the top view around the vehicle body by using a known method such as triangulation or motion stereo method. In addition, the external environment recognition unit 30 is configured to analyze an image captured by the external camera 18 and determine the type of each object (for example, demarcation line, lane, road end, road shoulder, obstacle, etc.) based on a known method.

[0063] The autonomous driving control unit 31 includes an action plan unit 41, a driving control unit 42, and a mode setting unit 43.

[0064] The action plan unit 41 is configured to create an action plan for driving the vehicle. The action plan unit 41 is configured to output a driving control signal corresponding to the created action plan to the driving control unit 42.

[0065] The driving control unit 42 is configured to control the power system 4, the braking device 5, and the steering device 6 based on the driving control signal from the action plan unit 41. That is, the driving control unit 42 is configured to drive the vehicle according to the action plan created by the action plan unit 41.

[0066] The mode setting unit 43 is configured to switch the driving mode of the vehicle between a manual driving mode and an autonomous driving mode based on an input operation (switching operation) on the HMI 14. In the manual driving mode, the driving control unit 42 controls the power system 4, the braking device 5, and the steering device 6 in response to an input operation of the occupant on the driving operation member 12 (for example, the steering wheel, the accelerator pedal, and / or the brake pedal), thereby driving the vehicle. On the other hand, in the autonomous driving mode, the occupant does not need to perform an input operation on the driving operation member 12, and the driving control unit 42 controls the power system 4, the braking device 5, and the steering device 6, thereby enabling the vehicle to autonomously drive. That is, the autonomous driving level in the autonomous driving mode is higher than the autonomous driving level in the manual driving mode.

[0067] The map position recognition unit 32 includes a map acquisition unit 51, a map storage unit 52, a self-vehicle position recognition unit 53, and a map link unit 54.

[0068] The map acquisition unit 51 is configured to access the map server 3 and acquire dynamic map data from the map server 3, and the dynamic map data is high-precision map information. For example, when the navigation device 11 sets a route, the map acquisition unit 51 acquires the latest dynamic map data corresponding to the area of the route from the map server 3 via the communication device 9.

[0069] The dynamic map data is more detailed than the navigation map data stored in the navigation device 11 and includes static information, semi-static information, semi-dynamic information, and dynamic information. The static information includes 3D map data, which is more accurate than the navigation map data. The semi-static information includes traffic control information, road construction information, and wide-area weather information. The semi-dynamic information includes accident information, traffic congestion information, and small-area weather information. The dynamic information includes signal information, surrounding vehicle information, and pedestrian information.

[0070] As Figure 2B shown, the static information (high-precision map) of the dynamic map data includes information about the lanes on the driving route (e.g., the number of lanes) and information about each demarcation line on the driving route (e.g., the type of demarcation line). For example, the demarcation lines of the static information are represented as nodes arranged at smaller intervals than the nodes of the navigation map data (see the white circles in Figure 2B ) and links connecting these nodes.

[0071] In addition, each traffic lane of the static information is also represented as nodes arranged at a specified interval (hereinafter referred to as "traffic lane nodes": see the black circles in Figure 2B ) and links connecting these nodes (traffic lane nodes) (hereinafter referred to as "traffic lane links"). Each traffic lane node is set at the midpoint between each node of the demarcation line set on the left edge of the road and each node of the demarcation line set on the right edge of the road. The traffic lane nodes are arranged along the road at a specified interval.

[0072] The high-precision map (static information) further includes information about the road shoulder edge. Each road shoulder edge is the end of the traffic lane where the vehicle travels. When there are traffic lanes and sidewalks, the road shoulder edge refers to the boundary between them. The road shoulder edges of the static information are represented as nodes arranged along the road shoulder edge (see the white squares in Figure 2B : hereinafter referred to as "road shoulder edge nodes"), and the intervals of these nodes are substantially the same as the intervals of the nodes of the demarcation line and the links connecting the nodes (road shoulder nodes) (hereinafter referred to as "road shoulder edge links").

[0073] The map storage unit 52 includes storage units such as HDDs and SSDs. The map storage unit 52 is configured to store various information for enabling the vehicle to autonomously travel in the autonomous driving mode. The map storage unit 52 is configured to store the dynamic map data acquired by the map acquisition unit 51 from the map server 3.

[0074] The host vehicle position recognition unit 53 is configured to recognize the position (latitude and longitude) of the vehicle, that is, to recognize the host vehicle position based on the GNSS signals received by the GNSS receiver 10.

[0075] The host vehicle position recognition unit 53 is configured to calculate the movement amount of the vehicle (movement distance and movement direction: hereinafter referred to as "DR movement amount") by using the dead reckoning method (for example, the ranging method) based on the detection results of the vehicle sensors 8 (such as IMUs). For example, the host vehicle position recognition unit 53 is configured to recognize the host vehicle position based on the DR movement amount when the GNSS signals cannot be received. In addition, the host vehicle position recognition unit 53 can perform a process of improving the recognition accuracy of the host vehicle position by correcting the host vehicle position recognized according to the GNSS signals based on the DR movement amount.

