Map information determination device, storage medium, and map information determination method

Abstract

Provided are a map information determination device, a storage medium, and a map information determination method. The map information determination device comprises: a correspondence unit for corresponding a plurality of first sections representing a first road included in a first map on which a vehicle's position is estimated to a second section representing a second road included in a second map used for vehicle travel, and for corresponding a section starting at a position on the second road closest to the starting point of the first section and having the same length as the first section in the direction from the starting point to the end point of the first section as the second section corresponding to the first section; a distance calculation unit for calculating a section adjacent distance between the end point of the second section and the starting point of another second section adjacent to the second section; and a section determination unit for determining that the position information of the first road included in the first section and the position information of the second road included in the second section are different when the section adjacent distance is greater than a threshold value.

Description

Technical Field

[0001] The present disclosure relates to a map information determination device, a storage medium storing a computer program for map information determination, and a map information determination method. Background Art

[0002] The automatic control device installed in the vehicle generates a navigation route for the vehicle based on the vehicle's current location, the vehicle's destination, and a navigation map. The automatic control device estimates the vehicle's current location using the position estimation map and controls the vehicle so that it follows the navigation route.

[0003] On a navigation map, a navigation route is represented by connecting multiple road segments via nodes. On a position estimation map, the navigation route used for automatic vehicle control is represented as a continuous series of multiple road segments based on the roads represented by the position estimation map. The vehicle's automatic control device associates the road segments representing the navigation route with the road segments represented by the position estimation map, and uses the road segments associated with the navigation route to estimate the vehicle's position, thereby automatically controlling the vehicle's driving.

[0004] For example, in patent document 1, an automatic driving system is proposed, comprising: a navigation device that searches for a path (navigation route) from the current position of the vehicle to the destination position; and a high-precision map unit that divides the path into multiple segment areas (road sections) based on the searched path and map information, and generates detailed information required for automatic control in detailed information corresponding to the multiple segment areas in units of segment areas.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-83446 Summary of the Invention

[0008] Maps are updated based on changes in real-world road locations, etc. Therefore, due to differences in map update timing, the road location information on navigation maps and the road location information on position estimation maps may differ. If the road location information on navigation maps differs from that on position estimation maps, there is a possibility that the vehicle cannot be safely controlled automatically.

[0009] Therefore, an object of the present disclosure is to provide a map information determination device capable of detecting a difference between position information of a road on a first map (eg, a position estimation map) and position information of a road on a second map (eg, a navigation map).

[0010] According to one embodiment, a map information determination device is provided. The map information determination device includes: a correspondence unit for correspondence between a second section represented by dividing a second road included in a second map, for each of a plurality of first sections represented by dividing a first road included in a first map, wherein the first map is a map used for estimating a vehicle position, and the second map is a map used during vehicle travel; the correspondence unit for correspondence between a section starting at a position on a second road closest to a start point of a predetermined first section and having the same length as the first section in a direction from the start point to the end point of the first section, as a second section corresponding to the first section; a distance calculation unit for calculating a section adjacent distance between an end point of a predetermined second section and a start point of another second section adjacent to the predetermined second section; and a section determination unit for determining, when the section adjacent distance is greater than a predetermined threshold value, that position information of the first road included in the first section and position information of the second road included in the second section corresponding to the first section are different.

[0011] In addition, in the map information determination device, it is preferred that the distance calculation unit calculates the interval adjacent distance between the end point of a predetermined second interval included in the second road representing the navigation route and the starting point of another second interval adjacent to the second interval, and the navigation route is generated based on the current position of the vehicle, the destination position and the second map.

[0012] In addition, in the map information determination device, it is preferred that the interval determination unit determines that the overall position information of the second road is different from the overall position information of the first road in the first map when the second road has a predetermined number or more isolated parts with an interval adjacent distance greater than a predetermined threshold.

[0013] Furthermore, in the map information determination device, it is preferable that the association unit determines the first section based on an inflection point of the first road.

[0014] Furthermore, in the map information determination device, it is preferred that the second road is associated with road information representing information related to the road, and the map information determination device includes an associating unit that associates the road information associated with an isolated portion of the second road between an end point of a second section and a starting point of another second section adjacent to the second section, with the first sections corresponding to the second sections located on both sides of the isolated portion.

[0015] According to another embodiment, a non-transitory storage medium storing a map information determination computer program is provided. The map information determination computer program causes a processor to: associate, with each of a plurality of first sections represented by dividing a first road included in a first map, a second section represented by dividing a second road included in a second map, wherein the first map is a map used for estimating a vehicle position, and the second map is a map used for vehicle travel, wherein a section starting at a position on a second road closest to a start point of a predetermined first section and having the same length as the first section in a direction from the start point to the end point of the first section is associated as a second section corresponding to the first section, calculate an interval adjacent distance between the end point of the predetermined second section and the start point of another second section adjacent to the predetermined second section, and determine that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different if the interval adjacent distance is greater than a predetermined threshold value.

[0016] According to another embodiment, a map information determination method is provided. The map information determination method causes a map information determination device to associate, for each of a plurality of first sections represented by dividing a first road included in a first map, a second section represented by dividing a second road included in a second map, wherein the first map is a map used for estimating a vehicle position, and the second map is a map used for vehicle travel, wherein a section starting at a position on a second road closest to a start point of a predetermined first section and having the same length as the first section in a direction from the start point to the end point of the first section is associated as a second section corresponding to the first section, and an interval adjacent distance is calculated between the end point of the predetermined second section and the start point of another second section adjacent to the predetermined second section, and if the interval adjacent distance is greater than a predetermined threshold, the method determines that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different.

[0017] The map information determination device according to the present disclosure can detect the difference between the position information of the road in the first map and the position information of the road in the second map, and thus can safely and automatically control the vehicle using the first map and the second map. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a diagram for explaining an overview of the operation of the vehicle control system according to the present embodiment.

[0019] Figure 2 It is a schematic configuration diagram of a vehicle in which the vehicle control system according to the present embodiment is installed.

[0020] Figure 3 This is a diagram illustrating a road link management table.

[0021] Figure 4 This is a diagram for explaining the road section management table.

[0022] Figure 5 This is an operational flowchart (part 1) related to the map information determination process of the vehicle control system according to the present embodiment.

[0023] Figure 6 This is a diagram (part 1) explaining the map information determination process of the vehicle control system.

[0024] Figure 7 This is a diagram illustrating a link section management table.

[0025] Figure 8 This is an operational flowchart (part 2) related to the map information determination process of the vehicle control system according to this embodiment.

[0026] Figure 9 This is an operation flow chart related to the association process of the vehicle control system according to this embodiment.

