Map data updating device and map data updating method

Abstract

The present invention aims to provide a technique for reducing the data size of a file for managing updates of a mesh file. In a map data updating device, a specific mesh file is updated based on an update necessity management file and a mesh ID of the specific mesh file, wherein the update necessity management file has a bit array with a plurality of bit positions corresponding to the mesh IDs of a plurality of mesh files, and 1-bit flag information indicating whether the mesh file needs to be updated is stored in a position corresponding to the mesh ID of the mesh file in the bit array.

Description

Technical Field

[0001] The present disclosure relates to a map data updating device and a map data updating method. Background Art

[0002] In vehicle-mounted terminals such as navigation devices, a map database (hereinafter, the database is sometimes referred to as "DB") containing data on roads on a map is used. In order to reflect the latest road conditions in the real world in the map DB of the vehicle-mounted terminal, various technologies have been proposed in which a map DB distribution server distributes (sends) the latest map DB to the vehicle-mounted terminal, and the vehicle-mounted terminal updates the map DB based on the map DB from the map DB distribution server. In this technology, when the map DB of the map DB distribution server is updated regularly or irregularly, the map DB is stored in the map DB distribution server, and each time a new version of the map DB is generated, the corresponding version of the map DB is distributed.

[0003] The whole country or a specific range of the map DB is represented by a collection of multiple areas obtained by dividing the range into specific rectangles called parcels. When the vehicle-mounted terminal updates the map DB, it requests a version upgrade (version update) of the map DB from the map DB distribution server, and updates to the latest map DB at the time of distribution from the map DB distribution server. Patent document 1 proposes a structure for storing a version upgrade list (version upgrade management file) in which a flag indicating whether each version has been updated is listed for each parcel.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2012 / 095974 Summary of the invention

[0007] Technical problem to be solved by the invention

[0008] In recent years, there has been a demand for updating only necessary mesh files to the latest mesh files in real time, rather than updating all mesh files for a plurality of mesh files representing maps within a plurality of mesh areas.

[0009] However, in the existing map data updating device, the data size of the file for managing the update of the mesh file is relatively large, so there is a problem that the real-time performance of the mesh file update is impaired. In particular, in order to maintain the high accuracy of the high-precision map DB containing the road shape in units of lanes, this real-time performance is very important in ADAS (Advanced Driver Assistance System) and AD (Automated Driving) where mesh files are frequently updated.

[0010] Therefore, the present disclosure has been made in view of the above-mentioned problems, and an object thereof is to provide a technology capable of reducing the data size of a file for managing update of a mesh file.

[0011] Technical means for solving technical problems

[0012] The map data updating device involved in the present disclosure is a map data updating device for updating multiple grid files corresponding to one or more of multiple grids obtained by selectively updating and dividing map data through communication with a server, and includes: a storage unit, in which an update necessity management file is stored, the update necessity management file has a bit array with multiple bit positions corresponding to grid IDs of multiple grid files, and 1-bit flag information indicating whether the grid file needs to be updated is stored at a position corresponding to the grid ID of the grid file in the bit array; and an updating unit, which updates a specific grid file according to the grid ID of a specific grid file determined to be used by a vehicle among the multiple grid files and the update necessity management file, and updates the update necessity management file according to the update result of the specific grid file and the reception information received from the server.

[0013] Effects of the Invention

[0014] According to the present disclosure, an update necessity management file is used, the update necessity management file has a bit array in which a plurality of bit positions correspond to the grid IDs of a plurality of grid files, and 1-bit flag information indicating whether a grid file needs to be updated is stored in a position corresponding to the grid ID of the grid file in the bit array. According to such a structure, the data size of the file for managing the update of the grid file can be reduced.

[0015] The objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a block diagram showing the structure of the map DB updating device according to the first embodiment.

[0017] Figure 2This is a diagram showing a data example of the update necessity management file according to the first embodiment.

[0018] Figure 3 This is a block diagram showing the structure of the vehicle-mounted terminal involved in the second embodiment.

[0019] Figure 4 This is a diagram showing the relationship between the mesh area, mesh file, and version management file involved in the second embodiment.

[0020] Figure 5 This is a diagram showing various files stored in the in-vehicle terminal and the map DB distribution server.

[0021] Figure 6 This is a flowchart showing the operation of the vehicle-mounted terminal involved in the second embodiment.

[0022] Figure 7 This is a flowchart showing the operation of the vehicle-mounted terminal involved in the second embodiment.

[0023] Figure 8 This is a flowchart showing the operation of the vehicle-mounted terminal involved in the second embodiment.

[0024] Fig. 9 This is a diagram showing an operation example of the vehicle-mounted terminal involved in the second embodiment.

[0025] Fig.10 This is a diagram showing an operation example of the vehicle-mounted terminal involved in the second embodiment.

[0026] Fig.11 This is a diagram showing a data example of an update necessity management file according to the second embodiment.

[0027] Fig.12 This is a flowchart showing the operation of the vehicle-mounted terminal according to the fourth variation of the second embodiment.

[0028] Fig.13 This is a block diagram showing the structure of a vehicle control device according to the third embodiment.

[0029] Fig.14 This is a diagram showing the mesh area involved in Implementation Example 3.

[0030] Fig.15 This is a flowchart showing the operation of the vehicle control device according to the third embodiment.

[0031] Fig.16 This is a flowchart showing the operation of the vehicle control device according to the third embodiment.

[0032] Fig.17 This is a flowchart showing the operation of the vehicle control device according to the third embodiment.

[0033] Fig.18 This is a diagram showing a mesh area according to a second variation of the third embodiment.

[0034] Fig.19 This is a block diagram showing the structure of a vehicle control device according to a fourth embodiment.

[0035] Fig. 20 It is a block diagram showing a hardware configuration of a map DB updating device according to another modification.

[0036] Fig.21 It is a block diagram showing a hardware configuration of a map DB updating device according to another modification. DETAILED DESCRIPTION

[0037] <Implementation Method 1>

[0038] Figure 1 This is a block diagram showing the configuration of a map DB updating device 1 which is a map data updating device according to the first embodiment.

[0039] The map DB updating device 1 can be moved together with the vehicle by being installed in the vehicle or brought into the vehicle, for example. In the following description, a vehicle that can move together with the map DB updating device 1 and becomes the object of attention is referred to as a "host vehicle".

[0040] A map DB as map data is stored in the vehicle or the map DB updating device 1. The map DB is divided into a plurality of grids, and a plurality of grid files correspond to one or more grids, respectively. That is, one grid file is equivalent to a part of the map DB. In the following description, it is described that one grid file is equivalent to the range of one rectangular grid, but it can also be equivalent to the range of multiple rectangular grids.

[0041] In the map DB distribution server 61 as a server, the grid files of the map DB are updated appropriately, and the updated grid files are distributed from the map DB distribution server 61 to the map DB updating device 1 in response to a request from the map DB updating device 1. The map DB updating device 1 selectively updates a plurality of grid files by communicating with such a map DB distribution server 61. Here, selectively updating a plurality of grid files means updating at least one of the plurality of grid files.

[0042] Figure 1 The map DB updating device 1 includes a storage unit 11 and an updating unit 12. The storage unit 11 stores an update necessity management file.

[0043] Figure 21 is a diagram showing a data example of an update necessity management file. The update necessity management file has a bit array. In the bit array, positions of a plurality of bits correspond to mesh IDs for identifying a plurality of mesh files.

[0044] exist Figure 2 In FIG. 1 , a map DB is divided into 8 grid files, and the 8 grid files are identified by grid IDs [1] to [8]. Grid ID [1] corresponds to the position of the leftmost bit, grid ID [2] corresponds to the position of the right adjacent bit, and grid ID [8] corresponds to the position of the rightmost bit. Figure 2 In FIG. 1 , the bit position and the mesh ID are associated with each other so that the mesh ID increases as the bit position increases from left to right. However, these associations may be appropriately changed in consideration of the efficiency of data storage in the map DB updating device 1 .

[0045] In the update necessity management file, the 1-bit flag information indicating whether the mesh file needs to be updated, i.e., the update necessity flag, is stored in the position corresponding to the mesh ID of the mesh file in the above-mentioned bit array. For example, assuming that the 1-bit value of the update necessity flag is "1" to indicate that the update is required, and the 1-bit value of the update necessity flag is "0" to indicate that the update is not required. In this case, Figure 2 In the case where the update flag with a value of "0" is stored at the position corresponding to the mesh ID [1], it is indicated that the mesh file of the mesh ID [1] does not need to be updated. Figure 2 In the data file, an update necessity flag having a value of "1" is stored in the position corresponding to mesh ID [2], indicating that the mesh file of mesh ID [2] needs to be updated.