[0076] The map linking unit 54 is configured to extract the corresponding route on the high-precision map stored in the map storage unit 52 based on the route output from the navigation device 11.

[0077] When the vehicle is given an instruction to start autonomous driving, the action plan unit 41 creates a global action plan (such as changing lanes, merging, branching, etc.) based on the route extracted by the map linking unit 54. After that, when the vehicle starts autonomous driving, the action plan unit 41 creates a more detailed action plan (such as an action plan for avoiding danger, etc.) based on the global action plan, the host vehicle position recognized by the host vehicle position recognition unit 53, the objects recognized by the external environment recognition unit 30, the high-precision map stored in the map storage unit 52, etc. The driving control unit 42 controls the driving of the vehicle based on the created detailed action plan.

[0078] The detection information acquisition unit 33 associates the host vehicle position recognized by the host vehicle position recognition unit 53 based on the GNSS signals with the data detected by at least one of the external environment sensors 7, the vehicle sensors 8, and the driving operation sensors 13, and thus acquires and stores the host vehicle position and the data as detection information.

[0079] The detection information acquisition unit 33 appropriately transmits the acquired detection information to the map server 3.

[0080] <Map Server>

[0081] Next, the map server 3 will be described. As Figure 1As shown in the figure, the map server 3 is connected to the controller 16 via a network (the Internet in this embodiment). The map server 3 is a computer including a CPU, a ROM, a RAM, and a storage unit (such as an HDD and an SSD).

[0082] The dynamic map data is stored in the storage unit of the map server 3. The dynamic map data stored in the storage unit of the map server 3 covers a wider area than the dynamic map data stored in the map storage unit 52 of the controller 16. The dynamic map data includes a plurality of block data (partial map data) corresponding to each area on the map. Preferably, each block data corresponds to a rectangular area divided along the latitude and longitude directions on the map.

[0083] After receiving a data request from the controller 16 (map acquisition unit 51) via the communication device 9, the map server 3 transmits a dynamic map (dynamic map data) corresponding to the requested data to the corresponding controller 16. The transmitted data (dynamic map data) may include traffic congestion information, weather information, etc.

[0084] As Figure 1 shown in the figure, the map server 3 includes a dynamic map storage unit 61, a block data transmission unit 62, a detection information management unit 63, and a detection information storage unit 64.

[0085] The dynamic map storage unit 61 is composed of a storage unit and is configured to store a dynamic map in an area wider than the area where the vehicle travels. The block data transmission unit 62 is configured to accept a transmission request for specific block data from the vehicle and transmit the block data corresponding to the transmission request to the vehicle.

[0086] The detection information management unit 63 is configured to receive the detection information appropriately transmitted from the vehicle. The detection information storage unit 64 is configured to store (save) the detection information acquired (received) by the detection information management unit 63. The detection information management unit 63 appropriately performs statistical processing, etc., based on the detection information stored in the detection information storage unit 64, thereby performing an update process for updating the dynamic map.

[0087] Next, the operation of the vehicle system 2 will be described. When the occupant gets on the vehicle and presses the start switch 15 while stepping on the brake pedal, the vehicle system 2 is started. After that, when the occupant inputs a destination and inputs to the HMI 14 to start autonomous driving, the vehicle autonomously drives and reaches the destination. Figure 3 A sequence diagram from vehicle start to destination arrival is shown. Hereinafter, reference will be made to Figure 3 describe the outline of the processing (operations) performed by the autonomous driving control unit 31, the map position recognition unit 32, the detection information acquisition unit 33, and the map server 3 when the vehicle autonomously drives and reaches the destination.

[0088] When the start switch 15 is pressed and the vehicle system 2 is started, the navigation device 11 and the map position recognition unit 32 each identify the position of the own vehicle based on GNSS signals from satellites.

[0089] After that, when the occupant inputs a destination to the HMI 14, the navigation device 11 searches for and determines a route from the current position to the destination based on navigation map data.

[0090] After determining the route, the navigation device 11 outputs the determined route to the map position recognition unit 32. The map position recognition unit 32 requests the map server 3 to transmit corresponding block data based on the acquired route.

[0091] After receiving the request (block data request) from the map position recognition unit 32, the map server 3 generates corresponding block data based on the position of the vehicle and the route set (determined) by the navigation device 11, and transmits the generated block data to the map position recognition unit 32 (vehicle system 2).

[0092] When receiving the block data, the map position recognition unit 32 acquires (extracts) data related to the dynamic map around the vehicle from the block data. After that, the map position recognition unit 32 (map linking unit 54) performs map linking processing, and outputs a route on the high-precision map corresponding to the route in the block data from the starting point to the destination set (determined) by the navigation device 11 to the autonomous driving control unit 31. After that, the autonomous driving control unit 31 (action plan unit 41) creates a global action plan according to the route on the high-precision map.

