Apparatus and method for updating map information of a vehicle

Abstract

The present invention relates to an apparatus and a method for updating map information of a vehicle. The apparatus for updating map information of a vehicle includes a vehicle information detecting device, a lane line analyzing device, a reliability determining device, and a controller, the vehicle information detecting device detects information of surrounding vehicles traveling with the vehicle when the vehicle travels through an intersection, the lane line analyzing device analyzes lane line information based on the information of the surrounding vehicles traveling with the vehicle, the reliability determining device determines reliability of the lane line information, and the controller extracts a change point on a map based on the reliability, and updates the map information based on the change point.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2021-0008547, filed with the Korean Intellectual Property Office on January 21, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an apparatus and method for updating map information of vehicles. Background Technology

[0004] Typically, a map system combines images captured by a person walking around a specific area or images captured by a mobile mapping system (MMS) with a location-aware system (LAS) or imaging device into a complete map image to provide a holistic map image.

[0005] However, it is inconvenient for an individual to capture images during a solitary walk in order to perform map collection, i.e., to update map information. For this reason, it is impossible to update map images frequently and efficiently.

[0006] Furthermore, using expensive MMS to construct maps can be costly. Summary of the Invention

[0007] One aspect of the present invention provides an apparatus and method for updating map information to extract map change points based on driving information collected from ordinary vehicles or autonomous vehicles, and to update the lane line information of the map to provide an accurate map and update map information at low cost without using expensive Mobile Mapping System (MMS).

[0008] Another aspect of the present invention provides an apparatus and method for updating map information to reflect changes in the entry lane lines at intersections in real time, thereby increasing driver convenience.

[0009] The technical problems to be solved by the present invention are not limited to those described above. Those skilled in the art will clearly understand any other technical problems not mentioned herein through the following description.

[0010] According to one aspect of the present invention, an apparatus for updating map information may include a vehicle information detection device, a lane line analysis device, a reliability determination device, and a controller. When a vehicle travels through an intersection, the vehicle information detection device detects information about surrounding vehicles traveling alongside the vehicle, the lane line analysis device analyzes lane line information based on the information about surrounding vehicles traveling alongside the vehicle, the reliability determination device determines the reliability of the lane line information, and the controller extracts change points on the map based on the reliability and updates the map information based on the change points.

[0011] When a vehicle enters an intersection, the vehicle information detection device can collect information about surrounding vehicles (i.e., at least one surrounding vehicle) identified from at least one sensor installed in the vehicle.

[0012] Information about surrounding vehicles can include the ID information of surrounding vehicles as identified by the vehicle's cameras.

[0013] When a vehicle passes through an intersection, the vehicle information detection device can detect information about surrounding vehicles traveling alongside it from the information collected about surrounding vehicles.

[0014] The vehicle information detection device can match vehicles on a map based on the location information collected from the vehicles, and can identify the entry or driving status of intersections based on the information of the matched vehicles on the map.

[0015] Lane line analysis devices can obtain information about the entry lanes at intersections based on the number of surrounding vehicles traveling alongside the vehicle.

[0016] The lane line analysis device can analyze whether the obtained intersection entry lane line information is the same as the intersection entry lane line information on the map.

[0017] When the obtained intersection entry lane line information is different from the intersection entry lane line information on the map, the controller can extract the change points on the map based on the points where the obtained intersection entry lane line information and the intersection entry lane line information on the map are different.

[0018] The controller can update the lane line information about change points on the map based on the obtained intersection entry lane line information.

[0019] The reliability determination device can obtain traffic congestion information based on the density of surrounding vehicles, and can determine the reliability of lane line information based on the traffic congestion information.