[0027] Figure 10 This is a diagram (part 1) illustrating the association process of the vehicle control system.

[0028] Figure 11 This is a diagram explaining how a road is divided into road sections.

[0029] Figure 12 This is a diagram (part 2) illustrating the association process of the vehicle control system.

[0030] Figure 13 This is an operational flowchart (part 3) related to the map information determination process of the vehicle control system according to this embodiment.

[0031] (Explanation of Reference Numerals)

[0032] 1: Vehicle control system; 2: Camera; 3: Positioning information receiver; 4: Navigation device; 5: User interface; 5a: Display device; 10: Vehicle; 11: Map information storage device; 12: Map information determination device; 13: Position estimation device; 14: Object detection device; 15: Driving lane planning device; 16: Driving planning device; 17: Vehicle control device; 18: In-vehicle network; 21: Communication interface; 22: Memory; 23: Processor; 231: Correspondence establishment unit; 232: Distance calculation unit; 233: Interval determination unit; 234: Association establishment unit. DETAILED DESCRIPTION

[0033] Figure 11 and 2 show a portion of a road 40 on a navigation map on a navigation route R and a corresponding road 30 on a position estimation map.

[0034] The roads in the navigation map are divided into multiple road segments, and two adjacent road segments are shown as connected via nodes. Figure 1 The road 40 on the navigation map on the navigation route R in FIG. 1 is also represented by connecting a plurality of road segments T1 to T3 with a plurality of nodes N1 to N4 .

[0035] The vehicle control system 1 estimates the current position of the vehicle 10. The road in the position estimation map is divided into a plurality of road sections, and one road is represented as a connection of a plurality of road sections. Figure 1 The road 30 in the position estimation map is also represented as a connection of road sections S1 to S6.

[0036] As described later, the map information determination device 12 of the vehicle control system 1 associates a road section (an example of a first section) of the road 30 on the position estimation map with a link section (an example of a second section) of the road 40 on the navigation map.

[0037] Below, refer to Figure 1 The following describes the association between road sections S1 to S6 and link sections C1 to C6 in the vehicle control system 1. The following describes the association between road section S1 and link section C1. Initially, a position U11 on the road 40 of the navigation map closest to the start point S11 of road section S1 on the road 30 on the position estimation map is determined as the start point. Next, a section on the road 40 of the navigation map, extending from the start point U11 in the direction from the start point S11 of road section S1 to the end point S12, having a length L1 from the start point S11 to the end point S12 of road section S1, is associated with the link section C1 corresponding to road section S1.

[0038] exist Figure 1 Similarly, road sections S2-S6 are associated with link sections C2-C6. As a result, a portion of road 40 on the navigation map is divided into multiple link sections C1-C6. This allows the portion of road 40 representing navigation route R to be represented as a concatenation of multiple link sections C1-C6, instead of road sections T1-T3. That is, while traveling along a predetermined link section of navigation route R, the vehicle control system 1 can estimate the current position of the vehicle 10 using the position estimation map for the road section corresponding to the link section.

[0039] However, there are cases where it is not always possible to use the position estimation map for the road section corresponding to the link section as is. For example, maps are updated based on changes in actual road locations. Therefore, due to differences in map update timing, the road position information on the navigation map and the position estimation map may differ.

[0040] Therefore, as described later, the map information determination device 12 of the vehicle control system 1 determines whether a road section (an example of a first section) representing a road 30 on the position estimation map differs from a road segment section (an example of a second section) on a road 40 on a corresponding navigation map. Thus, the vehicle control system 1 can detect differences between the position information of the roads on the position estimation map and the position information of the roads on the navigation map, thereby enabling safe automatic vehicle control using both the position estimation map and the navigation map. In particular, the vehicle control system 1 can verify whether the differences between the position estimation map and the navigation map are sufficiently small to not affect automatic vehicle control, thereby increasing the number of situations in which the vehicle can be automatically controlled using both the position estimation map and the navigation map.

[0041] Figure 2 This is a schematic diagram of a vehicle 10 equipped with a vehicle control system 1. Vehicle 10 includes a camera 2, a positioning information receiver 3, a navigation device 4, a user interface (UI) 5, a map information storage device 11, a map information determination device 12, a position estimation device 13, an object detection device 14, a driving lane planning device 15, a driving planning device 16, and a vehicle control device 17. Furthermore, vehicle 10 may include a ranging sensor (not shown) such as a LiDAR sensor for measuring the distance to surrounding objects.

[0042] The camera 2, the positioning information receiver 3, the navigation device 4, the UI 5, the map information storage device 11, the map information determination device 12, the position estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, and the vehicle control device 17 are communicatively connected via an in-vehicle network 18 in accordance with a standard such as a controller area network.

[0043] Camera 2 is an example of an imaging unit installed in vehicle 10. Camera 2 is mounted on vehicle 10 so as to face the front of vehicle 10. Camera 2 captures a camera image representing the environment of a predetermined area in front of vehicle 10, for example, at a predetermined interval. The camera image can include the road within the predetermined area in front of vehicle 10 and road features such as lane markings on the road surface. Camera 2 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as CCDs or C-MOSs, and an imaging optical system that forms an image of the area to be imaged on the two-dimensional detector.

[0044] Whenever the camera 2 captures a camera image, it outputs the camera image and the time at which the camera image was captured to the position estimation device 13 and the object detection device 14 via the in-vehicle network 18. The camera image is used by the position estimation device 13 to estimate the position of the vehicle 10. Furthermore, the camera image is used by the object detection device 14 to detect other objects around the vehicle 10.

[0045] The positioning information receiver 3 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 3 can be a GNSS receiver. Whenever the positioning information receiver 3 acquires positioning information at a predetermined reception cycle, it outputs the positioning information and the time at which the positioning information was acquired to the navigation device 4 and the map information storage device 11.

[0046] The navigation device 4 generates a navigation route R from the current location of the vehicle 10 to the destination location based on navigation map information, the destination location of the vehicle 10 input from the UI 5, and positioning information indicating the current location of the vehicle 10 input from the positioning information receiver 3. The navigation route R includes information regarding locations such as right turns, left turns, merges, and branching. In a navigation map, roads are represented by connecting multiple road segments using nodes. Each node and road segment is identified using identification information. For example, the locations of road segments and nodes are represented using a world coordinate system with a predetermined location as the origin. The navigation device 4 stores a road segment management table 70 that registers information on all road segments included in the navigation map. The road segment management table 70 will be described later. The navigation device 4 generates a new navigation route R for the vehicle 10 when a new destination location is set or when the current location of the vehicle 10 deviates from the navigation route R. Each time the navigation device 4 generates a navigation route R, it outputs it to the map information determination device 12, the position estimation device 13, and other devices via the in-vehicle network 18.

