Map information updating system

Abstract

The present application provides a map information updating system capable of appropriately updating map information. In the map information updating system, a position of a mark detected by a first sensor and a position of a mark detected by a second sensor are acquired, positions of marks corresponding to the positions are acquired from map information as a first map information mark position and a second map information mark position, a deviation characteristic in a position between the first sensor detected mark and the first map information mark corresponding thereto is acquired as a first deviation characteristic, a deviation characteristic in a position between the second sensor detected mark and the second map information mark corresponding thereto is acquired as a second deviation characteristic, a first deviation characteristic and a second deviation characteristic of the same section of a road are acquired from the first deviation characteristic and the second deviation characteristic as a first extracted deviation characteristic and a second extracted deviation characteristic, respectively, and in the case where a prescribed similarity degree or more is satisfied, the position of the mark in the map information is updated.

Description

Technical Field

[0001] This invention relates to a map information updating system. Background Technology

[0002] A map information update system is known to determine the position of a road marking based on information detected by sensors mounted on a vehicle, detect the deviation between the determined position and the position of the marking obtained from map information, and update the map information in a manner that eliminates the deviation (for example, see Patent Document 1).

[0003] Patent Document 1: International Publication No. WO2021 / 205193 Summary of the Invention

[0004] In traditional map update systems, map information is updated based on data detected by sensors mounted on a single vehicle. However, during vehicle movement, sensor accuracy can decrease due to vehicle vibrations. Furthermore, environmental factors such as road markings being covered by grass can also reduce sensor accuracy. In such cases, proper map updates become impossible.

[0005] The purpose of this invention is to provide a map information updating system that can appropriately update map information.

[0006] The map information update system of the present invention includes a control device for updating map information. The control device is configured as follows: when multiple lane markings are provided on a road, each dividing a first lane and a second lane different from the first lane, the system acquires the position of the lane marking detected by a first sensor mounted on a first vehicle traveling in the first lane as the position of the first sensor-detected lane marking, and acquires the position of the lane marking detected by a second sensor mounted on a second vehicle traveling in the second lane as the position of the second sensor-detected lane marking; it acquires the position of the lane marking corresponding to the lane marking detected by the first sensor from the map information as the position of the first map information lane marking, and acquires the position of the lane marking corresponding to the lane marking detected by the second sensor from the map information as the position of the second map information lane marking; it acquires the position of the first sensor... The deviation characteristics between the position of the detected marking and its corresponding first map information marking are obtained as a first deviation characteristic, and the deviation characteristics between the position of the detected marking and its corresponding second map information marking are obtained as a second deviation characteristic; the first deviation characteristics and the second deviation characteristics when the first vehicle and the second vehicle travel on the same section of the road are obtained from the first deviation characteristics and the second deviation characteristics respectively as a first extracted deviation characteristic and a second extracted deviation characteristic; and when the similarity between the first extracted deviation characteristic and the second extracted deviation characteristic is greater than or equal to a predetermined similarity, the position of the marking in the map information is updated according to the first extracted deviation characteristic and the second extracted deviation characteristic.

[0007] According to the present invention, map information is updated based on information provided from multiple vehicles. Therefore, map information can be updated appropriately.

[0008] Furthermore, in the map information update system involved in this invention, for example, the first deviation characteristic is the first deviation direction and the first deviation amount, the first deviation direction and the first deviation amount are respectively the direction and amount of the deviation of the first map information mark relative to the corresponding first sensor detection mark in position, and the second deviation characteristic is the second deviation direction and the second deviation amount, the second deviation direction and the second deviation amount are respectively the direction and amount of the deviation of the second map information mark relative to the corresponding second sensor detection mark in position.

[0009] According to the present invention, map information can be updated using deviation directions and deviation amounts provided from multiple vehicles.

[0010] Furthermore, in the map information update system of the present invention, the control device may be configured as follows: when the first deviation direction and the second deviation direction are the same direction and the deviation between the first deviation amount and the second deviation amount is within a specified range, it is determined that the similarity is greater than or equal to the specified similarity.

[0011] According to the present invention, map information can be updated based on the deviation amount of the same deviation direction.