[0046] Here, the mesh file determined to be used by the host vehicle among the plurality of mesh files is referred to as a “specific mesh file.” The specific mesh file may be one mesh file or a plurality of mesh files. Figure 1 The updating unit 12 updates the specific mesh file stored in the own vehicle or the map DB updating device 1 based on the mesh ID of the specific mesh file and the update necessity management file.

[0047] For example, in Figure 2In the example, it is assumed that the mesh files of mesh IDs [1] to [4] are specific mesh files, and the mesh files of mesh IDs [5] to [8] are not specific mesh files. In this case, among mesh IDs [1] to [4], the mesh IDs for which the update necessity flag ("1") is set are mesh IDs [2] and [4]. Therefore, the update unit 12 receives new mesh files of mesh IDs [2] and [4] from the map DB distribution server 61. Then, the update unit 12 updates the specific mesh files (mesh files of mesh IDs [2] and [4]) stored in the vehicle or the map DB update device 1 with the received mesh files.

[0048] Furthermore, the updating unit 12 updates the update necessity management file based on the update result of the specific mesh file and the reception information received from the map DB distribution server 61 .

[0049] For example, in Figure 2 When an update such as the above example is performed in the update necessity management file, the update unit 12 updates the update necessity flags of the mesh IDs [2] and [4] in the update necessity management file from requiring update (“1”) to not requiring update (“0”).

[0050] For example, when the received information from the map DB distribution server 61 indicates that the mesh file of mesh ID [3] is updated, the update unit 12 Figure 2 The update necessity flag of the grid ID [3] in the update necessity management file is updated from not requiring update ("0") to requiring update ("1").

[0051] <Summary of Implementation Method 1>

[0052] Conventionally, as a file for managing updates of mesh files, a file that associates mesh IDs with mesh file versions is used. However, as the number of mesh files or the number of versions increases, the mesh ID numbers and the number of versions increase, which increases the data size of the files.

[0053] In contrast, the map DB updating device 1 according to the first embodiment uses an update necessity management file, which has a bit array in which a plurality of bit positions correspond to the grid IDs of a plurality of grid files, and a 1-bit flag information indicating whether a grid file needs to be updated is stored in the bit array at a position corresponding to the grid ID of the grid file. According to such a structure, the data size of the file for managing the update of the grid file can be reduced, the opening / closing time of the update necessity management file can be shortened, and the calculation time can be shortened. As a result, the real-time performance of the update of the grid file can be improved.

[0054] Furthermore, conventionally, when several mesh files are updated by the map DB distribution server 61, all of these mesh files are also updated in the vehicle. However, such an update has a problem of consuming a large amount of CPU (Central Processing Unit) resources and memory resources of the vehicle.

[0055] In contrast, in the first embodiment, the specific mesh files that are determined to be used in the vehicle among the mesh files updated by the map DB distribution server 61 are updated based on the update necessity management file. This can suppress the update of mesh files that are not very necessary, thereby reducing the consumption of CPU resources and memory resources of the vehicle. As a result, the real-time performance of the update of the mesh files can be improved.

[0056] <Implementation Method 2>

[0057] Figure 3 This is a block diagram showing the structure of the vehicle-mounted terminal 31a or the like having a map data updating device, i.e., a map DB updating device 1, according to Embodiment 2. In the following, among the structural elements according to Embodiment 2, the same or similar structural elements as the above-mentioned structural elements are denoted by the same or similar reference numerals, and mainly the different structural elements are described.

[0058] The in-vehicle terminal 31a communicates with the map DB distribution server 61 via the communication terminal 62. The map DB distribution server 61 is the same as the map DB distribution server 61 of Embodiment 1. However, the map DB distribution server 61 according to Embodiment 2 manages a version management file described later.

[0059] The in-vehicle terminal 31 a uses a map DB, and the map DB is updated as appropriate by the map DB updating device 1 . Figure 3 The vehicle-mounted terminal 31a includes not only the map DB updating device 1, but also includes a map DB storage unit 32 as a map data storage unit, a satellite positioning device 33, a vehicle sensor 34, a vehicle position detection unit 35 as a vehicle position detection unit, a map DB access unit 36 ​​as a map data access unit, and a map application 37.

[0060] A plurality of grid files are stored for the map DB as map data in the map DB storage unit 32. In the second embodiment, one grid file corresponds to the range of one rectangular grid, but the present invention is not limited to this.

[0061] In the second embodiment, the map DB of the map DB storage unit 32 includes, for example, a normal-precision map DB as normal-precision map data and a high-precision map DB as high-precision map data with higher precision than the normal-precision map DB. The normal-precision map DB is, for example, a map DB including the shape of a road centerline with an error of several meters. The high-precision map DB is, for example, a map DB including the shape of a lane centerline with an error of several centimeters.

[0062] The satellite positioning device 33 is, for example, a GNSS (Global Navigation Satellite System) receiver such as a GPS (Global Position System) receiver, and acquires positioning data indicating the position of the host vehicle measured by a satellite.

[0063] The vehicle sensor 34 detects sensor information of the vehicle, such as a vehicle speed pulse or acceleration of the vehicle. The vehicle sensor 34 may include a device for detecting the state of the surroundings of the vehicle.

[0064] The vehicle position detection unit 35 detects the position of the vehicle based on the positioning data acquired by the satellite positioning device 33 and the sensor information detected by the vehicle sensor 34. The vehicle position detection unit 35 may also perform map matching processing on the position of the vehicle based on the road shape included in the map DB of the map DB storage unit 32.

[0065] The map DB access unit 36 ​​determines the grid file requested from the map application 37 among the plurality of grid files stored in the map DB storage unit 32 as the specific grid file described in the first embodiment. Then, the map DB access unit 36 ​​outputs a map update request for the specific grid file to the map DB update unit 12a of the map DB update device 1. The map DB update unit 12a that receives the map update request performs processing to appropriately update the specific grid file. In the processing performed by the map DB update unit 12a, the specific grid file of the map DB storage unit 32 is sometimes updated and sometimes not updated. The map DB access unit 36 ​​reads the processed specific grid file from the map DB storage unit 32 and outputs it to the map application 37.

[0066] The map application 37 is an application that uses a mesh file of the map DB, and requests a mesh file from the map DB access unit 36 ​​according to the position of the host vehicle detected by the host vehicle position detection unit 35. The map application 37 uses, for example, a navigation application, an ADAS application, and an AD application.

[0067] <Map DB Update Device>

[0068] Figure 3The map DB updating device 1 includes an update necessity management information storage unit 11 a , a map DB updating unit 12 a , a communication I / F (interface) unit 13 , and a new update information storage unit 14 . Figure 3 The update necessity management information storage unit 11a includes Figure 1 In the concept of the storage unit 11, Figure 3 The map DB updating unit 12a is included in Figure 1 In the concept of update section 12.

[0069] The update necessity management information storage unit 11 a stores an update necessity management file similar to the update necessity management file described in the first embodiment.

[0070] When receiving a map update request for a specific mesh file from the map DB access unit 36, the map DB update unit 12a determines whether to update the specific mesh file of the map DB storage unit 32 based on the mesh ID of the specific mesh file and the update necessity management file. When determining to update the specific mesh file, the map DB update unit 12a receives a new mesh file corresponding to the specific mesh file from the map DB distribution server 61 via the communication I / F unit 13. Then, the map DB update unit 12a updates the specific mesh file of the map DB storage unit 32 with the received mesh file. In addition, the map DB update unit 12a updates the update necessity management file based on the update result of the specific mesh file and the reception information received from the map DB distribution server 61 via the communication I / F unit 13.

[0071] The communication I / F unit 13 controls the communication of the communication terminal 62 and communicates with the map DB distribution server 61. Hereinafter, the case where any component of the map DB updating device 1 transmits or receives data to or from the map DB distribution server 61 via the communication I / F unit 13 or the like may be referred to as the case where the component transmits or receives data to or from the map DB distribution server 61.

[0072] The new update information storage unit 14 appropriately stores the update file received from the map DB distribution server 61. The received information according to the second embodiment is an update file generated based on a version management file managed by the map DB distribution server 61.

[0073] <Version Management File>

[0074] Figure 4 This is a diagram showing the mesh area, mesh file, and version management file involved in the second embodiment.