[0047] UI5 is an example of a notification unit. UI5 is controlled by the navigation device 4 and the vehicle control device 17, etc., and notifies the driver of the driving information of the vehicle 10. In addition, UI5 generates an operation signal corresponding to the operation of the vehicle 10 by the driver. The driving information of the vehicle 10 includes information related to the current and future paths of the vehicle, such as the current position of the vehicle and the navigation route. In order to display the driving information, UI5 has a display device 5a such as a liquid crystal display or a touch panel. In addition, UI5 can also have a sound output device (not shown) for notifying the driver of the driving information. In addition, in UI5, as an input device for the operation information input by the driver to the vehicle 10, there is, for example, a touch panel or an operation button. As the operation information, for example, the destination, the route, the vehicle speed and other control information of the vehicle 10 can be cited. UI5 outputs the input operation information to the navigation device 4 and the vehicle control device 17 via the in-vehicle network 18.

[0048] The map information storage device 11 stores a wide-area position estimation map covering a relatively wide area (e.g., a 10- to 30-km square) that includes the current position of the vehicle 10. This position estimation map contains three-dimensional road surface information, information indicating the types and locations of road features such as lane markings and structures on the road, and high-precision map information including legal speed limits. Roads are represented as a connection of multiple road sections. In terrain where multiple roads are connected, such as at branching points, converging points, and intersections, the road sections are preferably represented so that the branching points, converging points, or intersections are included in a single road section. Each road section is identified using identification information. For example, the position of a road section is represented using a world coordinate system with a predetermined location as the origin. The map information storage device 11 stores a road section management table 80 that registers information about the road sections included in the position estimation map. The road section management table 80 will be described later. For each road section, one or more lanes included in the road are associated with the road section. For example, the positions of lanes, road sections, and the like included in the position estimation map are expressed using a world coordinate system having a predetermined position as its origin.

[0049] Whenever positioning information is input from the positioning information receiver 3, the map information storage device 11 refers to the stored wide-area position estimation map and outputs the position estimation map of a relatively narrow area (for example, a range of 100m to 10km square) including the current position represented by the positioning information to the position estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, and the vehicle control device 17 via the in-vehicle network 18.

[0050] The map information determination device 12 performs a correspondence process in which a road segment indicated by road segmentation included in a navigation map used during vehicle 10 travel is associated with each of a plurality of road segments indicated by road segmentation included in a position estimation map used to estimate the position of the vehicle 10. Furthermore, the map information determination device 12 performs a segment distance calculation process in which the segment distance between the end point of a predetermined segment segment and the start point of another segment segment adjacent to the segment segment is calculated. Furthermore, the map information determination device 12 performs a determination process in which, if the segment distance is greater than a predetermined distance threshold, the position information of the road included in the road segment is determined to be different from the position information of the road included in the segment segment corresponding to the road segment. To this end, the map information determination device 12 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 includes an interface circuit for connecting the map information determination device 12 to the in-vehicle network 18.

[0051] All or part of the functions of the map information determination device 12 may be implemented as functional modules by a computer program running on the processor 23. The processor 23 includes a correspondence unit 231, a distance calculation unit 232, an interval determination unit 233, and an association unit 234. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may also include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit. The memory 22 is an example of a storage unit, and may include, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. Furthermore, the memory 22 stores computer programs and various data used in the information processing executed by the processor 23. The details of the operation of the map information determination device 12 will be described later.

[0052] The position estimation device 13 estimates the position of the vehicle 10 at the time the camera image was captured based on the road features surrounding the vehicle 10 shown in the camera image. For example, the position estimation device 13 compares the lane lines identified in the camera image with the lane lines shown on the position estimation map input from the map information storage device 11 to determine the estimated position and estimated heading of the vehicle 10 at the time the camera image was captured. Furthermore, the position estimation device 13 estimates the lane on the road in which the vehicle 10 was located based on the lane lines shown in the map information and the estimated position and estimated heading of the vehicle 10. Whenever the position estimation device 13 determines the estimated position, estimated heading, and lane of the vehicle 10 at the time the camera image was captured, it outputs this information to the object detection device 14, the lane planning device 15, the driving planning device 16, the vehicle control device 17, and the like.

[0053] The object detection device 14 detects other objects and their types (e.g., vehicles) around the vehicle 10 based on camera images. Other objects include other vehicles traveling around the vehicle 10. The object detection device 14 tracks the detected other objects and determines their trajectories. The object detection device 14 determines the lanes in which the other objects are traveling based on lane dividing lines and the positions of other objects indicated in map information. The object detection device 14 outputs object detection information, including information indicating the type of the detected other objects, information indicating their positions, and information indicating the lanes in which the other objects are traveling, to the lane planning device 15, the driving planning device 16, and other devices.

[0054] At a predetermined periodic driving lane plan generation time, the driving lane planning device 15 selects a lane within the road where the vehicle 10 is traveling, based on map information, the navigation route, surrounding environment information, and the current location of the vehicle 10, within the nearest driving section (e.g., 10 km) selected from the navigation route. The driving lane planning device 15 then generates a driving lane plan indicating the planned driving lane for the vehicle 10. For example, the driving lane planning device 15 generates the driving lane plan so that the vehicle 10 travels in a lane other than the passing lane. Each time the driving lane plan is generated, the driving lane planning device 15 outputs the generated driving lane plan to the driving planning device 16.

[0055] Furthermore, the driving lane planning device 15 determines whether a lane change is necessary in the nearest driving section selected from the navigation route R based on the map information, the navigation route R, and the current position of the vehicle 10. The driving lane planning device 15 may also utilize surrounding environment information or vehicle status information to determine whether a lane change is necessary. Surrounding environment information includes the positions and speeds of other vehicles traveling around the vehicle 10. Vehicle status information includes the current position, vehicle speed, acceleration, and direction of travel of the vehicle 10. Specifically, based on the navigation route R and the current position of the vehicle 10, the driving lane planning device 15 determines whether a lane change is necessary in order to move to a lane leading to the vehicle 10's destination. It determines whether the vehicle 10 is entering another road at a merging destination (merging) from the driving road it is currently traveling on, or whether the vehicle 10 is exiting another road at a branching destination (dividing) from the driving road. In merging and diverging, the vehicle moves from the lane of the driving road to the lane of another road, so a lane change is performed.