[0020] According to another aspect of the present invention, a method for updating map information may include: when a vehicle travels through an intersection, detecting information of surrounding vehicles traveling alongside the vehicle, analyzing lane line information based on the information of surrounding vehicles traveling alongside the vehicle, determining the reliability of the lane line information, extracting change points on the map based on the reliability, and updating the map information based on the change points. Attached Figure Description

[0021] The above and other objects, features, and advantages of the present invention will become more apparent from the following detailed description presented in conjunction with the accompanying drawings:

[0022] Figure 1 This is a block diagram illustrating the configuration of an apparatus for updating map information according to an embodiment of the present invention;

[0023] Figure 2A , Figure 2B and Figure 2C This is a schematic diagram illustrating an embodiment to which the operation of identifying intersections in an apparatus for updating map information according to an embodiment of the present invention is referred;

[0024] Figure 3 This is a schematic diagram illustrating an embodiment to which the operation of identifying surrounding vehicles in an apparatus for updating map information according to an embodiment of the present invention is referred;

[0025] Figure 4A and Figure 4B This is a schematic diagram illustrating an embodiment to which the operation of analyzing lane lines in an apparatus for updating map information according to an embodiment of the present invention is referred;

[0026] Figure 5 This is an operation flowchart illustrating a method for updating map information according to an embodiment of the present invention;

[0027] Figure 6 This is a block diagram illustrating a computing system for performing a method according to an embodiment of the present invention. Detailed Implementation

[0028] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally include motor vehicles, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, vessels including various boats and ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., vehicles derived from non-petroleum fuels). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as both gasoline power and electric power.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well. It will also be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, values, steps, operations, elements, and / or components, but do not exclude the presence or inclusion of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly stated otherwise, the word “comprising” and variations such as “including” or “including” should be understood to imply the inclusion of the stated elements, but do not exclude any other elements. Furthermore, the terms “unit,” “device,” “component,” and “module” described in the specification mean a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0030] Furthermore, the control logic of this invention can be embodied in a non-volatile computer-readable medium containing executable program instructions that are executed by a processor, controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a network-connected computer system, allowing it to be stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0031] In the following, some embodiments of the invention will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that even when the same or equivalent components are shown in other drawings, they are represented by the same reference numerals. Furthermore, in describing embodiments of the invention, detailed descriptions of known features or functions will be omitted to avoid unnecessarily obscuring the spirit of the invention.

[0032] In describing components according to embodiments of the invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are intended only to distinguish one component from another, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in general dictionaries should be interpreted as having the same meaning as in the context of the relevant technical field, and not as having an idealized or overly formal meaning, unless expressly defined as having such a meaning in this application.

[0033] Figure 1 This is a block diagram illustrating the configuration of an apparatus for updating map information according to an embodiment of the present invention.

[0034] Reference Figure 1 According to an embodiment of the present invention, an apparatus for updating map information may include: a controller 110, an interface 120, a sensor device 130, a communication device 140, a memory 150, a vehicle information detection device 160, a lane line analysis device 170, and a reliability determination device 180. In this document, the controller 110, vehicle information detection device 160, lane line analysis device 170, and reliability determination device 180 of the apparatus for updating map information according to an embodiment of the present invention may be implemented as at least one processor.

[0035] Interface 120 may include an input device for receiving control commands from a user and an output device for outputting the operation status, operation results, etc. of the device for updating map information.

[0036] In this document, input devices may include buttons, and may include soft keys implemented on a display. Additionally, input devices may include mice, joysticks, knobs, styluses, etc.

[0037] The output device may include a display and may include sound output devices such as speakers. As an example, the display may show map information and information about vehicles matching on the map. Furthermore, the display may show updated map information.

[0038] In this case, when a touch sensor such as a touch film, touch sheet, or touchpad is placed in the display, the display can operate as a touch screen, and can be implemented in the form of an input device and an output device integrated with each other.

[0039] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT-LCD), an organic light-emitting diode display (OLED), a flexible display, a field emission display (FED), or a 3D (three-dimensional) display.

[0040] The sensor device 130 may include a sensor for detecting information about at least one surrounding vehicle located around the vehicle.

[0041] As an example, the sensor may include a camera used to identify the shape of the vehicle and detect information about surrounding vehicles (e.g., vehicle ID, etc.) from images acquired from the vehicle's surroundings. In this context, the camera may be a camera based on an Advanced Driver Assistance System (ADAS).

[0042] Of course, sensors can include another type of sensor besides cameras used to detect information about surrounding vehicles.

[0043] The communication device 140 may include a communication module for communicating with electronic devices and / or controllers located in the vehicle via a vehicle network.