[0075] The map area shown in the map DB is divided into a plurality of grid areas according to specific rectangles called parcels. Figure 4In the example of (a), the map area shown in the map DB is a 5×7 grid area. Each of the plurality of grid areas is assigned a grid ID for identifying the grid area. Figure 4 In the example (a), 01 is assigned as the grid ID to the lower left grid area. Then, (i) the grid ID number is incremented by 1 as one grid is moved to the right; (ii) the next number of the grid ID of the rightmost grid area is assigned to the leftmost grid area in the previous row. However, the grid ID assignment rule is not limited to this, and other assignment rules may also be used.

[0076] The partial map DB containing the road links or nodes in each grid area is stored in Figure 4 (b) is the grid file shown in Figure 4 In the mesh file (m=1 to M) (vn) of (b), m represents the mesh ID of the mesh file, and n represents the version of the map DB. Figure 4 In the case of (a), M=35 uses 35 grid files.

[0077] The versions of multiple grid files are managed by a version management file. Figure 4 In the version management file (vn) of (b), n represents the version of the map DB.

[0078] Figure 4 (c) is a diagram showing a version management file according to the second embodiment. For example, a name that can identify the version of the version management file is used as the file name of the version management file (in Figure 4 In the example of (c), Ver.n and n≥3).

[0079] The version of the map DB when the grid file with grid ID

[01] is updated is stored at address 0000 (in Figure 4 In the example of (c), Ver.3) is used as the version of the mesh file. The version of the map DB when the mesh file with mesh ID

[02] is updated is stored at address 0001 (in Figure 4 In the example of (c), Ver.2) is the version of the mesh file. The mesh file version is also stored in the following address.

[0080] Usually, even if the map DB version is upgraded, not all mesh files are necessarily updated. In most cases, only a part of the mesh files are updated, and the remaining mesh files are not updated. Figure 4 As shown in (c), the versions of the plurality of grid files are often different from each other. In addition, the version of the grid file is the same as or smaller than the version of the map DB. On the other hand, the version of the version management file is updated when any of the plurality of grid files is updated, and is therefore substantially the same as the version of the map DB.

[0081] If the map DB version is Ver.1, Figure 4 As shown in (d), the versions of all mesh files in the version management file are Ver.1. Figure 4 (d) Therefore, it is not necessary to set the version management file with the version as Ver.1.

[0082] Figure 5 This is a diagram showing various files stored in the vehicle-mounted terminal 31a and the map DB distribution server 61 when the map DB is updated n times, that is, when the version of the map DB is Ver.n.

[0083] In the map DB distribution server 61 , M×n mesh files of versions 1 to n are stored, and n version management files of versions 1 to n are stored.

[0084] In the vehicle-mounted terminal 31a, M mesh files with versions less than n are stored, and one update necessity management file is stored. Even if a mesh file of a mesh ID in the map DB distribution server 61 is updated, the mesh file of this mesh ID in the vehicle-mounted terminal 31a will not be updated unless the map application 37 requests it. Therefore, even if the mesh ID is the same, the version of the mesh file in the vehicle-mounted terminal 31a and the version of the mesh file in the map DB distribution server 61 are sometimes the same and sometimes different. That is, the version of the mesh file in the vehicle-mounted terminal 31a is independent of the version of the mesh file in the map DB distribution server 61 to a certain extent.

[0085] The map DB distribution server 61 generates an update file based on the difference between the version management file (map DB) of the latest version (first version) and the version management file (map DB) of the previous version (second version) of the latest version. The update file is a file in the same data format as the update necessity management file, and sets whether the mesh file needs to be updated for each mesh ID.

[0086] For example, it is assumed that an update is performed from a version management file of (n-1) version to a version management file of n version, and the latest version is n version. In this case, the map DB distribution server 61 generates an update file for setting the update necessity flag of the mesh ID of the update necessity management file to the required update for the mesh file that needs to be updated in the vehicle-mounted terminal 31a due to the update of the version management file. On the other hand, the map DB distribution server 61 generates an update file for setting the update necessity flag of the mesh ID of the update necessity management file to the unnecessary update for the mesh file that does not need to be updated in the vehicle-mounted terminal 31a due to the update of the version management file.

[0087] In the second embodiment, the update necessity flag having a value of "1" indicates that the specific mesh file of the corresponding mesh ID needs to be updated, and the update necessity flag having a value of "0" indicates that the specific mesh file of the corresponding mesh ID does not need to be updated.

[0088] <Action>

[0089] Figure 6 to Figure 8 This is a flowchart showing the operation of the vehicle-mounted terminal 31 a according to the second embodiment.

[0090] First, use Figure 6 The main operations performed by the map application 37 will be described.

[0091] When the map application 37 is started, in step S1, the vehicle position detection unit 35 detects the position of the vehicle based on the positioning data acquired by the satellite positioning device 33 and the sensor information detected by the vehicle sensor 34. The vehicle position detection unit 35 may also perform map matching processing of the position of the vehicle based on the road shape included in the map DB of the map DB storage unit 32. The map application 37 acquires the position of the vehicle detected by the vehicle position detection unit 35.

[0092] In step S2 , the map application 37 requests the map DB access unit 36 ​​for a mesh file required by the map application 37 based on the position of the host vehicle detected by the host vehicle position detection unit 35 .

[0093] Thus, the map DB access unit 36 ​​determines the mesh file requested by the map application 37 as a specific mesh file, and outputs a map update request for the specific mesh file to the map DB update unit 12a. The map DB update unit 12a that receives the map update request appropriately updates the specific mesh file of the map DB storage unit 32. The map DB access unit 36 ​​reads the processed specific mesh file from the map DB storage unit 32.

[0094] In step S3 , the map application 37 acquires the specific mesh file read out from the map DB storage unit 32 by the map DB access unit 36 ​​.

[0095] In step S4 , the map application 37 uses the specific mesh file acquired from the map DB access unit 36 ​​to execute a navigation function, an ADAS function (driving assistance function), an AD function (automatic driving function), and the like.

[0096] In step S5, the vehicle-mounted terminal 31a determines whether to terminate the map application 37, for example, based on whether the driving source of the vehicle (for example, at least one of the engine and the motor) stops or whether the map application 37 has an end instruction. Figure 6 If the action is not determined to be completed, the processing returns to step S1.

[0097] Next, use Figure 7 The main operations performed by the map DB access unit 36 ​​will be described.

[0098] In step S11, the map DB access unit 36 ​​determines whether a request for a mesh file has been received from the map application 37. If it is determined that a request has been received, the process proceeds to step S12, and if it is determined that a request has not been received, the process of step S11 is repeated.

[0099] In step S12, the map DB access unit 36 ​​determines the mesh file requested by the map application 37 as a specific mesh file, and outputs a map update request for the specific mesh file to the map DB update unit 12a. Output of the map update request is equivalent to asking whether to update the specific mesh file to the latest.

[0100] In step S13, the map DB access unit 36 ​​determines whether or not the map data preparation available information has been received from the map DB update unit 12a. The map data preparation available information is information output from the map DB update unit 12a to the map DB access unit 36 ​​after the map DB update unit 12a, which has received the map update request, has appropriately updated the specific mesh file. If it is determined that the map data preparation available information has been received, the process proceeds to step S14, and if it is not determined that the map data preparation available information has been received, the process of step S13 is repeated.

[0101] In step S14 , the map DB access section 36 reads out the specific mesh file from the map DB storage section 32 .

[0102] In step S15, the map DB access unit 36 ​​outputs the read specific mesh file to the map application 37. Thereafter, the process returns to step S11.

[0103] Next, use Figure 8 The main operation performed by the map DB updating unit 12 a of the map DB updating device 1 will be described.

[0104] In step S21, the map DB updating unit 12a confirms whether the version of the map DB has been updated in the map DB distribution server 61. As a confirmation method, the map DB updating unit 12a may inquire the map DB distribution server 61 regularly or irregularly, or the map DB distribution server 61 may notify the map DB updating unit 12a regularly or irregularly.

[0105] If it is confirmed that the version has been updated, the process proceeds to step S22 , and if it is not confirmed that the version has been updated, the process proceeds to step S23 .

[0106] In step S22, the map DB update unit 12a receives an update file generated based on the version management file from the map DB distribution server 61, and updates the update necessity management file based on the update file. As a result, in any grid file of the update necessity management file, the update necessity flag corresponding to the grid ID is updated to require updating. The updating of the update necessity management file will be described in detail later. After that, the process proceeds to step S23.

[0107] In step S23, the map DB updating unit 12a determines whether a map update request for a specific mesh file has been received from the map DB access unit 36. If it is determined that a map update request has been received, the process proceeds to step S24, and if it is not determined that a map update request has been received, the process returns to step S21.

[0108] In step S24 , the map DB updating unit 12 a obtains the update necessity flag at the position corresponding to the mesh ID of the specific mesh file in the bit array of the update necessity management file.