[0093] When an input instructing the vehicle to drive autonomously is made on the HMI 14, the map position recognition unit 32 identifies the position of the own vehicle, and the autonomous driving control unit 31 sequentially creates a more detailed action plan based on the identified position of the own vehicle, the position of the object identified by the external environment recognition unit 30, etc. The autonomous driving control unit 31 (driving control unit 42) controls the vehicle according to the created action plan, so that the vehicle drives autonomously.

[0094] When the vehicle starts autonomous driving, the detection information acquisition unit 33 starts acquiring detection information. When the vehicle is driving, the detection information acquisition unit 33 appropriately transmits the acquired detection information as detection information during autonomous driving to the map server 3.

[0095] When the vehicle reaches the destination, the autonomous driving control unit 31 performs a stop process to stop the vehicle, and the HMI 14 displays a notification that the vehicle has reached the destination.

[0096] When the vehicle is autonomously driving, the map position recognition unit 32 (more specifically, the own vehicle position recognition unit 53) repeatedly executes a determination process. In the determination process, the map position recognition unit 32 estimates the position of the vehicle, and compares the information around the vehicle acquired by the external environment sensor 7 (hereinafter referred to as "surrounding environment information") with the information included in the dynamic map stored in the map storage unit 52 (hereinafter referred to as "map information"), thereby determining whether the vehicle can autonomously drive and whether the map information matches the surrounding environment information. In the determination process, when the map information does not match the surrounding environment information, a notification that the vehicle cannot autonomously drive and the map information does not match the surrounding environment information is sent to the map server 3.

[0097] In other words, the map information system 1 includes a vehicle configured to store map information and autonomously drive based on the map information, and a map server 3 configured to provide map information to the vehicle. The map information system 1 is configured such that when the map information does not match the surrounding environment information, a notification that the vehicle cannot autonomously drive and the map information does not match the surrounding environment information is sent to the map server 3.

[0098] Next, details of the determination process executed by the map position recognition unit 32 will be described with reference to Figure 4 Hereinafter.

[0099] In the first step ST1 of the determination process, the map position recognition unit 32 (own vehicle position recognition unit 53) determines whether it is possible to estimate its own position (own vehicle position) by using GNSS signals or dead reckoning. More specifically, when the GNSS receiver 10 can receive signals (GNSS signals) with sufficient strength from positioning satellites, the map position recognition unit 32 determines that it is possible to estimate its own position. When the GNSS receiver 10 cannot receive signals (GNSS signals) with sufficient strength from positioning satellites, the map position recognition unit 32 determines whether it is possible to estimate its own position by calculating the movement amount of the vehicle using dead reckoning. The map position recognition unit 32 executes step ST2 when it can estimate its own position, and executes step ST3 when it cannot estimate its own position.

[0100] In step ST2, the map position recognition unit 32 estimates the position of the host vehicle (hereinafter sometimes referred to as "own position") based on the method that has been determined as the method by which the own position can be estimated in step ST1 (GNSS signal-based method or dead reckoning-based method). More specifically, when the GNSS signal can be received with sufficient strength, the map position recognition unit 32 estimates the own position based on the GNSS signal. When the GNSS signal cannot be received with sufficient strength or cannot be received at all, the map position recognition unit 32 estimates the own position by using dead reckoning. When the estimation of the own position is completed, the map position recognition unit 32 executes step ST4.

[0101] In step ST3, the map position recognition unit 32 outputs an end instruction for autonomous driving (an instruction to end the autonomous driving of the vehicle) to the autonomous driving control unit 31. When the output of the end instruction is completed, the map position recognition unit 32 ends the determination process.

[0102] In step ST4, the map position recognition unit 32 acquires an object from an image in front of the vehicle captured by each external camera 18. In the present embodiment, the objects acquired by the map position recognition unit 32 include the positions of lane dividers, shoulder edges, and road ends on the road. Thereafter, the map position recognition unit 32 acquires surrounding environment information indicating the positions (latitude and longitude) of the objects around the vehicle by using the position, size, etc. of the objects in the image captured by the external camera 18 and the own position acquired (estimated) in step ST2.

[0103] The surrounding environment information includes road shape information and road marking information estimated from the images captured (acquired) by each external camera 18. More specifically, the surrounding environment information includes the positions of road ends and shoulder edges as road shape information, and also includes the lane divider positions as road marking information. In addition, in the present embodiment, the surrounding environment information includes the traveling directions of surrounding vehicles.

[0104] When the acquisition of the surrounding environment information is completed, the map position recognition unit 32 executes step ST5.

[0105] In step ST5, the map position recognition unit 32 obtains map information around the vehicle by using the self-position estimated in step ST2 and the dynamic map (high-precision map) stored in the map storage unit 52. In the present embodiment, the map information is information obtained by intercepting the surrounding environment of the estimated self-position from the high-precision map. For example, the map information includes shoulder edge links corresponding to each shoulder edge of the road in front of the vehicle, the position of each road end, lane links corresponding to each lane on the road in front of the vehicle, attribute information corresponding to each lane link, etc., which can be obtained by the external environment sensor 7 (external camera 18) mounted on the vehicle. The map information includes the positions (starting point and ending point) of the lane links, and each lane is represented as a set of lane links. That is, the map information includes lane position information. The attribute information includes the driving direction corresponding to each lane. When the acquisition of the map information is completed, the map position recognition unit 32 executes step ST6.