[0044] As an example, the communication module can receive vehicle information detected by sensors installed in the vehicle. Furthermore, the communication module can send updated map information to the navigation device installed in the vehicle.

[0045] In this article, technologies used for vehicle network communication may include: Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, flex-ray communication, etc.

[0046] In addition, the communication device 140 may include a communication module for accessing the wireless Internet or a communication module for short-range communication.

[0047] In this article, technologies used for wireless internet may include: Wireless Local Area Network (WLAN), wireless broadband (WiBro), wireless-fidelity (Wi-Fi), world interoperability for microwave access (WiMAX), etc.

[0048] In addition, technologies used for short-range communication may include Bluetooth, ZigBee, ultra-wideband (UWB), radio frequency identification (RFID), and infrared data association (IrDA).

[0049] The memory 150 can store data, algorithms, etc., required for the operation of the device used to update map information.

[0050] As an example, the memory 150 may store information fragments of surrounding vehicles collected from at least one sensor installed in the vehicle, and may store information of surrounding vehicles detected by the vehicle information detection device 160 in the collected information fragments of surrounding vehicles.

[0051] In addition, the memory 150 may store instructions, algorithms, etc., for detecting information about surrounding vehicles in information segments of surrounding vehicles, analyzing lane line information, and determining the reliability of lane line information.

[0052] In addition, the memory 150 can store map data and can store updated map information.

[0053] In this document, memory 150 may include storage media such as random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), or electrically erasable PROM (EEPROM).

[0054] The controller 110 can control the operation of each component of the device used to update map information during the execution of map information update operations, and can process signals transmitted between the components.

[0055] As an example, controller 110 can control the operation of sensor device 130 to collect information about the vehicle.

[0056] Therefore, the sensor device 130 can detect the vehicle's location information and transmit the detected vehicle location information to the controller 110.

[0057] The controller 110 can display a map on the display and can match vehicles on the map displayed on the display based on the vehicle's location information detected by the sensor device 130.

[0058] In this scenario, controller 110 can identify whether a vehicle is entering or passing through an intersection based on information about vehicles matched on a map. For example, controller 110 can identify whether a vehicle is entering or passing through an intersection based on factors such as the vehicle's angle and the degree of deviation of the vehicle from the road it is traveling on.

[0059] In this article, the state of a vehicle entering an intersection refers to the state in which a vehicle enters the lane line at the intersection and waits to turn before proceeding through the intersection. Furthermore, the state of a vehicle passing through an intersection refers to the state in which a vehicle enters the lane line at the intersection and performs a turn along the intersection.

[0060] Reference Figures 2A to 2C The implementation plan provides a description of the operations for identifying the state of a vehicle entering an intersection or the state of a vehicle passing through an intersection. Figures 2A to 2C This is a schematic diagram illustrating an embodiment of the operation of identifying intersections in a device for updating map information according to an embodiment of the present invention.

[0061] first, Figure 2A This illustrates an implementation scheme for matching vehicles on a regular map. For example... Figure 2A As shown, when matching vehicle locations on the map, Figure 1 The controller 110 can determine that the vehicle is located at an intersection and that the vehicle is traveling through the intersection.

[0062] Figure 2B An implementation scheme for matching vehicles on a map of road segment shapes is shown.

[0063] also, Figure 2C An implementation scheme for matching vehicles on a map with complex intersection shapes is shown.

[0064] as Figure 2B and Figure 2CWhen a vehicle enters an intersection or passes through an intersection, the vehicle deviates from the road segment to some extent due to the position of the matched vehicle. Therefore, the controller 110 can identify the state of a vehicle entering an intersection or passing through an intersection based on the position of the matched vehicle on the map, the vehicle's direction, the vehicle's angle, and the degree of deviation of the vehicle from the road it is traveling on.

[0065] When a vehicle is entering an intersection or passing through an intersection, the controller 110 can control... Figure 1 The sensor device 130 operates to collect information about surrounding vehicles.

[0066] Therefore, sensor device 130 can detect information about surrounding vehicles (i.e., at least one surrounding vehicle) located around the vehicle. In this document, the information about surrounding vehicles may include vehicle IDs.