[0109] In step S25, the map DB updating unit 12a determines whether the update necessity flag indicates that update is required. If it is determined that the update necessity flag indicates that update is required, the process proceeds to step S26. If it is determined that the update necessity flag does not indicate that update is required (indicates that update is not required), the process proceeds to step S29.

[0110] In step S26 , the map DB updating unit 12 a requests the map DB distribution server 61 for a new mesh file for a specific mesh file whose update necessity flag indicates that updating is necessary, and receives the new mesh file from the map DB distribution server 61 .

[0111] In step S27, the map DB updating unit 12a overwrites the specific mesh file of the map DB storage unit 32 with the received mesh file. Thus, among the mesh files in the map DB storage unit 32, the specific mesh file whose update necessity flag in the update necessity management file indicates that update is required is updated.

[0112] In step S28, the map DB updating unit 12a updates the update necessity flag of the specific mesh file updated in step S27 in the update necessity management file from requiring update ("1") to not requiring update ("0"). Since the update necessity flag updated to not requiring update ("0") remains not requiring update until it is updated to requiring update in step S22, the processing of steps S26 to S28 is not performed on the update necessity flag.

[0113] In step S29, the map DB updating unit 12a outputs the map data preparation available information to the map DB access unit 36. Thereafter, the process returns to step S21. Figure 6 to Figure 8 The action ends when the power is turned off, etc.

[0114] <Action Example>

[0115] Fig. 9 and Fig.10 This is a diagram showing an operation example of the vehicle-mounted terminal 31a according to the second embodiment.

[0116] In this operation example, it is assumed that the map DB storage unit 32 and the update necessity management information storage unit 11a include a memory or a non-volatile memory with a guaranteed power supply, and the mesh file and the update necessity management file are stored in these memories in such a manner that they will not be lost even if the driving source (e.g., at least one of the engine and the motor) of the vehicle is stopped.

[0117] Here, for simplicity, a case where the latest version is Ver. 1 is described in which the vehicle-mounted terminal 31 a storing the map DB of Ver. 1 is issued.

[0118] Since only the mesh file of Ver.1 exists in the map DB distribution server 61, the version management file becomes as follows: Fig. 9 (a) shows the data.

[0119] In this example, the update necessity management file of the initial state of the vehicle-mounted terminal 31a is as follows: Fig. 9 (b) The map DB of the vehicle-mounted terminal 31a is the latest version, so Figure 8 The processing of steps S21, S23, S24, S25, and S29 is performed, but the change of the update necessity management file in steps S22 and S28 is not performed.

[0120] Next, assuming that the version of the map DB of the map DB distribution server 61 is updated to Ver.2, the version management file becomes Fig. 9 (c) Such data. Fig. 9 In the example of (c), the mesh files of mesh IDs

[01] ,

[06] ,

[07] ,

[08] , and

[08] are updated to Version 2, and the other mesh files are not updated. The updated new mesh files are stored in the map DB distribution server 61.

[0121] In this way, when the version of the map DB is updated to Ver. 2, the map DB distribution server 61 generates the following file based on the version upgrade of the map DB (version management file): Fig. 9(d) is an update file (Ver.2). The update file has the same data format as the update necessity management file, and in the update file, the mesh ID, the bit address of the mesh file, and the update flag correspond to each other. The update flag with a value of "1" indicates that the mesh file corresponding to the mesh ID is updated in the map DB distribution server 61, and the update flag with a value of "0" indicates that the mesh file corresponding to the mesh ID is not updated in the map DB distribution server 61.

[0122] The update flag of the update file is set by the map DB distribution server 61 according to the difference between the latest version of the version management file and the previous version of the latest version of the version management file. Here, the previous version of the latest version of the version management file is Fig. 9 (a) version management file, the latest version of the version management file is Fig. 9 (c) version management file. Therefore, Fig. 9 (a) to Fig. 9 In the version upgrade of the version management file of (c), "1" is set as the update flag for the updated mesh file, and "0" is set as the update flag for the unupdated mesh file.

[0123] The map DB updating unit 12a of the map DB updating device 1 receives the data from the map DB distribution server 61. Fig. 9 (d) When updating the file, Figure 8 For example, the map DB updating unit 12a performs the processing of step S22. Fig. 9 (d) Updated files and Fig. 9 (b) performs a bit operation to update the update necessity management file. In the second embodiment, the map DB update unit 12a performs a bit-by-bit OR operation as a bit operation. Fig. 9 (e) The update necessity management file is updated as in the above method. In the second embodiment, the update necessity management file is updated only by OR processing in bit units, so the update necessity management file can be updated at a high speed.

[0124] Afterwards, in Figure 6 In step S2, when the map application 37 requests a grid file with a grid ID of, for example,

[06] , Figure 8 The processing of steps S24, S25, S26, S27, and S28 is performed. Fig. 9As shown in (f), the map DB updating unit 12a updates the update necessity flag corresponding to the mesh ID

[06] (bit address = 0101) of the update necessity management file from requiring update ("1") to not requiring update ("0"). Such processing is performed when the map application 37 requests a mesh file set to requiring update ("1"). Generally, whether or not to perform this processing differs for each vehicle-mounted terminal 31a, so the content of the update necessity management file differs for each vehicle-mounted terminal 31a.

[0125] Next, assuming that the version of the map DB of the map DB distribution server 61 is updated to Ver.3, the version management file becomes Fig.10 (a) Such data. Fig.10 In the example of (a), the mesh files of mesh IDs

[01] ,

[02] , and

[03] are updated to Ver. 3. On the other hand, the mesh files of mesh IDs

[04] and

[05] remain Ver. 1, and the mesh files of mesh IDs

[06] ,

[07] , and

[08] remain Ver. 2. The updated new mesh files are stored in the map DB distribution server 61.

[0126] When the map DB version is updated to Ver.3, the map DB distribution server 61 Fig. 9 (b) to Fig.10 (a) The map DB (version management file) is upgraded by making Fig.10 (b) Update file (Ver.3). Fig.10 In the update file of (b), in the version upgrade of the version management file, "1" is set as the update flag for the updated mesh file, and "0" is set as the update flag for the mesh file that has not been updated. As a result, "1" is set as the update flag for mesh IDs

[01] to

[03] , and "0" is set as the update flag for mesh IDs

[04] to

[08] .

[0127] The map DB updating unit 12a of the map DB updating device 1 receives the data from the map DB distribution server 61. Fig.10 (d) When updating the file, Figure 8 For example, the map DB updating unit 12a performs the processing of step S22. Fig.10 (b) Updated files and Fig. 9 (f) performs a bit operation to update the update necessity management file. In the second embodiment, the map DB update unit 12a performs a bit-by-bit OR operation as a bit operation. Fig.10 (c) The update necessity management file is updated.

[0128] exist Fig. 9At the time of (f), the update flag of the mesh ID

[06] is "0". Fig.10 In the version management file of Ver.3 of (a), since the latest version of the mesh file of mesh ID

[06] is Ver.2, the update necessity flag of mesh ID

[06] in the update necessity management file is "0". Fig.10 (a) Differently, assuming that the latest version of the mesh file of mesh ID

[06] in the version management file of Ver. 3 is Ver. 3, the update necessity flag of mesh ID

[06] in the update necessity management file is "1".

[0129] Afterwards, in Figure 6 In step S2, when the map application 37 requests a grid file such as grid ID

[03] , Figure 8 The processing of steps S24, S25, S26, S27, and S28 is performed. Fig.10 As shown in (d), the map DB updating unit 12a updates the update necessity flag corresponding to the mesh ID

[03] (bit address = 0010) of the update necessity management file from requiring update ("1") to not requiring update ("0"). Such processing is performed when the map application 37 requests a mesh file set as requiring update ("1"). Generally, whether or not to perform this processing differs for each vehicle-mounted terminal 31a, so the content of the update necessity management file differs for each vehicle-mounted terminal 31a.

[0130] Fig.10 (e) means to get Fig.10 (d) is a diagram showing the versions of each mesh file of the vehicle-mounted terminal 31a when the update necessity management file is updated. Fig.10 The information (e) may also be appropriately stored in the vehicle-mounted terminal 31a. If the vehicle-mounted terminal 31a has sufficient CPU resources, the storage indicating the version status may be executed. Fig.10 By processing the information of (e), it is possible to suppress the reduction in the real-time performance of the update of the mesh file due to the execution of the storage processing.

[0131] Fig.11 FIG. 2 is a diagram showing an example of data of the update necessity management file according to the second embodiment when the number of grids is relatively large. Fig.11 As shown, mesh IDs

[01] to

[16] are stored in the 16-bit WORD data at WORD address (0), and mesh IDs

[17] to

[32] are stored in the 16-bit WORD data at WORD address (1).