[0056] The driving planning device 16 performs driving planning processing. At driving plan generation times set at predetermined intervals, the driving planning device 16 generates a driving plan representing the planned driving trajectory of the vehicle 10 until a predetermined time (e.g., five seconds) has passed, based on the driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle status information. The driving plan is represented as a set of target positions of the vehicle 10 and target vehicle speeds at those target positions at each time point from the current time until the predetermined time has passed. The driving plan generation cycle is preferably shorter than the driving lane plan generation cycle. If the driving lane plan includes lane changes between lanes, the driving planning device 16 generates the driving plan so that a gap of at least a predetermined distance can be maintained between the vehicle 10 and other vehicles. If a gap of at least a predetermined distance cannot be maintained between the vehicle 10 and other vehicles even if the driving lane plan includes lane changes between lanes, the driving planning device 16 generates the driving plan so that the vehicle 10 stops. Every time the driving plan device 16 generates a driving plan, it outputs the driving plan to the vehicle control device 17 .

[0057] The vehicle control device 17 controls various components of the vehicle 10 based on the vehicle 10's current position, speed, and yaw rate, as well as the driving plan generated by the driving planning device 16, so that the vehicle 10 travels along the navigation route R. For example, the vehicle control device 17 calculates the vehicle 10's steering angle, acceleration, and angular acceleration based on the driving plan, the vehicle 10's speed, and yaw rate, and sets the steering amount, throttle opening, or braking amount to achieve the desired steering angle, acceleration, and angular acceleration. The vehicle control device 17 then outputs a control signal corresponding to the set steering amount to an actuator (not shown) controlling the vehicle 10's steering wheels via the in-vehicle network 18. Furthermore, the vehicle control device 17 calculates the fuel injection amount based on the set throttle opening, and outputs a control signal corresponding to the fuel injection amount to a drive device (not shown) such as the engine of the vehicle 10 via the in-vehicle network 18. Alternatively, the vehicle control device 17 outputs a control signal corresponding to the set braking amount to the vehicle 10's brakes (not shown) via the in-vehicle network 18.

[0058] Next, refer to Figure 3 , explaining the road section management table. Figure 3This figure illustrates an example of a road link management table. All road links included in the navigation map are registered in the road link management table 70. The road link management table 70 includes a road link ID column 71, a starting point location column 72, an end point location column 73, a link information column 74, and a navigation route formation information column 75. The road link ID column 71 contains the identification information for the road link. The starting point location column 72 contains the location information for the node that serves as the starting point of the road link. The end point location column 73 contains the location information for the node that serves as the end point of the road link. The link information column 74 contains information such as the identification information for the road represented by the road link, the location information for each coordinate indicating the path of the road link, and road information. Examples of road information include traffic information (e.g., VICS (registered trademark) information) and automatic control system availability information. Examples of traffic information include information on road obstacles, weather conditions, lane regulations, chain regulations, no-traffic restrictions, one-way regulations, and traffic lights. In the navigation route formation information column 75, information indicating whether a road segment is included in the road forming the navigation route R is registered (for example, "yes" when the road segment forms the navigation route, and "no" when the road segment does not form the navigation route). The road information is registered in the link information column 74 together with the position or section within the road segment associated with the road information. The navigation device 4 preferably receives road information from an external server via a base station through wireless communication via a wireless communication device (not shown) mounted on the vehicle 10, associates the road segment corresponding to the position included in the road information, and updates the link information column 74 of the road link management table 70 at a predetermined period. The navigation device 4 updates the navigation route formation information column 75 of the road link management table 70 each time the navigation route R is generated. Similarly, the navigation device 4 may also store a node management table in which information on nodes included in the navigation map is registered.

[0059] Next, refer to Figure 4 , explaining the road section management table. Figure 4This figure illustrates an example of a road segment management table. Road segment management table 80 registers multiple road segments included in the position estimation map. Road segment management table 80 includes a road segment ID column 81, a connection source ID column 82, a connection destination ID column 83, and a road segment information column 84. The road segment ID column 81 registers the identification information of the road segment. The connection source ID column 82 registers the identification information of the road segment's connection source. The connection destination ID column 82 registers the identification information of the road segment's connection destination. The road segment information column 84 registers information such as the identification information of the road represented by the road segment, the location of the road segment (position information indicating the coordinates of the road segment from the start point to the end point), lane information, and road information. Furthermore, information indicating the types and locations of road features such as lane dividing lines and structures on the road, as well as information such as the legal speed limit on the road, is also registered in the road segment information column 84. As will be described in detail later, the road segment information column 84 also registers road information for the road link corresponding to the road segment.

[0060] exist Figure 2 In the figure, the map information storage device 11, the map information determination device 12, the position estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, and the vehicle control device 17 are described as independent devices, but all or part of these devices can also be constituted into one device.

[0061] Figure 5 This is an example of an operation flow chart related to the map information determination process of the map information determination device 12 in the vehicle control system 1. The map information determination device 12 updates the position estimation map or the navigation map according to Figure 5 The action flow chart shown in FIG. 1 is used to execute the corresponding processing in the map information determination processing. Figure 5 , the following describes the corresponding processing of the map information determination device 12.

[0062] First, the association unit 231 of the map information determination device 12 of the vehicle control system 1 reads the position estimation map and the road segment management table 80 stored in the map information storage device 11 and performs the processing between steps S101 and S104 for each road segment included in the position estimation map. For example, the association unit 231 performs the processing between steps S101 and S104 in the order of the road segment IDs registered in the road segment management table 80.

[0063] First, the association unit 231 determines the position on the road of the navigation map that is closest to the starting point of the road section on the position estimation map as the starting point of the link section (step S102). Figure 6 , the following describes the process of establishing the corresponding unit 231. Figure 6 In the example shown, the road 30 has a straight portion and a curved portion, and the road 40 on the navigation map represents a portion of the navigation route R. Figure 6 and Figure 1 correspond.

[0064] exist Figure 6 In the example shown, the association unit 231 determines the location on the road 40 on the navigation map closest to the starting point S11 of the road segment S1 of the road 30 as the starting point U11 of the link segment. Alternatively, the association unit 231 may select the center location in the width direction of the connection source-side end of the road segment S1 as the starting point S11 of the road segment S1 of the road 30. On the navigation map, road segments are represented as a connection of coordinates (e.g., a world coordinate system) representing the road. The association unit 231 determines the location on the road segment closest to the starting point S11 of the road segment S1 as the location U11 on the road 40 represented by the road segment.

[0065] Similarly, the association unit 231 determines the position on the road 40 on the navigation map closest to the starting point S21 of the road segment S2 closest to the road 30 as the starting point U21 of the link segment. Furthermore, the association unit 231 determines the position on the road 40 on the navigation map closest to the starting point S31 of the road segment S3 closest to the road 30 as the starting point U31 of the link segment.