[0106] In step ST6, the map position recognition unit 32 determines whether the map information matches the surrounding environment information. More specifically, in step ST6, the map position recognition unit 32 determines whether the main information of the map information matches the main information of the surrounding environment information. The main information is the information required for the vehicle to drive autonomously. The main information includes the road shape, the traveling direction, and the number of lanes.

[0107] More specifically, the map position recognition unit 32 first determines whether the road shape information included in the map information matches the road shape included in the surrounding environment information. More specifically, the map position recognition unit 32 first determines whether each road end included in the surrounding environment information is arranged on the corresponding road end included in the map information by superimposing the position of the road end included in the surrounding environment information on the position of the road end included in the map information.

[0108] The map position recognition unit 32 can determine whether the road shape information included in the map information matches the road shape included in the surrounding environment information by determining whether the position of each shoulder edge included in the map information matches the position of the corresponding shoulder edge included in the surrounding environment information. More specifically, the map position recognition unit 32 can determine whether the road shape information included in the map information matches the road shape included in the surrounding environment information by determining whether the position of each shoulder edge included in the surrounding environment information overlaps with the shoulder edge link indicating the corresponding shoulder edge included in the map information.

[0109] In addition, the map position recognition unit 32 obtains the number of lanes in front of the vehicle based on the demarcation line of the surrounding environment information, and determines whether the obtained number of lanes matches the number of lanes in front of the vehicle included in the map information.

[0110] In addition, the map position recognition unit 32 determines whether the behavior of surrounding vehicles included in the surrounding environment information matches the driving direction linked to each lane included in the map information (attribute information). For example, in a case where the vehicle cannot move forward due to an accident or the like and thus reverses, or in a case where the map information is incorrect and the vehicle is recognized as driving in the reverse direction (driving on the wrong side), the behavior of the surrounding vehicles does not match the driving direction linked to the lane.

[0111] In a case where the road shape information included in the map information matches the road shape included in the surrounding environment information, the number of lanes obtained from the surrounding environment information matches the number of lanes included in the map information, and the behavior of the surrounding vehicles included in the surrounding environment information matches the driving direction linked to each lane included in the map information, the map position recognition unit 32 determines that the map information matches the surrounding environment information, and thus executes step ST7. Otherwise, the map position recognition unit 32 executes step ST8.

[0112] In step ST7, the map position recognition unit 32 determines that driving control based on the map information and the surrounding environment information can be executed, and outputs the own position (self-vehicle position) estimated in step ST2 and the continue instruction for autonomous driving (instruction to continue the autonomous driving of the vehicle) to the autonomous driving control unit 31. When the output of the own position and the continue instruction is completed, the map position recognition unit 32 ends step ST7 and the determination process.

[0113] In step ST8, the map position recognition unit 32 determines that driving control based on the map information and the surrounding environment information cannot be executed, and outputs an end instruction for autonomous driving to the autonomous driving control unit 31. When the output of the end instruction is completed, the map position recognition unit 32 executes step ST9.

[0114] In step ST9, the map position recognition unit 32 transmits (outputs) the own position and a signal corresponding to the notification that the map information should be updated to the map server 3 via the communication device 9. That is, the map position recognition unit 32 notifies the map server 3 of the own position and notifies the map server 3 that the map information should be updated. When the transmission is completed, the map position recognition unit 32 ends the determination process.

[0115] When receiving the autonomous driving end instruction from the map position recognition unit 32, the autonomous driving control unit 31 causes the HMI 14 to give a notification that it has become difficult for the vehicle to drive autonomously, and quickly transfers the operation authority of the vehicle to the occupant.

[0116] When receiving a notification that map information should be updated, the map server 3 notifies the map information manager (map information operator) that manages and operates the map server 3 of the position of the vehicle that has given the notification, and notifies the map information manager that the map information should be updated. For example, the map server 3 may include a monitor that presents information to the map information manager and causes the monitor to display the position of the vehicle that has given the notification and the notification that the map information should be updated when receiving the notification that the map information should be updated. In addition, the map server 3 may cause a terminal (such as a smart phone or a tablet computer) carried by the map information manager to display the position of the vehicle that has given the notification and the notification that the map information should be updated.

[0117] Next, the operation and effects of the map information system 1 having the above configuration will be described. The map position recognition unit 32 repeatedly executes the determination process while the vehicle is autonomously driving.

[0118] In a case where the own position cannot be estimated (for example, in a case where a GNSS signal cannot be received and the acceleration / deceleration of the vehicle cannot be detected) (No in step ST1), an end instruction for autonomous driving is given (step ST3), and the operation authority of the vehicle is transferred to the occupant.