[0132] <Summary of Implementation Method 2>

[0133] According to the second embodiment as described above, similarly to the first embodiment, since the mesh file is updated using the update necessity management file, the real-time performance of the update of the mesh file can be improved.

[0134] Furthermore, in the second embodiment, since a bit operation for updating the update necessity management file is performed based on the update file and the update necessity management file, the update necessity management file can be updated at a high speed.

[0135] <Variation 1 of Implementation Example 2>

[0136] In the second embodiment, when the version of the map DB of the map DB distribution server 61 is updated, the map DB distribution server 61 generates the following Fig. 9 (d) and Fig.10 (b) and transmit (distribute) the update file to the vehicle-mounted terminal 31a, but the present invention is not limited to this.

[0137] For example, the map DB distribution server 61 may also send (distribute) Fig. 9 (b) and Fig.10 (a) and the map DB updating unit 12a generates an update file based on the version management file. That is, the map DB updating unit 12a may generate an update file based on the difference between the version management file of the version (first version) newly received from the map DB distribution server 61 and the version management file of the previous version (second version) of the version. Then, the map DB updating unit 12a may perform a bit operation to update the update necessity management file based on the update file and the update necessity management file.

[0138] <Variation 2 of Implementation Example 2>

[0139] In implementation mode 2 Fig. 9 and Fig.10 In the operation example, the case where the version of the map DB of the vehicle-mounted terminal 31a is the same as the version of the map DB of the map DB distribution server 61 when the vehicle-mounted terminal 31a issues the map DB is described. However, in the case where there is a delay between the time when the map DB is stored in the vehicle-mounted terminal 31a and the time when the vehicle-mounted terminal 31a issues the map DB, the difference between the version of the map DB of the map DB distribution server 61 and the version of the map DB stored in the vehicle-mounted terminal 31a may be large.

[0140] Therefore, in this modification 2, the latest version of the map DB is stored in the vehicle-mounted terminal 31a at the time of issuance. Figure 8In step S22, the map DB updating unit 12a compares the latest version (Ver.nb) of the map DB obtained from the map DB distribution server 61 with the version (Ver.na) of the map DB in the vehicle-mounted terminal 31a.

[0141] Then, in order to update the update necessity management file of the map DB of Ver.na, the map DB update unit 12a requests the update files from Ver.na+1 to Ver.nb from the map DB distribution server 61 and performs bit operations on them, thereby updating the update necessity management file. The map DB update unit 12a may first perform bit operations between a plurality of update files, and then perform bit operations on the operation result and the update necessity management file. Alternatively, the map DB update unit 12a may perform bit operations on the update necessity management file of the map DB of Ver.na and the update file of Ver.na+1, and perform bit operations on the update necessity management file obtained thereby and the update file of Ver.na+2... In this way, the bit operations on the update necessity management file and the update files are performed in the order of the versions of the update files.

[0142] <Variation 3 of Implementation Example 2>

[0143] In the second embodiment, in the update necessity management file, the update necessity flag having a value of "1" indicates that updating is required, and the update necessity flag having a value of "0" indicates that updating is not required, but "0" and "1" may be reversed.

[0144] That is, in the update necessity management file, the update necessity flag with a value of "0" may indicate that update is required, and the update necessity flag with a value of "1" may indicate that update is not required. In this case, the map DB update unit 12a performs bit-by-bit AND processing instead of bit-by-bit OR processing as bit operations, and the same operation as in the second embodiment can be achieved.

[0145] <Variation 4 of Implementation Example 2>

[0146] In the second embodiment, it has been described that the update necessity management information storage unit 11 a includes a nonvolatile memory and the update necessity management file and the like are stored in the nonvolatile memory, but the present invention is not limited thereto.

[0147] In this modification 4, in order to update the update necessity management file at a high speed, the update necessity management information storage unit 11a includes a non-volatile memory and a high-speed memory having a processing speed faster than the non-volatile memory. The high-speed memory is, for example, a cache memory including L1 cache, L2 cache, L3 cache, etc. built into a SoC (System on Chip).

[0148] In this modification 4, the map DB updating unit 12a loads at least a part of the update necessity management file stored in the nonvolatile memory into the high-speed memory as an update necessity management work file at a predetermined start timing. The at least a part of the update necessity management file may be the entire update necessity management file or a part of the update necessity management file as in the modification 5 described later. The predetermined start timing includes, for example, when the map DB updating device 1 is powered on and started, when the version of the mesh file is upgraded, when the CPU load of the map DB updating device 1 is low, etc.

[0149] The map DB updating unit 12a uses the update necessity management work file instead of the update necessity management file for updating. Specifically, the map DB updating unit 12a updates the specific mesh file of the map DB storage unit 32 based on the mesh ID of the specific mesh file and the update necessity management work file. The map DB updating unit 12a updates the update necessity management work file based on the reception information of the update file etc. received from the map DB distribution server 61 and the update result of the specific mesh file.

[0150] The map DB updating unit 12a stores the update necessity management work file as at least a part of the update necessity management file in the nonvolatile memory at a predetermined end timing. Thus, the update of the update necessity management work file is reflected in the update necessity management file. The predetermined end timing includes, for example, when the map DB updating device 1 is turned off due to power failure.

[0151] Fig.12 This is a flowchart showing the operation mainly performed by the map DB updating unit 12 a of the map DB updating device 1 among the operations of the vehicle-mounted terminal 31 a according to the fourth modification. Fig.12 Action and Figure 8 The operation is the same as that of adding steps S31 to S36 to the operation of . Hereinafter, steps S31 to S36 will be mainly described.

[0152] In step S31, the map DB updating unit 12a loads at least a part of the update necessity management file stored in the nonvolatile memory of the update necessity management information storage unit 11a into the high-speed memory of the update necessity management information storage unit 11a as an update necessity management work file.

[0153] If it is confirmed in step S21 that the version is updated, the process proceeds to step S32 , and if it is not confirmed that the version is updated, the process proceeds to step S23 .

[0154] In step S32, the map DB updating unit 12a performs a comparison with the update necessity management work file instead of the update necessity management file. Figure 8Since the update necessity management work file is loaded into the high-speed memory, the map DB updating unit 12a can perform the process of step S32 at a faster speed than the process of step S22. Thereafter, the process proceeds to step S23.

[0155] If it is determined in step S23 that a map update request has been received, the process proceeds to step S33 , and if it is not determined that a map update request has been received, the process proceeds to step S35 .

[0156] In step S33, the map DB updating unit 12a performs a comparison with the update necessity management work file instead of the update necessity management file. Figure 8 Since the update necessity management work file is loaded into the high-speed memory, the map DB updating unit 12a can perform the process of step S33 at a faster speed than the process of step S24.

[0157] If it is determined in step S25 that the update necessity flag indicates that updating is necessary, the process proceeds to step S26 , and if it is determined that the update necessity flag does not indicate that updating is necessary, the process proceeds to step S29 .

[0158] After executing the processing of steps S26 and S27, the processing of step S34 is executed. In step S34, the map DB updating unit 12a performs the update necessity management work file instead of the update necessity management file. Figure 8 The same process as step S28 is performed. Since the update necessity management work file is loaded into the high-speed memory, the map DB updating unit 12a can perform the process of step S34 at a faster speed than the process of step S28. Thereafter, the processes of step S29 and step S35 are performed.

[0159] In step S35, the map DB updating unit 12a determines whether a predetermined end timing has been reached. If it is determined that the predetermined end timing has been reached, the process proceeds to step S36, and if it is not determined that the predetermined end timing has been reached, the process returns to step S21.

[0160] In step S36, the map DB updating unit 12a stores the update necessity management work file as at least a part of the update necessity management file in the nonvolatile memory. Fig.12 The action is finished.

[0161] According to the map DB updating device 1 of the fourth modification, since a high-speed memory is used, the processing related to the update necessity management file can be performed at a high speed. Since the size of the update necessity management file is small, the update necessity management work file can be stored in a high-speed memory with a relatively small capacity, especially in a cache memory such as an L1 cache and an L2 cache.

[0162] <Variation 5 of Implementation Example 2>

[0163] In this modification 5, loading is performed in the high-speed memory as in the modification 4. However, in this modification 5, the map DB updating unit 12a only loads a part of the update necessity management file stored in the non-volatile memory, namely, the update necessity management subfile, into the high-speed memory, namely, the cache memory, as the update necessity management work file. The update necessity management subfile is a partial file in the update necessity management file for managing the grid file where the vehicle is located, namely, the vehicle position grid file.