[0066] Furthermore, the association unit 231 determines the position on the road 40 on the navigation map that is closest to the starting point S41 of the road segment S4 closest to the road 30 as the starting point U41 of the link segment. Furthermore, the association unit 231 determines the position on the road 40 on the navigation map that is closest to the starting point S51 of the road segment S5 closest to the road 30 as the starting point U51 of the link segment. Furthermore, the association unit 231 determines the position on the road 40 on the navigation map that is closest to the starting point S61 of the road segment S6 closest to the road 30 as the starting point U61 of the link segment.

[0067] Next, the associating unit 231 associates a section having the same length as the road section in the direction from the start point toward the end point of the road section as a link section corresponding to the road section (step S103 ).

[0068] exist Figure 6In the example shown, the association unit 231 identifies a point along road link T1 from the start point S11 of road segment S1 toward the end point S12, which has the same length L1 as that of road segment S1, as the end point U12 of the link segment. Alternatively, the association unit 231 selects the center position in the width direction of the destination-side end of road segment S1 as the end point S12 of road segment S1 of road 30. The section between start point U11 and end point U12 is associated with link segment C1 corresponding to road segment S1. Link segment C1 is the section on the road segment from start point U11 to end point U12. Furthermore, the association unit 231 associates a section along road link T1 from the start point S21 of road segment S2 toward the end point S22, which has the same length L2 as that of road segment S2, as the link segment C2 corresponding to road segment S2. Link segment C2 is the section on the road segment from start point U21 to end point U22. Furthermore, the association unit 231 associates a section along road links T1 and T2, extending from the start point S31 of road section S3 toward the end point S32, with the same length L3 as that of road section S3, as a link section C3 corresponding to road section S3. Link section C3 is the section on the road section between the start point U31 and the end point U32.

[0069] Furthermore, the association unit 231 associates a section along road link T2 from the start point S41 of road segment S4 to the end point S42, having the same length L4 as road segment S4, as a link section C4 corresponding to road segment S4. Link section C4 is the section between the start point U41 and the end point U42 on the road segment. Furthermore, the association unit 231 associates a section along road links T2 and T3 from the start point S51 of road segment S5 to the end point S52, having the same length L5 as road segment S5, as a link section C5 corresponding to road segment S5. Link section C5 is the section between the start point U51 and the end point U52 on the road segment. Furthermore, the association unit 231 associates a section along road link T3 from the start point S61 of road segment S6 to the end point S62, having the same length L6 as road segment S6, as a link section C6 corresponding to road segment S6. The link section C6 is a section between the start point U61 and the end point U62 on the road section.

[0070] Next, the association unit 231 executes the processes of steps S102 and S103 for each of the other road sections included in the position estimation map, and then generates a link section management table in which information indicating the link section is registered (step S105). The link section management table is stored in the memory 22.

[0071] Figure 7 This figure illustrates an example of a link section management table. The link section management table 90 includes a link section ID column 91, a starting position column 92, an ending position column 93, a link section information column 94, a navigation route formation information column 95, a road section ID column 96, and a position estimation feasibility information column 97. The link section ID column 91 contains identification information for the link section. The starting position column 92 contains location information for the starting point of the link section. The ending position column 93 contains location information for the ending point of the link section. For example, the location information for the starting and ending points of the link section is expressed using a world coordinate system. The link section information column 94 contains information such as identification information for the road represented by the link section, along with location information for each coordinate representing the path of the link section. The identification information for the road represented by the link section is registered for the portion of the road that overlaps with the link section, within the link information for the road section whose interval overlaps with the link section. In the navigation route formation information column 95, information indicating whether the link section is included in the road forming the navigation route R is registered (e.g., "Yes" if the link section forms a navigation route, "No" if the link section does not form a navigation route). Also registered as information indicating whether the link section is included in the road forming the navigation route R is information indicating whether the road section overlapping the link section is included in the road forming the navigation route R. In the road section ID column 96, the road section ID associated with the link section is registered. In the position estimation availability information column 97, information indicating whether the current position of the vehicle 10 can be estimated using a position estimation map is registered for the road section associated with the link section (e.g., "Yes" if estimation is possible, "No" if estimation is not possible).

[0072] After the above-mentioned correspondence establishment process is completed, the map information determination device 12 executes the map information determination process, Figure 8 The interval distance calculation process and determination process shown in FIG. Figure 8 The interval distance calculation process and determination process shown in FIG. In addition, the map information determination device 12 performs the corresponding process every time the position estimation map or navigation map is updated, but it can also be performed in the process of Figure 8 Prior to the interval distance calculation process and the determination process shown, the association process is performed.

[0073] The map information determination device 12 executes the processing between steps S201 and S208 for each link section included in the road representing the navigation route R. For example, the map information determination device 12 refers to the link section management table 90 and selects link sections in the order of link section IDs registered in the navigation route formation information column 95 with "information indicating that the link section is included in the road forming the navigation route R," and executes the processing between steps S201 and S208.

[0074] First, the distance calculation unit 232 of the map information determination device 12 calculates the adjacent section distance between the end point of a link section selected from the link section management table 90 and the start point of another link section adjacent to the link section (step S202 ).

[0075] exist Figure 6 In the example shown, the distance calculation unit 232 calculates, for a link section C1 included in the road 40 representing the navigation route R, the adjacent distance D1 between the end point U12 of link section C1 and the start point U21 of another link section C2 adjacent to link section C1. This adjacent distance D1 represents the distance along the road segment separating link sections C1 and C2. This adjacent distance may be zero. Furthermore, for a link section C2 included in the road 40 representing the navigation route R, the distance calculation unit 232 calculates the adjacent distance D2 along the road segment between the end point U22 of link section C2 and the start point U31 of another link section C3 adjacent to link section C2.

[0076] Furthermore, the distance calculation unit 232 calculates, for a link section C3 included in the road 40 representing the navigation route R, the section adjacent distance D3 between the end point U32 of link section C3 and the start point U41 of another link section C4 adjacent to link section C3. Section adjacent distance D3 represents the distance along the road segment separating link sections C3 and C4. Furthermore, for a link section C4 included in the road 40 representing the navigation route R, the distance calculation unit 232 calculates the section adjacent distance D4 along the road segment between the end point U42 of link section C4 and the start point U51 of another link section C5 adjacent to link section C4. Furthermore, for a link section C5 included in the road 40 representing the navigation route R, the distance calculation unit 232 calculates the section adjacent distance D5 along the road segment between the end point U52 of link section C5 and the start point U61 of another link section C6 adjacent to link section C5.