[0119] On the other hand, in a case where the own position can be estimated (Yes in step ST1) but the map information does not match the surrounding environment information (No in step ST6), an end instruction for autonomous driving is given (step ST8), and the own position is notified to the map server 3 and it is notified that the map information should be updated (step ST9). The map server 3 notifies the map information manager of the position of the vehicle that has given the notification, and notifies the map information manager that the map information should be updated.

[0120] Therefore, when receiving the notification, the map information manager can move to the position of the vehicle that has given the notification and perform road measurement or the like, so as to determine whether the map information matches the actual road. Therefore, compared with the case where the map information manager determines whether the map information should be updated only based on the detection information of the vehicle, the map information manager can determine whether the map information should be updated, and thus the accuracy of the determination of whether the map information should be updated can be improved.

[0121] In addition, the map position recognition unit 32 can recognize its own position based on the GNSS signals received by the GNSS receiver 10, and the autonomous driving control unit 31 can autonomously drive the vehicle based on its own position and the map information (second driving control of the vehicle). In addition, the map position recognition unit 32 can calculate the DR movement amount by using the detection results of the vehicle sensor 8 (IMU) to estimate its own position, and the autonomous driving control unit 31 can autonomously drive the vehicle based on its own position and the map information (first driving control of the vehicle). Thus, the vehicle can be autonomously driven through two types of driving controls, and the redundancy of the driving control can be improved.

[0122] In addition, in the case where the map information does not match the surrounding environment information based on the detection results of the external environment sensor 7 (No in step ST6), the autonomous driving of the vehicle ends. Therefore, it is possible to prevent the vehicle from autonomously driving based on map information that does not reflect the actual state around the vehicle (for example, previous map information), thereby enhancing the safety of the vehicle.

[0123] In addition, even when the GNSS signal becomes unreceivable, as long as the vehicle can autonomously drive (Yes in step ST1) and the map information matches the surrounding environment information (Yes in step ST6), the map server 3 is not notified that the map information should be updated. Therefore, it is possible to prevent the map server 3 from being notified that the map information should be updated whenever the GNSS signal becomes unreceivable (for example, whenever the vehicle enters a tunnel).

[0124] In addition, the map position recognition unit 32 determines whether the map information matches the surrounding environment information by determining that the position of each road end, the position of each road shoulder edge, the number of lanes, and the behavior of surrounding vehicles in the map information match the position of each road end, the position of each road shoulder edge, the number of lanes, and the behavior of surrounding vehicles in the surrounding environment information. Therefore, in the case where the map information does not match the actual state around the vehicle, it is possible to easily determine that the map information does not match the actual state around the vehicle and notify the map information manager of the mismatch.

[0125] <<Second Embodiment>>

[0126] The map information system 101 according to the second embodiment is different from the map information system 1 according to the first embodiment in that, as Figure 5 shown, the map position recognition unit 32 executes step ST11 instead of step ST6 during the determination process. Regarding other configurations, the second embodiment is substantially the same as the first embodiment, and thus the description of other configurations is omitted.

[0127] In step ST11, the map position recognition unit 32 not only determines whether the map information matches the surrounding environment information, but also extracts the area where the map information does not match the surrounding environment information (hereinafter referred to as the "mismatch area"), and determines whether there is a moving object (hereinafter referred to as the "moving obstacle") in the mismatch area based on the detection result of the external environment sensor 7 (in this embodiment, the external camera 18).

[0128] In the case where the map information matches the surrounding environment information or there is no moving obstacle in the mismatch area, the map position recognition unit 32 determines that the driving control based on the map information and the surrounding environment information can be executed, and thus executes step ST7. In the case where the map information does not match the surrounding environment information and there is a moving obstacle in the mismatch area, the map position recognition unit 32 determines that the driving control based on the map information and the surrounding environment information cannot be executed, and executes step ST8.

[0129] Therefore, in the case where the map information does not match the surrounding environment information and there is a moving obstacle in the area where the map information does not match the surrounding environment information (mismatch area), the driving control based on the map information and the surrounding environment information is stopped and the operation authority of the vehicle is transferred to the occupant. Therefore, the safety of the vehicle can be improved. In addition, even if the map information does not match the surrounding environment information, as long as there is no moving obstacle in the mismatch area, the autonomous driving of the vehicle continues, thereby improving the convenience of the vehicle.

[0130] <<Third Embodiment>>

[0131] The map information system 201 according to the third embodiment is different from the map information system 1 according to the first embodiment in that, as Figure 6 shown, the determination process executed by the map position recognition unit 32 includes steps ST21 and ST22, and the dynamic map data includes additional information of the high-precision map. Regarding other configurations, the third embodiment is substantially the same as the first embodiment, and thus the description of other configurations is omitted.

[0132] The additional information of the high-precision map is not important enough to make the autonomous driving of the vehicle impossible without sufficient additional information. However, it is desirable to obtain additional information to improve the driving control ability and energy efficiency of the vehicle. For example, the additional information includes semi-static information and / or semi-dynamic information, such as traffic congestion information and weather information for each lane.