[0012] The constituent elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and incidental advantages of this invention will be readily understood from the description of embodiments thereof. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating a map information update system according to an embodiment of the present invention.

[0014] Figure 2 This is a diagram illustrating a vehicle control device according to an embodiment of the present invention.

[0015] Figure 3 This is a diagram illustrating a server control device according to an embodiment of the present invention.

[0016] Figure 4 This is a flowchart illustrating the routine procedures executed by the vehicle control device according to an embodiment of the present invention.

[0017] Figure 5 It is a diagram representing sensor detection markings and map information markings.

[0018] Figure 6 This is a flowchart illustrating the routines executed by the server control device according to an embodiment of the present invention. Detailed Implementation

[0019] Hereinafter, with reference to the accompanying drawings, a map information updating system according to embodiments of the present invention will be described. Figure 1 The diagram illustrates a map information update system 10 according to an embodiment of the present invention. The map information update system 10 includes a vehicle control device 20 and a server control device 50. The vehicle control device 20 and the server control device 50 are communicatively connected via a communication network 100.

[0020] The vehicle control device 20 is mounted on the vehicle 200. Furthermore, the server control device 50 is located on the server 300. The server 300 is connected to a communication network 100, such as the Internet.

[0021] like Figure 2 and Figure 3 As shown, the vehicle control device 20 and the server control device 50 respectively include ECUs (Electronic Control Units) 22 and 52 as control devices. Each ECU is primarily composed of a microcomputer. The microcomputer includes a CPU, a computer-readable storage medium, and an interface. The storage medium may be ROM, RAM, or non-volatile memory. The CPU performs various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle control device 20 and the server control device 50 store programs that implement various controls executed by themselves in the storage medium.

[0022] In addition, in this example, the vehicle control device 20 and the server control device 50 each have only one ECU, but they can also be configured to have multiple ECUs, with each ECU sharing the functions of the vehicle control device 20 and the server control device 50 as described below.

[0023] Furthermore, in the following description, the ECU of the vehicle control device 20 will be referred to as "vehicle ECU 22", and the ECU of the server control device 50 will be referred to as "server ECU 52".

[0024] Furthermore, vehicle 200 can be a manually driven vehicle directly driven by a driver sitting in vehicle 200, or a remotely driven vehicle driven remotely by an operator outside vehicle 200 who is not sitting in vehicle 200. Additionally, vehicle 200 can also be an autonomous vehicle operating through autonomous driving.

[0025] Furthermore, the vehicle control device 20 can also be configured to update the program stored in the storage medium via wireless communication with external devices (e.g., Internet communication).

[0026] In addition, such as Figure 2 As shown, the vehicle control device 20 includes a surrounding information detection sensor 24, a vehicle communication device 26, a GPS signal receiver 28, and a vehicle map database 30.

[0027] The surrounding information detection sensor 24 detects surrounding information IS. The surrounding information IS is information related to the conditions surrounding the vehicle 200. The surrounding information IS includes information related to the position of lane markings 400. Lane markings 400 are lines that divide lanes 440 on the road 420 on which the vehicle 200 travels. The surrounding information detection sensor 24 is, for example, an image sensor such as a camera or an electromagnetic wave sensor such as LiDAR.

[0028] The surrounding information detection sensor 24 is electrically connected to the vehicle ECU 22. The vehicle control unit 20 acquires surrounding information IS through the surrounding information detection sensor 24.

[0029] The vehicle communication device 26 is electrically connected to the vehicle ECU 22. The vehicle control unit 20 transmits wireless signals representing various data to the outside of the vehicle 200 via the vehicle communication device 26.

[0030] GPS signal receiver 28 is electrically connected to vehicle ECU 22. Vehicle control unit 20 receives GPS signals via GPS signal receiver 28. Vehicle control unit 20 obtains the current position Pnow of vehicle 200 based on the received GPS signals. In this example, the current position Pnow of vehicle 200 is represented by latitude, longitude, and altitude.