[0077] Next, the section determination unit 233 of the map information determination device 12 determines whether the section adjacent distance is greater than a predetermined distance threshold (step S203 ).

[0078] If the interval adjacent distance is greater than the predetermined distance threshold (step S203 - "Yes"), the interval determination unit 233 determines that the position information of the roads included in the road interval determined in the position estimation map differs from the position information of the roads included in the link interval corresponding to the road interval in the navigation map (step S204). If the position information of the road interval differs from the position information of the corresponding link interval, the current position of the vehicle 10 cannot be estimated using the position estimation map in that road interval. This determination does not necessarily mean that the overall position information of the roads included in the road interval determined in the position estimation map differs from the overall position information of the roads included in the link interval corresponding to the road interval in the navigation map.

[0079] On the other hand, if the adjacent interval distance is less than the predetermined distance threshold (step S203 - "No"), the interval determination unit 233 determines that the position information of the road included in the position estimation map for the determined road interval is not different from the position information of the road included in the navigation map for the link interval corresponding to the road interval (step S206). If the position information of the road interval is not different from the position information of the corresponding link interval, the current position of the vehicle 10 can be estimated using the position estimation map for the road interval.

[0080] exist Figure 6 In the example shown, the segment determination unit 233 determines that the segment proximity distance D1 for link section C1 is less than or equal to the predetermined distance threshold. Therefore, the segment determination unit 233 refers to the link section management table 90 and registers information indicating that the current position of the vehicle 10 can be estimated using the position estimation map in the position estimation availability information column 97 associated with link section C1 (step S207). In the road segment S1 associated with "link section C1 for which information indicating that the current position of the vehicle 10 can be estimated using the position estimation map is registered in the position estimation availability information column 97," the current position of the vehicle 10 can be estimated using the position estimation map. Furthermore, the segment determination unit 233 also determines that the segment proximity distance D2 for link section C2 is less than or equal to the predetermined distance threshold. Therefore, the segment determination unit 233 refers to the link section management table 90 and registers information indicating that the current position of the vehicle 10 can be estimated using the position estimation map in the position estimation availability information column 97 associated with link section C2 (step S207).

[0081] Furthermore, regarding link section C3, the section determination unit 233 determines that the section adjacent distance D3 is less than the predetermined distance threshold. Therefore, the section determination unit 233 refers to the link section management table 90 and registers information indicating that the current position of the vehicle 10 can be estimated using the position estimation map in the position estimation availability information column 97 associated with link section C3 (step S207). Furthermore, regarding link section C4, the section determination unit 233 determines that the section adjacent distance D4 is less than the predetermined distance threshold. Therefore, the section determination unit 233 refers to the link section management table 90 and registers information indicating that the current position of the vehicle 10 can be estimated using the position estimation map in the position estimation availability information column 97 associated with link section C4 (step S207). On the other hand, regarding the road section C5, the section determination unit 233 determines that the section adjacent distance D5 is greater than the predetermined distance threshold, so referring to the road section management table 90, in the position estimation information column 97 associated with the road section C5, information indicating that the position estimation map cannot be used to estimate the current position of the vehicle 10 is registered (step S205).

[0082] When the road section is in a straight portion of the road 30, even if the position information of the road on the position estimation map is different from the position information of the road on the navigation map, the vehicle control system 1 can sometimes safely drive the vehicle 10 through automatic control by identifying road features such as lane dividing lines.

[0083] On the other hand, when the road section is in a curved portion of the road 30, if the position information of the road on the position estimation map is different from the position information of the road on the navigation map, the vehicle control system 1 may not be able to safely drive the vehicle 10 through automatic control even if it recognizes road features such as lane dividing lines.

[0084] Therefore, in the map information determination device 12, the predetermined distance threshold is preferably set so that, for example, it can be determined that the vehicle 10 can be safely driven under automatic control when the road 30 is straight, but may not be safely driven under automatic control when the road 30 is curved. This distance threshold is preferably set to a value greater than the width of the road. The position information of road links on the navigation map can fluctuate in the width direction of the road by a maximum of the width of the road. The distance threshold is preferably set appropriately according to the width of the road. Alternatively, the distance threshold may be set to a value greater than the maximum possible road width. For example, the distance threshold may be set to 100 meters.

[0085] As described above, the map information determination device 12 performs the processing between steps S201 and S208 for each of the link sections included in the road representing the navigation route R. As a result, the map information determination device 12 determines whether the current position of the vehicle 10 can be estimated using the position estimation map for each of the road sections associated with the link sections included in the road representing the navigation route R. As described above, for a road section associated with a "link section for which information indicating that the current position of the vehicle 10 can be estimated using the position estimation map is registered in the position estimation availability information field 97," the current position of the vehicle 10 can be estimated using the position estimation map.

[0086] When automatically controlling the driving of the vehicle 10, the driving planning device 16 of the vehicle control system 1 refers to the navigation route R and the road segment management table 90 to obtain information indicating the road segment corresponding to the predetermined road segment to be entered. The driving planning device 16 preliminarily determines whether the vehicle 10's current position can be estimated using the position estimation map for the predetermined road segment to be entered. If the driving planning device 16 determines that the vehicle 10's current position cannot be estimated using the position estimation map for the predetermined road segment to be entered, the driving planning device 16 notifies the driver, using, for example, the display device 5a of the UI 5, to switch the driving of the vehicle 10 from automatic control to manual control or hands-on control. This allows the driver to at least operate the steering wheel, and the vehicle 10 can travel in the road segment where the vehicle 10's current position cannot be estimated using the position estimation map.

[0087] Next, refer to Figure 9 The following describes the association process of the map information determination device 12 of the vehicle control system 1. Figure 8 After the processing shown, or at the time of establishing association with a predetermined period, execute Figure 9 In the association process, road information (traffic information or automatic control system availability information, etc.) associated with road links is associated with road sections included in the position estimation map.

[0088] The associating unit 234 of the map information determination device 12 performs the processing between steps S301 and S306 for each of the link sections included in the road representing the navigation route R. For example, the associating unit 234 refers to the road link management table 70 and selects road links in the order of the road link IDs registered in the navigation route formation information column 75 indicating that the road links are included in the road forming the navigation route R, and performs the processing between steps S301 and S306.

[0089] First, the associating unit 234 refers to the link information column 74 of the road link management table 70 for the selected road link, and determines whether the selected road link has road information (step S302 ).