[0164] For example, suppose that an extended grid area is set in a plurality of grid files, the plurality of extended grid areas cover the map area of ​​the whole country, an update necessity management subfile is set for each extended grid area, and an update necessity management file is set in the map area of ​​the whole country. In this case, according to the present modification example 5 constructed as described above, the update necessity management subfile stored in the cache memory is switched according to the switching of the extended grid area where the vehicle is located accompanying the movement of the vehicle. Thus, according to the present modification example 5 constructed in such a way that the update necessity management subfile is stored in the cache memory and the update necessity management subfile can be switched appropriately, the use efficiency of the cache memory of a relatively small size can be improved.

[0165] The update necessity management subfile is not limited to a partial file for managing the vehicle position grid file in the update necessity management file, but may be a partial file for managing the grid file requested by the map application 37 .

[0166] <Variation 6 of Implementation Example 2>

[0167] As a cache memory of the SoC used in the high-speed memory of the modification example 4, a cache memory including L1 cache, L2 cache, L3 cache, etc. in descending order of the access speed from the CPU is proposed. Regarding the data size that can be stored in these cache memories, the relationship of L1<L2<L3<… is generally established. In the modification example 6 described below, a structure that takes this into consideration is adopted.

[0168] In this modification 6, the update necessity management work file includes a first update necessity management work file and a second update necessity management work file. The first update necessity management work file manages the vehicle position grid file, for example, a 25 (=5×5) grid file. The second update necessity management work file manages a grid file wider than the vehicle position grid file around the vehicle position grid file, for example, a 625 (=25×25) grid file.

[0169] The high-speed memory, i.e., the cache memory, includes a first high-speed memory and a second high-speed memory, and the processing speed of the first high-speed memory is higher than that of the second high-speed memory. For example, L1 cache is used in the first high-speed memory, and L2 cache and L3 cache are used in the second high-speed memory. However, the first high-speed memory and the second high-speed memory may use a combination other than these, and may also be combined with L4 cache, etc.

[0170] A first update necessity management work file corresponding to the update necessity management subfile is loaded into the first high-speed memory. A second update necessity management work file corresponding to the update necessity management file that overwrites the map except the update necessity management subfile is loaded into the second high-speed memory.

[0171] According to the present variation 6 constructed as above, in the normal case where the grid file requested by the map application 37 is transferred to its side, the first high-speed memory is used, so it is possible to quickly determine whether to update it. On the other hand, in the case where the grid file requested by the map application 37 is not transferred to its side, but the map DB is accessed discontinuously, the second high-speed memory is used, which is slower than the first high-speed memory but faster than the main memory such as the non-volatile memory. Therefore, even in this case, it is possible to perform the processing related to the update management file at a high speed to a certain extent. In particular, in the case where the map application 37 is an ADAS application or an AD application, the requested grid file will be transferred in conjunction with the case where the vehicle continuously moves on the driving route that is the path of the vehicle, so the above-mentioned effect is effective.

[0172] <Implementation Method 3>

[0173] Fig.13 This is a block diagram showing the structure of the vehicle control device 31b and the like having a map data updating device, i.e., a map DB updating device 1, according to the present embodiment 3. Hereinafter, among the structural elements according to the present embodiment 3, the structural elements identical or similar to the above-mentioned structural elements are marked with the same or similar reference numerals, and mainly the different structural elements are described.

[0174] The configuration of the vehicle control device 31b according to the third embodiment is different from that of the vehicle-mounted terminal 31a ( Figure 3) with the addition of a travel control unit 38 and a peripheral detection sensor 39.

[0175] In addition, the map DB of the map DB storage unit 32 involved in this embodiment 3 includes not only the above-mentioned general precision map DB and high precision map DB, but also a facility map DB, which is facility map data for determining the position of the vehicle using information detected by the surrounding detection sensor 39.

[0176] Fig.14 This is a diagram showing a mesh area according to the third embodiment. Fig.14 (a) represents the grid area of ​​the high-precision map DB. Fig.14 (b) represents the grid area of ​​the general precision map DB. Fig.14 (c) represents the grid area of ​​the facility map DB. Fig.14 (a)~ Fig.14 As shown in (c), in the third embodiment, the sizes of the grids (grid area widths) of the general precision map DB, the high precision map DB, and the facility map DB are the same, and these grid files are managed by one update necessity management file. Furthermore, for the grids of the general precision map DB, the high precision map DB, and the facility map DB, the specific grid files and the update necessity management file are updated uniformly.

[0177] The map application 37 searches (estimates) the driving path (the path traveled by the vehicle) based on the position of the vehicle detected by the vehicle position detection unit 35 according to the positioning data and sensor information and the general precision map DB. In searching for the driving path, for example, the same search function as a general navigation device is used. The map DB access unit 36 ​​determines at least one of the grid files on the driving path, its surrounding grid files, and the grid files in front of the driving path as a specific grid file based on the information of the driving path obtained from the map application 37. At this time, the information of the driving path can be any information of the link ID, link shape, coordinates of the branch point, or information that can determine the grid file corresponding to other driving paths.

[0178] Similar to the second embodiment, the map DB access unit 36 ​​outputs a map update request for a specific mesh file to the map DB update unit 12a of the map DB update device 1. The map DB update unit 12a that receives the map update request performs processing to update the specific mesh file as appropriate. The map DB access unit 36 ​​outputs the facility map DB processed by the map DB update unit 12a to the vehicle position detection unit 35. In addition, the map DB access unit 36 ​​outputs the facility map DB processed by the map DB update unit 12a to the map application 37.

[0179] The surrounding detection sensor 39 as a vehicle sensor detects information about the surroundings of the vehicle. For example, an image recognition sensor that recognizes an image of the surroundings of the vehicle captured by a camera, LiDAR (Light detection and ranging), and the like are used as the surrounding detection sensor 39.

[0180] The vehicle position detection unit 35 detects the position of the vehicle for controlling the travel of the vehicle based on the facility map DB processed by the map DB update unit 12a and the information about the surroundings of the vehicle detected by the surrounding detection sensor 39. For example, the vehicle position detection unit 35 compares the shape of the facility stored in the facility map DB with the image recognition result detected by the surrounding detection sensor 39 to detect the position of the vehicle in units of lanes. The position accuracy of the vehicle thus detected is higher than the position accuracy of the vehicle detected based on the positioning data of the satellite positioning device 33 and the sensor information of the vehicle sensor 34. The position of the vehicle detected based on the facility map DB and the information about the surroundings of the vehicle by the surrounding detection sensor 39 can also be used to search for a travel path after the position of the vehicle is detected.

[0181] The following describes a structure in which the map application 37 obtains the position of the own vehicle detected by the own vehicle position detection unit 35 based on the facility map DB and the information about the surroundings of the own vehicle from the surrounding detection sensor 39, and outputs the position of the own vehicle to the travel control unit 38. However, the present invention is not limited to this, and the own vehicle position detection unit 35 may directly output the position of the own vehicle to the travel control unit 38.

[0182] Based on the position of the vehicle from the vehicle position detection unit 35 and the high-precision map DB processed by the map DB update unit 12a, the map application 37 outputs the road information in front of or around the vehicle to the driving control unit 38. The road information in front of the vehicle may include, for example, the shape of the lane or the position information of the sign, and the output may also be in the form of relative coordinates with the vehicle as the origin.

[0183] The driving control unit 38 controls the driving of the vehicle according to the output information from the map application 37. That is, the high-precision map data processed by the map DB update unit 12a is indirectly used for controlling the driving of the vehicle. The driving control unit 38 uses, for example, an ADASECU (Electronic Control Unit) and an ADECU (Electronic Control Unit) that can control lanes.

[0184] <Action>

[0185] Fig.15 and Fig.16 is a flowchart showing the operation of the vehicle control device 31b according to the third embodiment. Fig.15 The main operations performed by the travel control unit 38 will be described.

[0186] In step S41, the travel control unit 38 obtains the position of the vehicle based on the facility map DB processed by the map application 37 and the map DB update unit 12a. In addition, the travel control unit 38 obtains road information in front of or around the vehicle from the map application 37 extracted from the high-precision map DB processed by the map DB update unit 12a.

[0187] In step S42 , the travel control unit 38 controls the travel of the host vehicle based on the position of the host vehicle and the road information.

[0188] In step S43, the travel control unit 38 determines whether the driving source of the vehicle is stopped. If it is determined that the driving source is stopped, Fig.15 If the action is completed and it is not determined that the driving source is stopped, the process returns to step S41.

[0189] Next, use Fig.16 The main operations performed by the map application 37 will be described.