[0031] The vehicle map database 30 is a database that stores map information IM. Hereinafter, the map information IM stored in the vehicle map database 30 will be referred to as "vehicle-side map information IM_V". The vehicle-side map information IM_V includes at least lane marking position information IL. Hereinafter, the lane marking position information IL included in the vehicle-side map information IM_V will be referred to as "vehicle-side lane marking position information IL_V". The vehicle-side lane marking position information IL_V indicates the position of lane marking 400. The vehicle map database 30 is electrically connected to the vehicle ECU 22. The vehicle control unit 20 obtains the vehicle-side lane marking position information IL_V from the vehicle map database 30.

[0032] And, as Figure 3 As shown, the server control device 50 includes a server communication device 54 and a server map database 56.

[0033] The server communication device 54 is electrically connected to the server ECU 52. The server control device 50 receives wireless signals sent by the vehicle control device 20 via the server communication device 54.

[0034] The server map database 56 is a database that stores map information IM. Hereinafter, the map information IM stored in the server map database 56 will be referred to as "server-side map information IM_S". The server-side map information IM_S includes at least line mark location information IL. Hereinafter, the line mark location information IL included in the server-side map information IM_S will be referred to as "server-side line mark location information IL_S". The server-side line mark location information IL_S represents the location of line mark 400. The server map database 56 is electrically connected to the server ECU 52. The server control device 50 obtains the server-side line mark location information IL_S from the server map database 56.

[0035] In addition, the vehicle control device 20 can obtain server-side map information IM_S via the communication network 100 to update the vehicle-side map information IM_V.

[0036] <Actions of the Map Information Update System>

[0037] Next, the operation of the map information update system 10 will be explained.

[0038] The vehicle control device 20 executes at predetermined time intervals while the vehicle 200 is in motion. Figure 4 The routine procedure shown. Therefore, the vehicle control unit 20 from Figure 4 The routine procedure shown begins at step S400. Then, the vehicle control unit 20 proceeds to step S405, determining whether the driving road condition C1 is met. The driving road condition C1 is met when the vehicle 200 is driving in the map information area A10. The map information area A10 is the area in the vehicle map database 30 where map information IM is stored.

[0039] If the determination in step S405 is "No", the vehicle control device 20 will proceed directly to step S495, temporarily terminating the processing of this routine procedure. On the other hand, if the determination in step S405 is "Yes", the vehicle control device 20 will proceed to step S410, determining whether the data transmission condition C2 is met. The data transmission condition C2 is met when a predetermined time Tth has elapsed since the last transmission of periodic data D1 in step S415.

[0040] Periodic data D1 (i.e., periodic information) includes vehicle 200's position data D11 and orientation data D12. In this example, position data D11 (i.e., position information) is data representing the current position Pnow of vehicle 200 using latitude, longitude, and altitude. Orientation data D12 (i.e., orientation information) is data representing the direction of travel of vehicle 200. Periodic data D1 is obtained based on GPS signals and other known methods.

[0041] If the determination in step S410 is "no", the vehicle control device 20 will proceed directly to step S495, temporarily terminating the processing of this routine procedure. On the other hand, if the determination in step S410 is "yes", the vehicle control device 20 will proceed to step S415, sending periodic data D1 via the vehicle communication device 26.

[0042] Next, the vehicle control unit 20 proceeds to step S420, acquiring sensor-detected lane marking data D2 based on the surrounding information IS. Sensor-detected lane marking data D2 (i.e., sensor-detected lane marking information) represents the position of the markings 400 that divide the target lanes 442. The target lanes 442 are lanes 440 provided on the driving road 422. The driving road 422 is the road on which the vehicle 200 is currently traveling. Furthermore, if multiple lanes 440 are provided on the driving road 422, these multiple lanes 440 become target lanes 442. Therefore, in this case, data representing the position of the markings 400 that divide these multiple target lanes 442 are acquired as sensor-detected lane marking data D2.