[0090] If the road link has road information (step S302 - "Yes"), the association unit 234 refers to the road link management table 70 and the link section management table 90 to determine whether the location or section within the road link to which the road information is associated is included in the isolation portion between adjacent link sections (step S303). Specifically, the association unit 234 refers to the link information column 74 of the road link management table 70 to obtain the location or section within the road link to which the road information is associated (hereinafter referred to as the road information location). The association unit 234 then refers to the start position column 92 and end position column 93 of the link section management table 90 to determine whether a link section ID exists that includes the road information location. If a link section ID exists that includes the road information location, the association unit 234 determines that the road information location is not included in the isolation portion (step S303 - "No"). In other words, the road information location is included in any link section. On the other hand, if there is no link section ID including the road information position, the associating unit 234 determines that the road information position is included in the isolated portion (step S303 —Yes). In other words, the road information position is not included in any link section.

[0091] If the road information location is not included in the isolated portion, the associating unit 234 associates the road information for the road link with the portion of the road section corresponding to the road information location (step S304). The associating unit 234 references the link section management table 90 and obtains the road section ID associated with the link section ID retrieved in step S303. The associating unit 234 references the road section management table 80 and registers the road information and road location information for the selected road link in the road section information column 84 associated with the obtained road section ID.

[0092] exist Figure 6 In the illustrated example, the associating unit 234 associates the road information and road position information of the selected road link T1 with the road section S2 .

[0093] When automatically controlling the driving of the vehicle 10, the driving planning device 16 of the vehicle control system 1 determines that the current position of the vehicle 10 can be estimated using the position estimation map for a predetermined road section to be entered. The driving planning device 16 then refers to the road section management table 80 to determine whether road information exists for the road section. If the road section contains road information, the driving planning device 16 refers to the road section information column 84 of the road section management table 80 and obtains the road information registered therein. The driving planning device 16 can change the control of the vehicle 10 based on the type of road information. For example, if the road information includes road obstacles, weather, lane restrictions, or chain restrictions, the driving planning device 16 notifies the driver of a request to manually control the vehicle 10 using the display device 5a of the UI 5. Furthermore, if the road information includes no-passing, one-way traffic, or traffic light restrictions, the driving planning device 16 notifies the driver of a request to change the driving of the vehicle 10 from automatic control to manual control using the display device 5a of the UI 5.

[0094] On the other hand, if the road information location is included in the isolated portion, the associating unit 234 references the link section management table 90 and obtains the link section IDs of the two link sections located on either side of the isolated portion. The road information for the selected road segment is associated with the portion of the road segment on the navigation map between the end point of the link section adjacent to the isolated portion and the start point of another link section adjacent to the existing link section. The associating unit 234 then references the link section management table 90 and obtains the road section IDs associated with the link section IDs of the two link sections located on either side of the isolated portion. The associating unit 234 then associates the road information for the selected road segment with the road sections on the position estimation map corresponding to each of the link sections located on either side of the isolated portion of the road segment on the navigation map (step S305). Specifically, the associating unit 234 references the road section management table 80 and registers the road information for the selected road segment in the road section information column 84 associated with the two obtained road section IDs.

[0095] exist Figure 6 In the example shown, the associating unit 234 associates the road information for the selected road link T3 with road sections S5 and S6 on the position estimation map corresponding to two road section sections C5 and C6 located on either side of the isolated portion separated by a distance D5 between adjacent sections. This allows the road information for the road link to be associated with the road sections even if the position information for the roads on the position estimation map differs from the position information for the roads on the navigation map.

[0096] Figure 10This figure shows an example of association processing when the road information location is included in an isolated portion. On the navigation map, navigation route R branches from road segment T4 representing road 41 to road segment T6 representing road 42 at node N6. On the position estimation map, the corresponding terrain is represented by road 32 branching off from road 31.

[0097] Here, the selected road link T6 has road information located in a section separated by a distance D6 between adjacent sections. The associating unit 234 associates the road information for the selected road link T6 with road sections S8 and S10 on the position estimation map corresponding to two link sections C8 and C9 located on either side of the section separated by the distance D6 between adjacent sections.

[0098] When the road link does not have road information (step S302 —No), the process proceeds to step S306 , and the processes between step S301 and step S306 are performed on the next road link.

[0099] The associating unit 234 performs the processing between steps S301 and S306 for each of the other link sections included in the road representing the navigation route R, thereby associating the road information of the road link with the road section of the position estimation map.

[0100] As described above, the map information determination device associates each of a plurality of first sections represented by dividing a first road included in a first map used for estimating a vehicle's position (e.g., a position estimation map) with a second section represented by dividing a second road included in a second map used for driving the vehicle (e.g., a navigation map). Furthermore, the map information determination device associates a section starting at a position on the second road closest to the start point of a predetermined first section and having the same length as the first section in the direction from the start point to the end point of the first section as the second section corresponding to the first section. Furthermore, the map information determination device calculates the section proximity distance between the end point of the predetermined second section and the start point of another second section adjacent to the predetermined second section. If the section proximity distance is greater than a predetermined threshold, the map information determination device determines that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different. Thus, the map information determination device can detect differences between the position information of roads in the first map and the position information of roads in the second map, thereby enabling safe automatic control of the vehicle using both the first and second maps. In particular, the map information determination device can detect whether the difference between the first and second maps is such that it does not affect automatic control of the vehicle, thereby increasing the number of situations in which automatic control of the vehicle can be performed using both the first and second maps.

[0101] In this disclosure, the map information determination device, map information determination computer program, and map information determination method of the above-described embodiments may be modified as appropriate without departing from the spirit of this disclosure. Furthermore, the technical scope of this disclosure is not limited to these embodiments and also includes the inventions described in the claims and their equivalents.

[0102] For example, in the above embodiment, the road included in the position estimation map is pre-divided into road sections of predetermined lengths, but the method of dividing the road included in the position estimation map into a plurality of road sections is not limited to this. For example, the association unit 231 of the map information determination device 12 may also be as follows: Figure 11 As shown in FIG, for a road included in a position estimation map, a road section is determined based on the turning point of the road. Figure 11 In the position estimation map, a portion of road 33 has two inflection points Q1 and Q2 along the widthwise center line A of road 33. The association unit 231 divides a portion of road 34 into three road sections S11, S12, and S13 based on inflection points Q1 and Q2: a section before inflection point Q1, a section between two adjacent inflection points Q1 and Q2, and a section after inflection point Q2.

[0103] Furthermore, in the above embodiment, the road information associated with the isolated portion is associated with the road sections corresponding to the road segments on both sides of the isolated portion of the navigation road. However, this association method is not limited to this. For example, the associating unit 234 may associate the road information associated with the isolated portion of the road on the navigation map with the road sections corresponding to the road segments that include the isolated portion.