[0067] Reference Figure 3 Provide a description of the operation for detecting information about surrounding vehicles. Figure 3 This is a schematic diagram illustrating an embodiment of the operation of identifying surrounding vehicles in a device for updating map information according to an embodiment of the present invention.

[0068] Reference Figure 3 , Figure 1 The camera of the sensor device 130 can capture images of the area around the vehicle and can extract the shape of the vehicle in the captured images through image analysis.

[0069] In this case, the camera of sensor device 130 can identify each surrounding vehicle based on the shape of the vehicle in the captured image, and can detect information about each identified surrounding vehicle, such as the vehicle ID of the surrounding vehicle.

[0070] Information about surrounding vehicles detected by sensor device 130 can be transmitted via Figure 1 The controller 110 transmits to Figure 1 Vehicle information detection device 160.

[0071] The vehicle information detection device 160 can identify information about surrounding vehicles detected by the sensor device 130 when a vehicle enters an intersection. In this case, the vehicle information detection device 160 can identify the vehicle IDs of surrounding vehicles located to the left / right of the vehicle.

[0072] When the vehicle is identified as passing through an intersection, the vehicle information detection device 160 can identify information about the surrounding vehicles traveling alongside the vehicle, which are detected by the sensor device 130.

[0073] In this article, "surrounding vehicles traveling alongside the vehicle" refers to those vehicles located around the vehicle (i.e., to the left / right of the vehicle) that are traveling in the same direction as the vehicle as it is entering the lane at an intersection.

[0074] therefore, Figure 1 The lane line analysis device 170 can analyze lane line information based on information about surrounding vehicles traveling alongside the vehicle. In this paper, the lane line analysis device 170 can obtain intersection entry lane line information based on the number of surrounding vehicles traveling alongside the vehicle.

[0075] As an example, when there are five lane lines in total and when a vehicle is traveling through an intersection in the first lane, if the number of surrounding vehicles traveling with the vehicle at the intersection is one on the right, the lane line analysis device 170 can analyze that the intersection entry lane lines are two lane lines, and the other three lane lines are ordinary driving lane lines.

[0076] In this situation, the lane line analysis device 170 can analyze whether the previously obtained intersection entry lane line information is the same as the intersection entry lane line information on the map.

[0077] For example, when there is one of five lane lines at an intersection on the map, the number of intersection entry lane lines obtained as a result of performing lane line analysis is two, therefore the intersection entry lane lines are not the same.

[0078] Therefore, when the intersection entry lane information obtained as a result of performing lane line analysis is different from the intersection entry lane information on the map, the controller 110 can determine that the map needs to be updated.

[0079] When the intersection entry lane information obtained as a result of lane line analysis differs from the intersection entry lane information on the map, the controller 110 can base its analysis on... Figure 1 The reliability determination device 180 determines whether to update the map based on the reliability determination result of the lane line information.

[0080] Therefore, the reliability determination device 180 can determine whether the lane information obtained as a result of performing lane analysis in the lane analysis device 170 is reliable information.

[0081] In this paper, the reliability determination device 180 can obtain traffic congestion information based on the density of surrounding vehicles. The density of surrounding vehicles can be determined based on information fragments of surrounding vehicles detected by the sensor device 130.

[0082] In this case, the reliability determination device 180 can determine the reliability of the lane line information based on the obtained traffic congestion information.

[0083] Furthermore, since there are very few vehicles around the vehicle, and when the density of surrounding vehicles is not identified, the reliability determination device 180 can collect traffic condition information at the corresponding time and determine the reliability of lane line information based on the traffic condition information.

[0084] In this paper, the reliability determination device 180 can calculate reliability in the form of a fraction, and when the calculated reliability score is greater than or equal to a reference score, the lane line information can be determined to be reliable. This is merely one implementation scheme, and it is clear that the criteria for determining reliability can be applied in various ways.

[0085] Therefore, when it is determined that the lane line information obtained as a result of lane line analysis performed by the lane line analysis device 170 is different from the lane line information on the map, and when it is determined that the reliability of the obtained lane line information is greater than or equal to the standard, the controller 110 can determine that the map needs to be updated.