[0043] Thus, when multiple lane markings 400 are set up on a road 420 to divide a first lane and a second lane different from the first lane, when vehicle 200 is the first vehicle traveling in the first lane, the vehicle control device 20 of the first vehicle obtains the position of the lane marking 400 detected by the surrounding information detection sensor 24 mounted on the first vehicle as the position of the lane marking detected by the first sensor. Furthermore, when vehicle 200 is the second vehicle traveling in the second lane, the vehicle control device 20 of the second vehicle obtains the position of the lane marking 400 detected by the surrounding information detection sensor 24 mounted on the second vehicle as the position of the lane marking detected by the second sensor.

[0044] Next, the vehicle control unit 20 proceeds to step S425 to acquire map information marking data D3. Map information marking data D3 (i.e., map information marking information) is data obtained from the vehicle map database 30 and represents the positions of the markings 400 that divide the target lanes 442. Furthermore, if multiple lanes 440 are provided on the driving road 422, these multiple lanes 440 become target lanes 442. Therefore, in this case, data representing the positions of the markings 400 that divide these multiple target lanes 442 are acquired as map information marking data D3.

[0045] Thus, when multiple lane markings 400 are set up on a road 420, dividing it into a first lane and a second lane different from the first lane, when vehicle 200 is the first vehicle traveling in the first lane, the vehicle control device 20 of the first vehicle obtains the position of the lane marking 400 corresponding to the lane marking detected by the first sensor from the map information IM, and uses it as the position of the first map information lane marking. Furthermore, when vehicle 200 is the second vehicle traveling in the second lane, the vehicle control device 20 of the second vehicle obtains the position of the lane marking 400 corresponding to the lane marking detected by the second sensor from the map information IM, and uses it as the position of the second map information lane marking.

[0046] Next, the vehicle control unit 20 proceeds to step S430, comparing the position of the sensor detection line 400D with the position of the map information line 400M to obtain the deviation amount dW. More specifically, the vehicle control unit 20 overlaps the map information line 400M with the sensor detection line 400D in the geographic coordinate system to obtain the deviation amount dW. The sensor detection line 400D is the line 400 shown in the sensor detection line data D2. The map information line 400M is the line 400 shown in the map information line data D3. The deviation amount dW is the amount by which the map information line 400M deviates from the sensor detection line 400D in position. Therefore, the vehicle control unit 20 overlaps the map information line 400M with the sensor detection line 400D in the geographic coordinate system and at that time obtains the amount by which the map information line 400M deviates from the sensor detection line 400D as the deviation amount dW. In addition, when multiple lanes 440 are set on the driving road 422, the deviation amount dW is obtained for each lane 440.

[0047] When multiple lane markings 400 are installed on a road 420, dividing it into a first lane and a second lane different from the first lane, when vehicle 200 is the first vehicle traveling in the first lane, the vehicle control device 20 of the first vehicle acquires the deviation characteristic of the position between the lane marking detected by the first sensor and the corresponding first map information marking as a first deviation characteristic. Here, the first deviation characteristic is specifically the deviation amount dW. Furthermore, when vehicle 200 is the second vehicle traveling in the second lane, the vehicle control device 20 of the second vehicle acquires the deviation characteristic of the position between the lane marking detected by the second sensor and the corresponding second map information marking as a second deviation characteristic. Here, the second deviation characteristic is specifically the deviation amount dW.

[0048] Next, the vehicle control unit 20 proceeds to step S435, extracting the deviation amount dW that satisfies deviation condition C3 from the deviation amount dW obtained in step S435. Deviation condition C3 is that the deviation amount dW is greater than or equal to a predetermined deviation amount dWth. In this example, the predetermined deviation amount dWth is a value greater than zero, and is set to an appropriate value that is beneficial to the updating of the server-side map information IM_S, as described later.

[0049] Next, the vehicle control unit 20 proceeds to step S440, sending deviation data D4 via the vehicle communication device 26. Then, the vehicle control unit 20 proceeds to step S495, temporarily terminating the processing of this routine procedure.

[0050] Deviation data D4 (i.e., deviation information) includes deviation amount data D41, deviation direction data D42, vehicle position data D43, and lane attribute data D44.

[0051] Deviation data D41 (i.e., deviation information) represents the data indicating the extracted deviation dW_P. The extracted deviation dW_P is the deviation dW extracted in step S435.