[0133] In the present embodiment, the dynamic map data includes data on the reception intensity of GNSS signals for each lane link (hereinafter referred to as "intensity data") as additional information on the high-precision map. The intensity data is associated with each lane link. When the vehicle starts to travel, the map position recognition unit 32 acquires the additional information together with the high-precision map of the vehicle travel route. When the vehicle is traveling, the map storage unit 52 stores the additional information corresponding to the vehicle travel route.

[0134] Even when the intensity data of the GNSS signal is insufficient, the map position recognition unit 32 selectively performs estimation of its own position based on the GNSS signal or estimation of its own position by the odometer. Incidentally, it is possible to determine whether the GNSS signal can be received by using the intensity data, and thus the intensity data is useful for determining whether it is possible to estimate its own position and improving the driving controllability of the vehicle.

[0135] In step ST6, when the road shape information included in the map information matches the road shape included in the surrounding environment information, the number of lanes obtained from the surrounding environment information matches the number of lanes included in the map information, and the behavior of the surrounding vehicles included in the surrounding environment information matches the driving direction of each lane link included in the map information, the map position recognition unit 32 executes step ST21. Otherwise, the map position recognition unit 32 executes step ST8.

[0136] In step ST21, the map position recognition unit 32 acquires the reception intensity of the GNSS signal received by the GNSS receiver 10. Thereafter, the map position recognition unit 32 acquires the lane link of the lane on which the vehicle is currently traveling based on its own position recognized by the host vehicle position recognition unit 53 and the high-precision map stored in the map storage unit 52. Thereafter, the map position recognition unit 32 acquires the intensity data corresponding to the lane link from the additional information stored in the map storage unit 52, and determines whether the reception intensity of the GNSS signal matches the intensity data. The map position recognition unit 32 executes step ST7 when the reception intensity of the GNSS signal matches the intensity data, and executes step ST22 when the reception intensity of the GNSS signal does not match the intensity data.

[0137] In step ST22, the map position recognition unit 32 transmits, via the communication device 9, a signal corresponding to the notification that the map information should be updated together with the detection information including its own position and reception intensity of the GNSS signal to the map server 3. That is, the map position recognition unit 32 notifies the map server 3 of its own position and reception intensity of the GNSS signal, and notifies the map server 3 that the map information should be updated. When the transmission is completed, the map position recognition unit 32 executes step ST7.

[0138] The map server 3 provides the map information manager with a notification corresponding to the notification sent in step ST22.

[0139] Next, the effects of the map information system 201 with the above configuration will be described. The map position recognition unit 32 determines whether the intensity of the GNSS signal that can actually be received by the GNSS receiver 10 matches the received intensity of the GNSS signal as additional information (step ST21). When the former does not match the latter, the map server 3 is notified that the map information should be updated (step ST22). Therefore, it is possible to notify the map server 3 that the additional information does not reflect the actual state. In addition, the map server 3 gives a notification to the map information manager so that the map information manager can easily recognize that the state around the road has changed.

[0140] Incidentally, the map server 3 can automatically update the additional information included in the dynamic map data based on its own position and received intensity included in the notification sent in step ST22 rather than the notification sent in step ST9. According to such a configuration, the data included in the dynamic map can be quickly changed based on the detection information sent from the vehicle (specifically, variable data that is expected to be obtained to improve driving controllability and energy efficiency).

[0141] <<Fourth Embodiment>>

[0142] The map information system 301 according to the fourth embodiment is different from the map information system 1 according to the first embodiment in that, as Figure 7 shown, step ST31 is executed instead of step ST5, step ST32 is executed instead of step ST7, and steps ST33 and ST34 are added to the determination process performed by the map position recognition unit 32. In addition, the map information system 301 according to the fourth embodiment is different from the map information system 1 according to the first embodiment in that the map server 3 stores multiple versions of the dynamic map data generated at different times, and the map storage unit 52 stores the corresponding map information. Regarding other configurations, the fourth embodiment is substantially the same as the first embodiment, so the description of other configurations is omitted.

[0143] In step ST31, the map position recognition unit 32 obtains the latest map information around the vehicle in the same manner as in the first embodiment by using the self-position estimated in step ST2 and the latest version of the dynamic map stored in the map storage unit 52 (i.e., the dynamic map with the latest generation time). When the acquisition of the latest map information is completed, the map position recognition unit 32 executes step ST6.

[0144] The map position recognition unit 32 executes step ST32 when it determines in step ST6 that the map information (the latest map information) matches the surrounding environment information, and executes step ST33 when it determines in step ST6 that the map information (the latest map information) does not match the surrounding environment information.

[0145] In step ST32, the position recognition unit 32 outputs a continue instruction for autonomous driving to the autonomous driving control unit 31 together with its own position and the version of the map information that has been determined to match the surrounding environment information in step ST6. When the output is completed, the map position recognition unit 32 ends the determination process. The autonomous driving control unit 31 uses the map information that matches the surrounding environment information to perform the driving control of the vehicle.

[0146] In addition, in step ST32, when the map information that matches the surrounding environment information is not the latest version, the map position recognition unit 32 notifies the map server 3 that the map information should be updated.