[0190] In step S51 , the vehicle position detection unit 35 detects the position of the vehicle based on the positioning data of the satellite positioning device 33 and the sensor information of the vehicle sensor 34 .

[0191] In step S52, the map application 37 searches for a travel route based on the position of the host vehicle and the normal accuracy map DB. The position of the host vehicle used to search for the travel route may also use the position of the host vehicle detected in step S51.

[0192] In step S53 , the map application 37 outputs the information of the travel route to the map DB access unit 36 ​​.

[0193] In step S54, the map application 37 performs the same operation as in step S5 ( Figure 6 ) The same application ends the judgment process.

[0194] Next, use Fig.17 The main operations performed by the map DB access unit 36 ​​will be described.

[0195] In step S61, the map DB access unit 36 ​​acquires the information of the travel route from the map application 37. However, the present invention is not limited thereto, and the route information may be acquired from a navigation device on the vehicle system, an external smartphone device, a server application, or the like.

[0196] In step S62, the map DB access unit 36 ​​selects (determines) at least one of the grid files of the high-precision map DB on the driving route, its surrounding grid files, and the grid files ahead of the driving route as a specific grid file based on the information of the driving route.

[0197] In step S63, the map DB access unit 36 ​​outputs a map update request for the specific mesh file to the map DB update unit 12a. After that, the process returns to step S61. Figure 7 The same processing is performed as in steps S13 to S15.

[0198] The map DB access unit 36 Figure 7 Before the treatment Fig.17 The processing of improving the response until a specific mesh file is output to the map application 37 when a request for a mesh file is received from the map application 37.

[0199] The operations mainly performed by the map DB updating unit 12a of the map DB updating device 1 are similar to those of the second embodiment ( Figure 8 ) are the same, so detailed description is omitted. However, in this embodiment 3, the processing of step S25 and step S26 is performed on the ordinary precision map DB, the high precision map DB and the facility map DB.

[0200] <Summary of Implementation Method 3>

[0201] According to the third embodiment as described above, the high-precision map data processed by the map DB updating unit 12a is used for driving control of the vehicle, and the facility map data processed by the map DB updating unit 12a is used for detecting the position of the vehicle. Thus, the data with improved real-time update can be used for driving control of the vehicle such as ADAS or AD.

[0202] <Variation 1 of Implementation Example 3>

[0203] In Embodiment 3, the mesh files of the normal accuracy map DB, the high accuracy map DB, and the facility map DB are managed by one update necessity management file. However, the mesh files of the normal accuracy map DB, the high accuracy map DB, and the facility map DB are not necessarily updated at the same time.

[0204] Therefore, by assigning three update necessity management files to the general precision map DB, the high precision map DB, and the facility map DB, it is also possible to independently set whether the three map DBs need to be updated. In addition, the map DB update unit 12a can also independently update the specific grid file and the update necessity management file in the general precision map DB, the high precision map DB, and the facility map DB.

[0205] Alternatively, one update necessity management file is allocated to any two of the general precision map DB, the high precision map DB, and the facility map DB, and another update necessity management file is allocated to the remaining one, thereby separately setting whether the two map DBs need to be updated and whether the one map DB needs to be updated. Furthermore, the map DB update unit 12a may independently update the specific grid files and the update necessity management file in the two map DBs and the one map DB.

[0206] Furthermore, by dividing the facility map DB into sections for each facility and storing them in an update necessity management file, the facility map DB having a plurality of facility sections may be stored in a plurality of update necessity management files.

[0207] <Variation 2 of Implementation Example 3>

[0208] In implementation mode 3, Fig.14 As shown in FIG. 1 , the sizes of the grids of the general precision map DB, the high precision map DB, and the facility map DB are the same, but are not limited thereto. Fig.18 As shown, the sizes of the grids in the three map DBs, namely the normal precision map DB, the high precision map DB and the facility map DB, may be different from each other.

[0209] Fig.18 This is a diagram showing a mesh area according to the second modification. Fig.18 (a) represents the grid area of ​​the high-precision map DB. Fig.18 (b) represents the grid area of ​​the general precision map DB. Fig.18 (c) represents the grid area of ​​the facility map DB. Fig.18 Among them, the grid size of the high-precision map DB is the smallest, and the grid size of the facility map DB is the largest, but it is not limited to this.

[0210] The size of the grid may be set not based on the type of map DB, but based on the data size and update frequency of the map DB. For example, the larger the data size, the smaller the grid size, or the more frequent the update, the smaller the grid size. In addition, the sizes of the grids of two map DBs, namely, the general precision map DB, the high precision map DB, and the facility map DB, instead of three map DBs, may be different from each other.

[0211] <Variation 3 of Implementation Example 3>

[0212] In this modification 3, the update necessity management information storage unit 11a according to the embodiment 3 includes a high-speed memory as in the modification 4 of the embodiment 2. However, the high-speed memory of this modification 3 includes first, second, and third high-speed memories having different processing speeds. The first high-speed memory has the highest processing speed, and the third high-speed memory has the lowest processing speed.

[0213] In this variant example 3, the update necessity management work file corresponding to the update necessity management file includes the first, second and third update necessity management work files for multiple grid files of the high-precision map DB, the facility map DB and the normal precision map DB, respectively. Furthermore, in the first high-speed memory having the highest processing speed, the update necessity management file for managing the high-precision map DB is loaded as the first update necessity management work file. In the second high-speed memory, the update necessity management file for managing the facility map DB is loaded as the second update necessity management work file. In the third high-speed memory having the lowest processing speed, the update necessity management file for managing the normal precision map DB is loaded as the third update necessity management work file. Furthermore, the same actions as those of variant example 4 of implementation example 2 are performed on the first, second and third update necessity management work files ( Fig.12 )

[0214] According to this variation 3, the utilization efficiency of a cache memory having a relatively small size can be improved.

[0215] <Implementation Method 4>

[0216] Fig.19 This is a block diagram showing the structure of the vehicle control device 31b and the like having a map data updating device, i.e., a map DB updating device 1, according to the fourth embodiment. In the following, among the structural elements according to the fourth embodiment, the same or similar structural elements as the above-mentioned structural elements are marked with the same or similar reference numerals, and mainly the different structural elements are described.

[0217] The map DB updating device 1 according to the fourth embodiment is different from the map DB updating device 1 according to the third embodiment in that it further includes a map DB storage unit 32 and a map DB access unit 36. Fig.13 Even with such a structure, the same effect as that of the third embodiment can be obtained. The structure of the map DB updating device 1 is not limited to Fig.13 The structure and Fig.19 For example, the map DB updating device 1 of the vehicle control device 31b may also be configured to further include at least one of the map DB storage unit 32, the vehicle position detection unit 35, and the map DB access unit 36. That is, the map DB updating device 1 of the vehicle control device 31b may also be configured to further include Fig.13The configuration of the components other than the map DB updating device 1 among the components of the vehicle control device 31b.

[0218] The fourth embodiment is a modification of the vehicle control device 31b ( Fig.13 ) is a modified structure, but it may also be a modified structure of the vehicle-mounted terminal 31a ( Figure 3 ) is a structure in which the same changes are made. For example, the map DB updating device 1 of the vehicle-mounted terminal 31a may also be a structure that further includes at least one of the map DB storage unit 32, the vehicle position detection unit 35, and the map DB access unit 36. That is, the map DB updating device 1 of the vehicle-mounted terminal 31a may also be a structure that further includes Figure 3 The configuration of the components other than the map DB updating device 1 among the components of the vehicle-mounted terminal 31a.

[0219] <Other Modifications>

[0220] Below, the above Figure 1 The storage unit 11 and the updating unit 12 are referred to as "updating unit 12, etc.". The updating unit 12, etc. Fig. 20 The processing circuit 81 shown in the figure is implemented. That is, the processing circuit 81 includes: a storage unit 11 for storing the update necessity management file; and an update unit 12, which updates the specific grid file according to the grid ID of the specific grid file and the update necessity management file, and updates the update necessity management file according to the update result of the specific grid file and the reception information received from the map DB distribution server 61. The processing circuit 81 can be applied to dedicated hardware or a processor that executes a program stored in a memory. The processor is equivalent to, for example, a central processing unit, a processing unit, a computing unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), etc.

[0221] When the processing circuit 81 is dedicated hardware, the processing circuit 81 is, for example, a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The functions of each part such as the update unit 12 may be implemented by a circuit obtained by distributing the processing circuits, or the functions of each part may be implemented by a single processing circuit.