[0052] Furthermore, the deviation direction data D42 (i.e., deviation direction information) is the data of the deviation direction DD corresponding to the extracted deviation amount dW_P. The deviation direction DD is either the right or left direction, and is the direction in which the line 400 shown in the map information line data D3 deviates from the line 400 shown in the line data D2 detected by the sensor.

[0053] Furthermore, vehicle location data D43 (i.e., vehicle location information) is data representing vehicle location P1 using latitude, longitude, and altitude. Vehicle location P1 is the location of vehicle 200 at the time when the deviation dW_P was extracted.

[0054] Furthermore, lane attribute data D44 (i.e., lane attribute information) represents lane attribute LP. Lane attribute LP is the attribute of lane 440 in the driving road 422. For example, if there are 3 lanes 440 on the road 420, with the left lane 440 being lane 1, the right adjacent lane 440 being lane 2, and the right adjacent lane 440 being lane 3, then when lane 440 is traveling in lane 1, lane attribute LP is the attribute of lane 440 being lane 1.

[0055] As will be described later, the server control device 50 acquires and stores the deviation data D4 sent from the vehicle control device 20 of the multiple vehicles 200 via the server communication device 54.

[0056] In addition, the server control device 50 executes at specified time intervals. Figure 6 The routine procedure is shown. Therefore, at the designated time, the server control device 50... Figure 6 The routine procedure shown begins at step S600. Then, the server control device 50 proceeds to step S605, whereby the pass count N1 is obtained.

[0057] That is, in this example, multiple area groups G1 are defined. Area group G1 is a group for each segmented area DA. The segmented area DA is the area that divides each road 420 at each specified distance Dth. Then, each area group G1 is divided into multiple lane groups G2. Lane group G2 is a group for each lane 440 within the segmented area DA corresponding to area group G1. Of course, if there is only one lane 440 on road 420, there is only one lane group G2. In addition, each lane group G2 is divided into two deviation direction groups G3. Deviation direction group G3 is a group for each deviation direction DD, and is a left deviation group G3_R and a right deviation group G3_L.

[0058] Then, when the server control device 50 receives periodic data D1 from the vehicle control device 20, it categorizes and stores the periodic data D1 in the object region group G1_T. The object region group G1_T is the region group G1 corresponding to the latitude, longitude, and altitude shown in the vehicle location data D43 of the periodic data D1. Then, the server control device 50 obtains the total number of periodic data D1 stored in the object region group G1_T as the throughput N1.

[0059] In this example, the area group G1 is set only for each segmented area DA, but it can also be set according to the combination of each segmented area DA and the travel direction of the vehicle 200. In this case, the server control device 50 classifies and stores the periodic data D1 according to the orientation data D12 and the combination of the segmented area DA and the travel direction of each vehicle 200.

[0060] Next, the server control device 50 proceeds to step S610, whereby the number of deviation data N2 (i.e., the number of deviation information) is obtained.

[0061] That is, when the server control device 50 receives the deviation data D4 from the vehicle control device 20, it classifies and stores the deviation data D4 in the object deviation direction group G3_T. The object deviation direction group G3_T is the deviation direction group G3 corresponding to the latitude, longitude, and altitude shown in the deviation data D4, as well as the deviation direction DD and lane attribute LP shown in the deviation data D4.

[0062] Then, the server control device 50 obtains the total number of deviation data D4 stored in the object deviation direction group G3_T as the deviation data number N2. Furthermore, the server control device 50 also obtains the total number of deviation data D4 stored in the related deviation direction group G3_A as the deviation data number N2. The related deviation direction group G3_A is another deviation direction group G3 belonging to the object region group G1_T, and is another deviation direction group G3 that stores a deviation amount dW of the same deviation direction DD as the deviation direction DD stored as the deviation data D4 in this instance. The object region group G1_T is the region group G1 to which the object deviation direction group G3_T belongs.

[0063] In addition, when the area group G1 is set according to each combination of the segmented area DA and the direction of travel of the vehicle 200, the server control device 50 will classify and store the deviation data D4 in the deviation direction group G3 of the area group G1 corresponding to the direction of travel of each vehicle 200 obtained according to the orientation data D12.