[0147] In step ST33, the map position recognition unit 32 determines whether the map storage unit 52 stores map information (i.e., previous map information) whose generation time is earlier than the map information compared with the surrounding environment information in step ST6. The map position recognition unit 32 executes step ST34 when the map storage unit 52 stores map information whose generation time is earlier than the map information compared with the surrounding environment information in step ST6, and executes step ST8 when the map storage unit 52 does not store the above-mentioned map information.

[0148] In step ST34, the map position recognition unit 32 obtains from the map storage unit 52 the map information whose generation time is earlier than and closest to the generation time of the map information compared with the surrounding environment information in step ST6. When the acquisition of the closest map information is completed, the map position recognition unit 32 executes step ST6.

[0149] Next, the operation and effects of the map information system 301 with the above configuration will be described. The map position recognition unit 32 obtains the latest map information from the map storage unit 52 (step ST31) and compares the latest map information with the surrounding environment information (step ST6).

[0150] When the latest map information does not match the surrounding environment information and the map storage unit 52 stores the second latest map information (Yes in step ST33), the map position recognition unit 32 acquires the second latest map information (step ST34), and determines whether the second latest map information matches the surrounding environment information (step ST6). When the second latest map information does not match the surrounding environment information (No in step ST6) and the map storage unit 52 stores the third latest map information (Yes in step ST33), the map position recognition unit 32 acquires the third latest map information (step ST34) and compares the third latest map information with the surrounding environment information (step ST6).

[0151] In this way, the map position recognition unit 32 compares the multiple pieces of map information stored in the map storage unit 52 with the surrounding environment information in the reverse chronological order of occurrence. When all the map information stored in the map storage unit 52 does not match the surrounding environment information, the map position recognition unit 32 outputs an end instruction for autonomous driving to the autonomous driving control unit 31 (step ST8).

[0152] When one piece of map information among the multiple pieces of map information matches the surrounding environment information, the map position recognition unit 32 outputs a continue instruction for autonomous driving together with the version of the one piece of map information that matches the surrounding environment information among the multiple pieces of map information to the autonomous driving control unit 31 (step ST32). Therefore, the autonomous driving control unit 31 uses the map information that matches the surrounding environment information to perform the driving control of the vehicle. In step ST32, when the one piece of map information that matches the surrounding environment information among the multiple pieces of map information is not the latest version, the map position recognition unit 32 notifies the map server 3 that the map information should be updated.

[0153] Therefore, even if the map information stored in the map server 3 is updated based on incorrect detection information, the driving control is performed based on the map information that matches the surrounding environment information before the incorrect update. Therefore, the vehicle can drive autonomously without relying on the incorrectly updated map information. In addition, a notification is sent to the map server 3 so that the map information manager can appropriately determine whether the map information should be updated.

[0154] <<Fifth Embodiment>>

[0155] The map information system 401 according to the fifth embodiment is different from the map information system 1 according to the first embodiment in that, as Figure 8 shown, in the determination process performed by the map position recognition unit 32, step ST41 is executed after step ST8. Regarding other configurations, the fifth embodiment is substantially the same as the first embodiment, so the description of other configurations is omitted.

[0156] In step ST41, the map position recognition unit 32 causes the HMI 14 (input / output device) to give a notification that the map information does not match the surrounding environment information, and accepts an input on whether to give a notification to the map server 3. That is, the map position recognition unit 32 determines whether the occupant permits giving a notification to the map server 3. For example, the map position recognition unit 32 causes the display screen of the HMI 14 to display a permission button corresponding to permission for notification to the map server 3 and a non-permission button corresponding to non-permission (prohibition) of notification to the map server 3. The map position recognition unit 32 executes step ST9 when an input corresponding to permission for notification to the map server 3 is made to the HMI 14 (that is, when the permission button is pressed), and ends the determination process when an input corresponding to non-permission of notification to the map server 3 is made to the HMI 14 (that is, when the non-permission button is pressed).

[0157] Next, the effects of the map information system 401 having the above configuration will be described. When the HMI 14 accepts an input (instruction) from the occupant to give a notification to the map server 3, the map position recognition unit 32 notifies the map server 3 that the map information should be updated. Therefore, it is determined by the occupant whether the map information should be updated, and thus the accuracy of the determination on whether the map information should be updated can be improved.

[0158] Specific embodiments of the present invention have been described above, but the present invention should not be limited to the above embodiments, and various modifications and changes can be made within the scope of the present invention.

[0159] In the above third embodiment, the additional information includes the reception intensity of the GNSS signal. However, the present invention is not limited to this embodiment. The additional information can be any data as long as it is desired to obtain the data when the vehicle is autonomously driving. For example, the additional information can be gradient data (gradient information) indicating the gradient value of each lane link (road surface).