[0222] When the processing circuit 81 is a processor, the functions of the update unit 12 and the like are realized by combining with software and the like. In addition, the software and the like are, for example, software, firmware, or software and firmware. The software and the like are expressed in the form of a program and stored in a memory. Fig.21 As shown, the processor 82 of the processing circuit 81 reads and executes the program stored in the memory 83, thereby realizing the functions of each part. That is, the map DB updating device 1 includes a memory 83 for storing a program that ultimately executes the following steps when the processing circuit 81 executes: a step of storing an update necessity management file; a step of updating a specific grid file based on the grid ID of the specific grid file and the update necessity management file, and a step of updating the update necessity management file based on the update result of the specific grid file and the reception information received from the map DB distribution server 61. In other words, it can also be said that the program causes the computer to execute the steps and methods of the update unit 12, etc. Here, the memory 83 can be, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory) and other non-volatile or volatile semiconductor memories, HDD (Hard Disk Drive), magnetic disk, floppy disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or all storage media used in the future.

[0223] In the above, the structure in which each function of the update unit 12 and the like is realized by either hardware or software is described. However, the present invention is not limited thereto, and a structure in which a part of the update unit 12 and the like is realized by dedicated hardware and the other part is realized by software and the like may be adopted. For example, the update unit 12 may realize its functions by using the processing circuit 81 as dedicated hardware and the interface and the like, and the functions of the other functional units may be realized by the processing circuit 81 as the processor 82 reading and executing the program stored in the memory 83.

[0224] As described above, the processing circuit 81 can implement the above functions by using hardware, software, etc. or a combination thereof.

[0225] In addition, the map DB updating device 1 described above can also be applied to a map DB updating system that is constructed as a system by appropriately combining a PND (Portable Navigation Device), a navigation device, a vehicle device such as a driving control device for performing an ADAS function or an AD function, a communication terminal including a mobile phone, a smart phone, and a tablet computer, the functions of an application installed in at least one of the vehicle device and the communication terminal, and a server. In this case, the functions or components of the map DB updating device 1 described above can be dispersedly configured in each device that constructs the system, or can be concentrated in a certain device.

[0226] In addition, the embodiments and the modifications can be freely combined, and the embodiments and the modifications can be appropriately modified or omitted.

[0227] The above description is intended in all respects to be illustrative rather than restrictive, and it will be appreciated that numerous variations not shown here are conceivable.

[0228] Description of symbols

[0229] 1 map DB updating device, 11 storage unit, 12 updating unit, 32 map DB storage unit, 35 own vehicle position detection unit, 36 map DB access unit, 61 map DB distribution server.

Claims

1. A map data updating device, which selectively updates a plurality of grid files corresponding to at least one of a plurality of grids obtained by dividing map data by communicating with a server, wherein the map data updating device is characterized in that it comprises: A storage unit, wherein the storage unit stores an update necessity management file, wherein the update necessity management file has a bit array in which a plurality of bit positions correspond to the grid IDs of the plurality of grid files, and 1-bit flag information indicating whether the grid file needs to be updated is stored in the position corresponding to the grid ID of the grid file in the bit array; as well as an updating unit that updates the specific grid file according to a grid ID of a specific grid file that is a grid file determined as a target grid file used by the vehicle among the plurality of grid files and the update necessity management file, and updates the update necessity management file according to an update result of the specific grid file and an update file received from the server, The update file sets whether the grid file needs to be updated according to the difference between the first version of the map data and the second version of the map data which is a previous version of the first version, Alternatively, regarding a version management file storing versions of the plurality of mesh files, whether the mesh file needs to be updated is set according to a difference between a first version of the version management file and a second version of the version management file that is a previous version of the first version.

2. The map data updating device according to claim 1, characterized in that: The received information from the server includes the update file, which sets whether the grid file needs to be updated according to the difference between the first version of the map data and the second version of the map data, and the data format of the update file is the same as that of the update necessity management file. The updating unit performs a bit operation to update the update necessity management file based on the update file and the update necessity management file.

3. The map data updating device according to claim 1, characterized in that: The received information from the server includes the version management file, The update unit generates the update file and performs bit operation to update the update necessity management file based on the update file and the update necessity management file. The update file sets whether the grid file needs to be updated based on the difference between the version management file of the first version and the version management file of the second version, and the data format of the update file is the same as that of the update necessity management file.

4. The map data updating device according to claim 2, characterized in that: In the update necessity management file, when the flag information having a value of 1 indicates that update is required and the flag information having a value of 0 indicates that update is not required, the update unit performs OR processing in bit units as the bit operation. In the update necessity management file, when the flag information having a value of 0 indicates that updating is required and the flag information having a value of 1 indicates that updating is not required, the update unit performs AND processing in bit units as the bit operation.

5. The map data updating device according to claim 1, characterized in that: The storage unit includes a nonvolatile memory and a high-speed memory having a processing speed faster than that of the nonvolatile memory. The updating unit loads at least a part of the update necessity management file stored in the nonvolatile memory into the high-speed memory as an update necessity management work file at a predetermined start timing, updating the specific mesh file according to the mesh ID of the specific mesh file and the update necessity management work file, updating the update necessity management work file according to the reception information received from the server and the update result of the specific grid file, At a predetermined end timing, the update necessity management work file is stored in the nonvolatile memory as the at least a part of the update necessity management file.

6. The map data updating device according to claim 5, characterized in that: The at least one part of the update necessity management file is a part of the update necessity management file, A part of the update necessity management file includes a partial file for managing the grid file where the vehicle is located, that is, a vehicle position grid file.

7. The map data updating device according to claim 5, characterized in that: The update management work file includes: A first update management work file for managing the grid file where the vehicle is located, that is, the vehicle location grid file; as well as a second update necessity management work file for managing the grid file wider than the vehicle position grid file around the vehicle position grid file, The high-speed memory comprises: Loading the first update to a first high-speed memory managing a work file; as well as Loading the second update to the second high-speed memory managing the work file, The processing speed of the first high-speed memory is faster than that of the second high-speed memory.

8. The map data updating device according to claim 1, characterized in that: The map data includes: Ordinary precision map data; High-precision map data having higher precision than the ordinary-precision map data; and Facility map data for determining a position of the vehicle.

9. The map data updating device according to claim 8, characterized in that: The updating unit independently updates the specific mesh file and the update necessity management file in at least two of the normal-precision map data, the high-precision map data, and the facility map data.

10. The map data updating device according to claim 9, characterized in that: In at least two of the normal-precision map data, the high-precision map data, and the facility map data, the sizes of the grids are different from each other.

11. The map data updating device according to claim 5, characterized in that: The map data includes: Ordinary precision map data; High-precision map data having higher precision than the ordinary-precision map data; and facility map data for determining the position of the vehicle, The update necessity management work file includes a first update necessity management work file, a second update necessity management work file, and a third update necessity management work file for respectively managing the plurality of grid files of the high-precision map data, the facility map data, and the ordinary-precision map data. The high-speed memory includes a first high-speed memory, a second high-speed memory, and a third high-speed memory that load the first update necessity management work file, the second update necessity management work file, and the third update necessity management work file and have different processing speeds.

12. The map data updating device according to claim 8, characterized in that: The system further comprises a map data access unit, which searches for a path for the vehicle to travel based on the general precision map data, and determines the specific grid file based on the path. The high-precision map data processed by the updating unit is used for driving control of the vehicle.

13. The map data updating device according to claim 8, characterized in that: The system further includes a vehicle position detection unit configured to detect a position of the vehicle for use in driving control of the vehicle based on the facility map data processed by the updating unit and information about the periphery of the vehicle detected by a sensor of the vehicle.

14. The map data updating device according to claim 1, characterized in that: The invention also includes a map data storage unit for storing the map data.

15. A method for updating map data, wherein a map data updating device selectively updates a plurality of grid files corresponding to at least one of a plurality of grids obtained by dividing map data by communicating with a server, characterized in that: An update necessity management file is stored, wherein the update necessity management file has a bit array having a plurality of bit positions corresponding to the grid IDs of the plurality of grid files, and a 1-bit flag information indicating whether the grid file needs to be updated is stored in the position corresponding to the grid ID of the grid file in the bit array, The specific grid file is updated according to the grid ID of the specific grid file determined as a grid file used by the vehicle among the plurality of grid files and the update necessity management file, and the update necessity management file is updated according to the update result of the specific grid file and the update file received from the server, The update file sets whether the grid file needs to be updated according to the difference between the first version of the map data and the second version of the map data which is a previous version of the first version, Alternatively, regarding a version management file storing versions of the plurality of mesh files, whether the mesh file needs to be updated is set according to a difference between a first version of the version management file and a second version of the version management file that is a previous version of the first version.

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