[0064] Next, the server control device 50 proceeds to step S615, determining whether the deviation data number condition C4 is met. The deviation data number condition C4 is met when the deviation data number N2 obtained in step S610 is greater than or equal to a predetermined deviation data number N2_th. For example, in the case of three lanes 440 on a road 420, the deviation data number condition C4 is met when the deviation data number N2 corresponding to each of the three lanes 440 is greater than or equal to the predetermined deviation data number N2_th.

[0065] If the determination in step S615 is "No", the server control device 50 will proceed directly to step S695, temporarily terminating the processing of this routine. On the other hand, if the determination in step S615 is "Yes", the server control device 50 will proceed to step S620, obtaining the average deviation amount dW_ave of the object deviation direction group G3_T and the related deviation direction group G3_A. The average deviation amount dW_ave of the object deviation direction group G3_T is the average value of the deviation amounts dW stored in the object deviation direction group G3_T. The average deviation amount dW_ave of the related deviation direction group G3_A is the average value of the deviation amounts dW stored in the related deviation direction group G3_A.

[0066] Thus, the server control device 50 obtains the average deviation amount dW_ave of the object deviation direction group G3_T. Furthermore, the server control device 50 obtains the average deviation amount dW_ave of the related deviation direction group G3_A, which belongs to other deviation direction groups G3 belonging to the object deviation direction group G3_T. That is, the server control device 50 obtains the first deviation characteristic and the second deviation characteristic from the first deviation characteristic and the second deviation characteristic respectively, for the same segment of the road 420 traveled by the first vehicle and the second vehicle, as the first extracted deviation characteristic and the second extracted deviation characteristic. Here, the first deviation characteristic is the deviation direction DD and the deviation amount dW, and the second deviation characteristic is also the deviation direction DD and the deviation amount dW. Additionally, the deviation direction DD is the direction in which the map information marker 400M deviates in position relative to its corresponding sensor detection marker 400D.

[0067] Next, the server control device 50 proceeds to step S625, determining whether deviation condition C5 is met. Deviation condition C5 is met when the deviation index value VI is below the specified deviation index value VI_th. The deviation index value VI is a value calculated by a known method, and represents the deviation of the average deviation dW_ave obtained in step S620. The deviation index value VI is, for example, the variance.

[0068] If the determination in step S625 is "No", the server control device 50 will proceed directly to step S695, temporarily terminating the processing of this routine. On the other hand, if the determination in step S625 is "Yes", the server control device 50 will proceed to step S630, obtaining the number of decisions N3. The number of decisions N3 is obtained by multiplying the number of passes N1 by the average deviation dW_ave (N3 = N1 · dW_ave).

[0069] Next, the server control device 50 proceeds to step S635, determining whether the decision condition C6 is met. The decision condition C6 is met when all decision counts N3 obtained in step S630 are greater than a predetermined decision count N3_th.

[0070] If the determination in step S635 is "No", the server control device 50 will proceed directly to step S695, temporarily terminating the processing of this routine. On the other hand, if the determination in step S635 is "Yes", the server control device 50 will proceed to step S640 to obtain the deviation occurrence rate DR. The deviation occurrence rate DR is obtained by dividing the number of deviations N4 by the pass rate N1 (DR = N4 / N1). The number of deviations N4 is the total number of deviation direction data D42 stored in the object deviation direction group G3_T and the total number of deviation direction data D42 stored in each related deviation direction group G3_A.

[0071] Next, the server control device 50 proceeds to step S645 to determine whether update condition C7 is met. Update condition C7 is met when all deviation rates DR obtained in step S640 are above a specified deviation rate DR_th.

[0072] If the determination in step S645 is "No", the server control device 50 will proceed directly to step S695, temporarily terminating the processing of this routine. On the other hand, if the determination in step S645 is "Yes", the server control device 50 will proceed to step S650 to update the server-side map information IM_S. This update is performed by changing the position of the map information marker 400M in the server-side map information IM_S by setting the deviation dW of the map information marker 400M in the object region TA to zero. The object region TA is the segmented region DA corresponding to the object region group G1_T. Next, the server control device 50 will proceed to step S695, temporarily terminating the processing of this routine.