[0086] When a map update is determined, controller 110 can extract change points on the map based on points where lane line information fragments differ from each other. In this case, controller 110 can extract change points based on map coordinates.

[0087] The controller 110 can update the lane line information of the map based on the extracted change points on the map.

[0088] When the navigation system accesses map data, it can reflect updated lane line information.

[0089] Figure 4A and Figure 4B This is a schematic diagram illustrating an embodiment of the operation of analyzing lane lines in an apparatus for updating map information according to an embodiment of the present invention.

[0090] first, Figure 4A This demonstrates lane line movement based on a link on a regular road.

[0091] exist Figure 4A In the diagram, the vehicle's current location is road segment A. The road segment to the left of the intersection from road segment A is road segment B. The road segment ahead from road segment A is road segment C.

[0092] Reference Figure 4AOn the map, the lane information for vehicles to enter from road segment A to road segment B is "Road segment A to road segment B: OOXXX", and the lane information for vehicles to enter from road segment A to road segment C is "Road segment A to road segment C: XXOOO".

[0093] In other words, the lane that allows a vehicle to enter road segment B from road segment A can be lane 1 or lane 2, while the lane that allows a vehicle to enter road segment C from road segment A can be lane 3, lane 4 or lane 5.

[0094] In this case, when through such Figure 4A The lane line analysis indicated by the arrows shows that when determining whether the entry lane line at the intersection is lane 1, lane 2, or lane 3, the lane line information that allows vehicles to enter the intersection may differ from the lane line information on the map.

[0095] therefore, Figure 1 The controller 110 can use information about the intersection entry lanes obtained through lane line analysis to update map information.

[0096] In this scenario, the controller 110 can reflect the lane line information obtained while the vehicle is driving in real time on the map.

[0097] also, Figure 4B This illustrates lane line movement based on road segments that include lanes where vehicles can simultaneously go straight and turn left.

[0098] exist Figure 4B In the diagram, the vehicle's current location is road segment A. The road segment to the left of the intersection from road segment A is road segment B. The road segment ahead from road segment A is road segment C.

[0099] Reference Figure 4B On the map, the lane information for vehicles to enter road segment B from road segment A is "Road segment A to road segment B: OOX", and the lane information for vehicles to enter road segment C from road segment A is "Road segment A to road segment C: XOO".

[0100] In other words, the lane lines that allow vehicles to enter road segment B from road segment A are lane 1 or lane 2, while the lane lines that allow vehicles to enter road segment C from road segment A are lane 2 or lane 3.

[0101] Vehicles in lane 1 can only enter section B, and vehicles in lane 3 can only enter section C. However, vehicles in lane 2 can enter both section B and section C simultaneously.

[0102] In this situation, when a vehicle is traveling through the intersection in lane 1, and when surrounding vehicles in lane 2 are going straight, Figure 1The lane line analysis device 170 can detect lane 2 as a straight lane.

[0103] Furthermore, when a vehicle travels through an intersection on lane 1, and when surrounding vehicles in lane 2 travel through the intersection together with the vehicle, the lane line analysis device 170 can detect lane 2 as an intersection entry lane line.

[0104] In this situation, since vehicles are able to travel through the intersection and go straight in lane 2, the traffic information flow (e.g., average speed) with the usual intersection entry lane line or straight lane line can vary.

[0105] therefore, Figure 1 The reliability determination device 180 can be based on the reliability determination device 180. Figure 1 The sensor device 130 collects surrounding information and traffic congestion information, as well as traffic information flow on the detected lane lines, to determine the reliability of the results of the lane line analysis.

[0106] therefore, Figure 1 The controller 110 can determine, based on the reliability determination results, whether to reflect the information obtained from lane line analysis results in the update of map information.

[0107] As described above, the device for updating map information according to an embodiment of the present invention can reflect lane line changes in real time in the map data when lane lines at intersections are temporarily altered due to road construction or other reasons, or when lane lines are changed due to road improvements or structural alterations. In this case, convenience is increased because drivers navigate through intersections based on map data that reflects lane line changes in real time.