[0104] exist Figure 12 The example shown shows another example of the association process when the road information position is included in the isolated portion. Figure 12 The terrain and Figure 11 Corresponding. The selected road section T6 of the road 42 has road information located in an isolated portion having an interval adjacent distance D6. The association unit 234 associates the road information of the isolated portion of the road 42 on the navigation map with the road section S8 and the road section S10 corresponding to the road section T6 including the isolated portion of the road 42. Specifically, the road information of the isolated portion of the road section T6 is associated with the portion of the road section S8 corresponding to the interval between the node N6 in the road section T6 and the isolated portion. In addition, the road information of the isolated portion of the road section T6 is also associated with the portion of the road section S10 corresponding to the interval between the isolated portion in the road section T6 and the node N8. In addition, in Figure 12In the example shown, the section between the isolated portion of the road segment T6 and the node N8 corresponds to the entire road section S10 .

[0105] In addition, when a road on a navigation map has a predetermined number or more of isolated sections where the adjacent distance between sections is greater than a predetermined distance threshold, the interval determination unit 233 of the map information determination device 12 may determine that the overall position information of the road on the position estimation map is different from the overall position information of the road on the navigation map.

[0106] Figure 13 This is an operation flow chart of the section determination unit 233 of the map information determination device 12. The section determination unit 233 can also Figure 9 After the processing shown, execute Figure 13 The processing shown.

[0107] The section determination unit 233 performs the processing between steps S401 and S407 for each road included in the position estimation map. For example, the section determination unit 233 refers to the road section information column 84 of the road section management table 80, sequentially selects a road included in the position estimation map, and performs the processing between steps S401 and S407 for the selected road.

[0108] First, regarding the selected road, the section determination unit 233 refers to the road section management table 80 and obtains the number of road sections included in the selected road for which position estimation is registered as un-estimable in the position estimation availability information column 85 (step S402 ).

[0109] Next, the section determination unit 233 determines whether the number of road sections registered as position-impossible sections for the selected road on the position estimation map is equal to or greater than a predetermined number (step S403 ).

[0110] When the number of road sections registered as unpositionable is greater than a predetermined number (step S403-"Yes"), the section determination unit 233 determines that the overall position information of the road on the position estimation map and the overall position information of the road on the navigation map are different for the selected road (step S404).

[0111] Next, the section determination unit 233 determines that automatic control using the position estimation map is not possible for the selected road on the position estimation map (step S405). When the driving planning device 16 of the vehicle control system 1 is automatically controlling the driving of the vehicle 10, if it is determined that automatic control using the position estimation map is not possible for the road to be entered, the driver is notified to switch the driving of the vehicle 10 from automatic control to manual control before entering the road.

[0112] On the other hand, when the number of road sections registered as unpositionable is less than the predetermined number (step S403-"No"), with respect to the road selected on the position estimation map, the section determination unit 233 determines that the position information of the road on the position estimation map and the position information of the road on the navigation map are not different (step S403).

[0113] The segment determination unit 233 performs the processing between steps S401 and S407 for each road included in the position estimation map, thereby determining whether automatic control using the position estimation map is possible for each road included in the position estimation map. Consequently, the map information determination device 12 can determine that automatic control using the position estimation map is not possible for the entire road, if it includes a predetermined number or more of road segments where automatic control using the position estimation map is not possible. Furthermore, when driving on such a road, the map information determination device 12 notifies the driver that the vehicle 10 is being switched from automatic control to manual control, thereby reducing the burden on the driver compared to notifying the driver for each road segment.

Claims

1. A map information determination device comprising: a corresponding section that corresponds, for each of a plurality of first sections represented by dividing a first road included in a first map, a second section represented by dividing a second road included in a second map, the first map being a map used for estimating a position of a vehicle, the second map being a map used during travel of the vehicle, the corresponding section corresponding to a section having the same length as the first section in a direction from the starting point of the first section toward an end point, the section starting from a position on the second road closest to a predetermined starting point of the first section as the second section corresponding to the first section; a distance calculation unit that calculates a predetermined interval adjacent distance between an end point of the second interval and a start point of another second interval adjacent to the predetermined second interval; and The section determination unit determines that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different when the section adjacent distance is greater than a predetermined threshold.

2. The map information determination device according to claim 1, wherein: The distance calculation unit calculates an interval adjacent distance between an end point of a predetermined second interval included in the second road representing a navigation route generated based on the current position of the vehicle, a destination position, and the second map and a starting point of another second interval adjacent to the second interval.

3. The map information determination device according to claim 1 or 2, wherein: The section determination unit determines that the overall position information of the second road is different from the overall position information of the first road on the first map when the second road has a predetermined number or more of isolated portions having the section adjacent distance greater than the predetermined threshold.

4. The map information determination device according to any one of claims 1 to 3, wherein: The association unit determines the first section based on an inflection point of the first road.

5. The map information determination device according to any one of claims 1 to 4, wherein: The second road is associated with road information indicating information related to the road. The map information determination device includes an associating unit that associates road information associated with an isolated portion of the second road between the end point of the second section and the starting point of another second section adjacent to the second section, with the first sections corresponding to the second sections located on both sides of the isolated portion.

6. A computer-readable non-transitory storage medium storing a map information determination computer program, the map information determination computer program causing a processor to execute: A second section represented by dividing a second road included in a second map is associated with each of a plurality of first sections represented by dividing a first road included in a first map, wherein the first map is a map used for estimating a position of a vehicle and the second map is a map used while the vehicle is traveling, wherein: Associating a section having the same length as the first section in the direction from the start point to the end point of the first section, which has a position on the second road closest to the start point of the first section as the start point, as the second section corresponding to the first section, calculating the interval adjacent distance between the predetermined end point of the second interval and the starting point of another second interval adjacent to the second interval, When the section adjacent distance is greater than a predetermined threshold, it is determined that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different.

7. A map information determination method executed by a map information determination device, comprising: A second section represented by dividing a second road included in a second map is associated with each of a plurality of first sections represented by dividing a first road included in a first map, wherein the first map is a map used to estimate a position of a vehicle and the second map is a map used during travel of the vehicle, wherein an section having the same length as the first section in a direction from the starting point of the first section toward the end point, starting from a position on the second road closest to a predetermined starting point of the first section, is associated as the second section corresponding to the first section. calculating the interval adjacent distance between the predetermined end point of the second interval and the starting point of another second interval adjacent to the second interval, When the section adjacent distance is greater than a predetermined threshold, it is determined that the position information of the first road included in the first section and the position information of the second road included in the second section corresponding to the first section are different.

Images