[0073] Furthermore, steps S630 to S645 can be omitted. In this case, when the server control device 50 determines "yes" in step S625, the process proceeds to step S650 to update the server-side map information IM_S. That is, the server control device 50 updates the server-side map information IM_S when the similarity of the average deviation amount dW_ave obtained in step S620 is greater than or equal to a predetermined similarity. Therefore, when the similarity of the first extracted deviation characteristic and the second extracted characteristic is greater than or equal to a predetermined similarity, the server control device 50 updates the position of the marker 400 in the server-side map information IM_S based on the first extracted deviation characteristic and the second extracted deviation characteristic. Here, the first extracted deviation characteristic is the deviation direction DD and the deviation amount dW, and the second extracted deviation characteristic is the deviation direction DD and the deviation amount dW. Therefore, it can be said that when the deviation direction DD and deviation amount dW of the first extracted deviation characteristic are marked as the first deviation direction and the first deviation amount, and the deviation direction DD and deviation amount dW of the second extracted deviation characteristic are marked as the second deviation direction and the second deviation amount, the server control device 50 determines that the above similarity is above the specified similarity if the first deviation direction and the second deviation direction are in the same direction and the deviation between the first deviation amount and the second deviation amount is within the specified range.

[0074] The above describes the actions of the map information update system 10. According to the map information update system 10, the server-side map information IM_S is updated based on information provided by multiple vehicles 200. Therefore, the server-side map information IM_S can be updated appropriately.

[0075] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0076] Symbol Explanation

[0077] 10 - Map information update system; 20 - Vehicle control device; 24 - Surrounding information detection sensor; 26 - Vehicle communication device; 28 - GPS signal receiver; 30 - Vehicle map database; 50 - Server control device; 54 - Server communication device; 56 - Server map database; 100 - Communication network; 200 - Vehicle; 300 - Server; 400 - Road markings; 440 - Lane.

Claims

1. A map information updating system, comprising a control device for updating map information, characterized in that, The control device is configured as follows: In the case where multiple lane markings are provided on a road to divide a first lane and a second lane that is different from the first lane, the position of the lane marking detected by a first sensor mounted on a first vehicle traveling in the first lane is obtained as the position of the lane marking detected by the first sensor, and the position of the lane marking detected by a second sensor mounted on a second vehicle traveling in the second lane is obtained as the position of the lane marking detected by the second sensor. The position of the mark corresponding to the mark detected by the first sensor is obtained from the map information as the position of the first map information mark, and the position of the mark corresponding to the mark detected by the second sensor is obtained from the map information as the position of the second map information mark; The deviation characteristic between the position of the first sensor-detected marker and the corresponding first map information marker is obtained as a first deviation characteristic, and the deviation characteristic between the position of the second sensor-detected marker and the corresponding second map information marker is obtained as a second deviation characteristic; The first deviation characteristic and the second deviation characteristic are obtained from the first deviation characteristic and the second deviation characteristic respectively when the first vehicle and the second vehicle travel on the same section of the road, and are used as the first extracted deviation characteristic and the second extracted deviation characteristic; and If the similarity between the first extracted deviation feature and the second extracted deviation feature is greater than or equal to a specified similarity, the position of the marking line in the map information is updated based on the first extracted deviation feature and the second extracted deviation feature.

2. The map information update system according to claim 1, characterized in that, The first deviation characteristic refers to the first deviation direction and the first deviation amount. The first deviation direction and the first deviation amount are respectively the direction and amount of positional deviation of the first map information line relative to its corresponding first sensor detection line. The second deviation characteristic refers to the second deviation direction and the second deviation amount. The second deviation direction and the second deviation amount are respectively the direction and amount of the deviation of the second map information line from its corresponding second sensor detection line in terms of position.

3. The map information update system according to claim 2, characterized in that, The control device is configured as follows: If the first deviation direction and the second deviation direction are the same and the deviation between the first deviation amount and the second deviation amount is within a specified range, the similarity is determined to be greater than or equal to the specified similarity.

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