[0160] When such a configuration is adopted, the vehicle sensor 8 may include an attitude angle sensor 8A (see Figure 1) The attitude angle sensor 8A is a sensor for obtaining the attitude angle of the vehicle. For example, the attitude angle sensor 8A may be composed of a 6-axis inertial measurement unit (IMU) configured to detect the angular velocity of the vehicle. In step ST21, the map position recognition unit 32 calculates the slope value of the road surface based on the attitude angle obtained by the attitude angle sensor 8A. Thereafter, the map position recognition unit 32 acquires the slope data of its own position on the map information recognized by the own vehicle position recognition unit 53 (self-position recognition unit), and compares the calculated slope value of the road surface with the slope data. The map position recognition unit 32 (controller 16) executes step ST7 when it determines that the slope data matches the slope value of the road surface, and executes step ST22 when it determines that the slope data does not match the slope value of the road surface. Therefore, it is possible to notify the map server 3 that the slope data does not reflect the actual state. In addition, the map server 3 gives a notice to the map information manager so that the map information manager can easily recognize that the state around the road has changed.

[0161] In the above embodiment, the high-precision map stored in the map server 3 is updated based on the detection information acquired by the detection information acquisition unit 33. However, the present invention is not limited to this embodiment. For example, semi-static information, semi-dynamic information, etc. of the dynamic map stored in the map server 3 can be updated based on the detection information. In addition, the navigation map data stored in the navigation device 11 can be updated based on the detection information.

Claims

1. A map information system, the map information system comprising: A vehicle configured to store at least one piece of map information and autonomously travel based on the map information; And A map server configured to provide the map information to the vehicle, Wherein, the vehicle includes: An external environment sensor configured to acquire the surrounding environment information of the vehicle; and A controller configured to store the map information and perform driving control to enable the vehicle to autonomously travel, The controller is configured to determine whether the driving control based on the map information and the surrounding environment information can be performed based on whether the map information matches the surrounding environment information, and The controller notifies the map server of the position of the vehicle and notifies the map server that the map information should be updated when it is determined that the driving control cannot be performed, and Wherein, the at least one piece of map information includes multiple pieces of map information, The controller is configured to store the multiple pieces of map information generated at different time periods, and compare the multiple pieces of map information with the surrounding environment information in the reverse chronological order of occurrence, and In the case where one piece of map information among the multiple pieces of map information matches the surrounding environment information and the one piece of map information among the multiple pieces of map information is not the latest one among the multiple pieces of map information stored in the controller, the controller notifies the map server that the map information should be updated.

2. The map information system according to claim 1, wherein, When the map information does not match the surrounding environment information, the controller extracts the area where the map information does not match the surrounding environment information, determines whether there is a moving object in the area based on the detection result of the external environment sensor, and determines that the driving control based on the map information and the surrounding environment information cannot be performed when there is a moving object in the area.

3. The map information system according to claim 1 or 2, the map information system further comprising: A vehicle sensor for estimating the movement amount of the vehicle; And A receiver configured to receive signals from positioning satellites, Wherein, the controller is configured to perform a first driving control and a second driving control as the driving control, the first driving control is performed to estimate the position of the vehicle by using the movement amount based on the vehicle sensor so that the vehicle autonomously travels, the second driving control is performed to estimate the position of the vehicle based on the signals from the positioning satellites received by the receiver so that the vehicle autonomously travels based on the map information, and In the case where the position of the vehicle cannot be estimated neither by using the movement amount based on the vehicle sensor nor based on the signals from the positioning satellites, the controller determines that the driving control based on the map information and the surrounding environment information cannot be performed, and notifies the map server of the position of the vehicle and notifies the map server that the map information should be updated.

4. The map information system according to claim 3, wherein, The map information includes additional information, and the additional information includes information on the reception strength of signals from the positioning satellites in each lane, and when the controller determines that the reception strength of the signals from the positioning satellites received by the receiver does not match the additional information, it notifies the map server that the map information should be updated.

5. The map information system according to claim 1 or 2, wherein the map information system further includes an attitude angle sensor configured to acquire the attitude angle of the vehicle, Among them, the map information includes additional information, and the additional information includes slope information indicating the slope of the road surface, and when the controller determines that the slope information at the position of the vehicle in the map information does not match the attitude angle of the vehicle acquired by the attitude angle sensor, it notifies the map server that the map information should be updated.

6. The map information system according to claim 1 or 2, wherein the map information system further includes an input / output device configured to give a notification to an occupant and receive an input from the occupant, Among them, in a case where the map information does not match the surrounding environment information, the controller causes the input / output device to give a notification that the map information does not match the surrounding environment information, and receives an input on whether to notify the map server that the map information should be updated.

7. The map information system according to claim 1 or 2, wherein The map information includes attribute information indicating the traveling direction of each lane, and when it is determined that the behavior of surrounding vehicles acquired by the external environment sensor does not match the attribute information, the controller notifies the map server that the map information should be updated.

8. The map information system according to claim 1 or 2, wherein, The map information includes lane position information, and when it is determined that the number of lanes in front of the vehicle acquired by the external environment sensor does not match the number of lanes in front of the vehicle acquired from the map information, the controller notifies the map server that the map information should be updated.

Images