[0108] The apparatus for updating map information according to an embodiment of the present invention can be implemented in a vehicle. In this case, the apparatus for updating map information can be integrated with a control unit in the vehicle, or it can be implemented as a separate device connected to the vehicle's control unit.

[0109] The apparatus for updating map information according to an embodiment of the present invention, which performs the above operations, can be implemented as a separate hardware device including a memory and a processor for processing each operation, or the apparatus for updating map information can be driven in the form of another hardware device included in a microprocessor or general-purpose computer system.

[0110] A detailed description will be given of the operation flow of an apparatus for updating map information according to an embodiment of the present invention having the above configuration.

[0111] Figure 5This is a flowchart illustrating an operation of a method for updating map information according to an embodiment of the present invention.

[0112] Reference Figure 5 When a vehicle enters an intersection at S110, at S120, a device for updating map information can detect information about surrounding vehicles using at least one sensor installed in the vehicle. In this case, the device for updating map information can utilize sensors operating based on an advanced driver assistance system (ADAS) (e.g., a camera) to detect information about surrounding vehicles.

[0113] In S130, when a vehicle travels through an intersection, the device for updating map information can detect the number of surrounding vehicles traveling alongside the vehicle. The surrounding vehicles traveling alongside the vehicle are identified by the information of the surrounding vehicles detected in S120.

[0114] In this case, at S140, the device for updating map information can analyze lane line information based on the number of surrounding vehicles detected at S130.

[0115] In S140, the device used to update map information can obtain the number of lane lines entering the intersection as a result of analyzing lane line information.

[0116] The device for updating map information can determine whether the lane line information obtained as a result of analyzing lane line information in S140 is the same as the map information. In S150, if the lane line information obtained in S140 is different from the map information, in S160, the device for updating map information can determine the reliability of the lane line information obtained in S140. In S170, the device for updating map information can extract change points on the map based on the reliability.

[0117] In this case, when the reliability of the lane line information is greater than or equal to the reference value, the device for updating map information can determine to update the map and can extract the change points on the map.

[0118] In S180, the device for updating map information can update the map information based on the change points extracted in S170. In this case, the device for updating map information can update the map information based on the lane line information obtained as a result of lane line analysis performed in S140.

[0119] Figure 6 This is a block diagram illustrating a computing system for performing a method according to an embodiment of the present invention.

[0120] Reference Figure 6The computing system 1000 may include at least one processor 1100, memory 1300, user interface input device 1400, user interface output device 1500, storage device 1600 and network interface 1700 interconnected via a bus 1200.

[0121] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0122] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly embodied in a hardware module, or in a software module executed by processor 1100, or a combination of both. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, and CD-ROM. An exemplary storage medium can be coupled to a processor, which can read information from and record information in the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an Application Specific Integrated Circuit (ASIC). The ASIC can reside in the user terminal. In another case, the processor and storage medium can reside as independent components in the user terminal.

[0123] According to an embodiment of the present invention, the device for updating map information can extract map change points based on driving information collected from ordinary vehicles or autonomous vehicles, and can update the lane line information of the map, thus providing an accurate map and updating map information at low cost without using an expensive Mobile Mapping System (MMS).

[0124] Furthermore, according to an embodiment of the present invention, since the device for updating map information can reflect changes in the entry lane lines at intersections in real time in the map information, it increases the convenience for drivers.

[0125] In the foregoing, although the invention has been described with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto. Those skilled in the art can make various modifications and changes to the invention without departing from the spirit and scope of the invention as claimed in the appended claims.

[0126] Therefore, exemplary embodiments of the present invention are provided to explain the spirit and scope of the invention, and not to limit them, so that the spirit and scope of the invention are not limited by these embodiments. The scope of the invention should be interpreted based on the appended claims, and all technical ideas included within the scope of the claims should be included within the scope of the invention.

Claims

1. An apparatus for updating map information of vehicles, the apparatus comprising: A vehicle information detection device is configured to detect information about surrounding vehicles traveling alongside the vehicle when the vehicle passes through an intersection. A lane line analysis device configured to analyze lane line information based on information about surrounding vehicles traveling alongside the vehicle; A reliability determination device configured to determine the reliability of lane line information; as well as A controller configured to extract change points on the map based on the reliability and update map information based on the change points; The lane line analysis device obtains intersection entry lane information based on the number of surrounding vehicles traveling alongside the vehicle.

2. The apparatus for updating map information of vehicles according to claim 1, wherein, When a vehicle enters an intersection, the vehicle information detection device collects information about surrounding vehicles identified from at least one sensor installed in the vehicle.

3. The apparatus for updating map information of vehicles according to claim 2, wherein, The information about the surrounding vehicles includes the ID information of the surrounding vehicles as identified by the vehicle's camera.

4. The apparatus for updating map information of a vehicle according to claim 2, wherein, When a vehicle passes through an intersection, the vehicle information detection device detects information about surrounding vehicles traveling alongside the vehicle from the information collected about surrounding vehicles.

5. The apparatus for updating map information of a vehicle according to claim 1, wherein, The vehicle information detection device matches vehicles on a map based on their location information, and identifies the entry or driving status at intersections based on the information of the matched vehicles on the map.

6. The apparatus for updating map information of vehicles according to claim 1, wherein, The lane line analysis device analyzes whether the intersection entry lane line information obtained is the same as the intersection entry lane line information on the map.

7. The apparatus for updating map information of a vehicle according to claim 6, wherein, When the obtained intersection entry lane line information is different from the intersection entry lane line information on the map, the controller extracts the change points on the map based on the points where the obtained intersection entry lane line information and the intersection entry lane line information on the map are different.

8. The apparatus for updating map information of a vehicle according to claim 7, wherein, The controller updates the lane line information for change points on the map based on the obtained intersection entry lane line information.

9. The apparatus for updating map information of a vehicle according to claim 1, wherein, The reliability determination device obtains traffic congestion information based on the density of surrounding vehicles, and determines the reliability of lane line information based on the traffic congestion information.

10. A method for updating map information of vehicles, the method comprising: When a vehicle is traveling through an intersection, information about surrounding vehicles traveling alongside it is detected. Lane information is analyzed based on information about surrounding vehicles traveling alongside the vehicle. Determine the reliability of lane marking information; Based on the aforementioned reliability, change points on the map are extracted, and map information is updated based on these change points; The analysis of lane line information includes: Information on entry lanes at intersections is obtained based on the number of surrounding vehicles traveling alongside the vehicle.

11. The method for updating map information of a vehicle according to claim 10, wherein, Information about surrounding vehicles detected includes: When a vehicle enters an intersection, information about surrounding vehicles is collected from at least one sensor installed in the vehicle.

12. The method for updating map information of vehicles according to claim 11, wherein, The information about the surrounding vehicles includes the ID information of the surrounding vehicles as identified by the vehicle's camera.

13. The method for updating map information of vehicles according to claim 11, wherein, Information regarding the detection of surrounding vehicles further includes: When a vehicle passes through an intersection, information about other vehicles traveling alongside it is detected from the collected information about surrounding vehicles.

14. The method for updating map information of vehicles according to claim 10, wherein, Information about surrounding vehicles detected includes: Vehicles are matched on a map based on location information collected from vehicles, and the entry or driving status at intersections is identified based on the information of the matched vehicles on the map.

15. The method for updating map information of vehicles according to claim 10, wherein, The analysis of lane line information further includes: Analyze whether the obtained intersection entry lane line information is the same as the intersection entry lane line information on the map.

16. The method for updating map information of a vehicle according to claim 15, wherein, Updated map information includes: When the obtained intersection entry lane line information is different from the intersection entry lane line information on the map, the changed points on the map are extracted based on the points where the obtained intersection entry lane line information and the intersection entry lane line information on the map are different.

17. The method for updating map information of a vehicle according to claim 16, wherein, The updated map information further includes: The lane line information at the intersection entry lane is updated based on the obtained information about the lane lines at the change points on the map.

18. The method for updating map information of vehicles according to claim 10, wherein, Determining reliability includes: Traffic congestion information is obtained based on the density of surrounding vehicles, and the reliability of lane line information is determined based on the traffic congestion information.

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