Map information update device and method for updating map information

Abstract

To provide a map information update device and a method for updating map information that can make the time for updating map information shorter.SOLUTION: An image of a surrounding region of a vehicle is acquired from an imaging device provided in the vehicle, positional information of the vehicle is acquired, a surrounding road for the vehicle is recognized from the image of the surrounding region, whether the surrounding road is registered in map information is determined on the basis of the positional information, and a node and a link which show an unregistered surrounding road where the vehicle runs are additionally generated if the vehicle runs on the unregistered surrounding road in the map information so that the map information is updated.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a map information updating device and a map information updating method for updating map information used in a vehicle.

Background Art

[0002] Conventionally, a map information updating system for updating map information has been known (Patent Document 1). This map information updating system includes an additional information generation unit, an additional information verification unit, and a map information updating unit. The additional information generation unit is configured to generate additional information to be added to the map information according to an input from an updater. The additional information verification unit is configured to verify whether the additional information generated by the additional information generation unit is correct according to an input from a verifier. The map information updating unit is configured to generate an additional block including the additional information verified to be correct by the additional information verification unit according to an input from an update operator, and update the map information by adding the added additional block to the map information.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above map information updating system, there is a problem that it takes time to update the map information because verification of additional information by a verifier is required before updating the map information.

[0005] The problem to be solved by the present invention is to provide a map information updating device and a map information updating method capable of shortening the time required for updating map information.

Means for Solving the Problems

[0006] The present invention acquires a peripheral image of a vehicle from an imaging device provided in the vehicle, acquires the position information of the vehicle, recognizes the peripheral road of the vehicle from the peripheral image, determines whether the peripheral road is unregistered in the map information based on the position information, and when the vehicle travels on an unregistered peripheral road in the map information, newly generates a node and a link representing the unregistered peripheral road traveled by the vehicle, thereby updating the map information to solve the above problems.

Effects of the Invention

[0007] According to the present invention, the time required for updating the map information can be shortened.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] Hereinafter, an embodiment of a map information updating apparatus and a map information updating method according to the present invention will be described with reference to the drawings. As shown in FIG. 1, the map information updating apparatus according to the present embodiment is realized as a part of the in-vehicle system 1. FIG. 1 is a block diagram showing an example of the in-vehicle system 1 according to the present embodiment. The in-vehicle system 1 is a system mounted on a vehicle and is a system for performing various controls of the vehicle. The in-vehicle system 1 can be provided in a vehicle having an automatic driving function for automatically driving without the driver's involvement in driving, a vehicle having a driving assistance function for assisting the driver in driving the vehicle, or a vehicle having neither an automatic driving function nor a driving assistance function.

[0010] As shown in FIG. 1, the in-vehicle system 1 includes a map information updating apparatus 10, a vehicle position detection apparatus 20, a surrounding environment sensor group 30, and an in-vehicle navigation system 40. These apparatuses and systems are mounted on the vehicle and are connected by an in-vehicle network 2 such as CAN (Controller Area Network) or LIN (Local Interconnect Network).

[0011] The vehicle position detection apparatus 20 is an apparatus for detecting the current location of the vehicle. The vehicle position detection apparatus 20 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position detection apparatus 20 detects radio waves transmitted from a plurality of satellite communications by the GPS unit, periodically acquires the position information of the vehicle, and periodically detects the current position information of the vehicle based on the acquired position information of the vehicle, the angle change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor.

[0012] The surrounding environment sensor group 30 is a group of sensors for detecting objects existing around the vehicle. The objects are ground features, for example, lane boundary lines of a road, center lines, road surface markings, median strips, guardrails, curbs, side walls of a highway, road signs, traffic signals, crosswalks, construction sites, accident sites, speed limit signs. Further, the objects include automobiles other than the vehicle on which the in-vehicle system 1 is mounted (other vehicles such as a preceding vehicle and an oncoming vehicle), motorcycles, bicycles, and pedestrians. The objects also include obstacles (such as parked vehicles on the road) that may affect the running of the vehicle.

[0013] The surrounding environment sensor group 30 includes an imaging device 31 and a distance measuring device 32. The objects are detected by, for example, the imaging device 31 and the distance measuring device 32. The imaging device 31 is a device that recognizes objects around the vehicle by an image, and is, for example, a camera equipped with an imaging element such as a CCD, an ultrasonic camera, an infrared camera, or the like. Examples of the information of the objects recognized by the imaging device 31 include the type of the object, the color of the object, the relative position of the object with respect to the vehicle, and the relative distance between the vehicle and the object. A plurality of imaging devices 31 can be provided on the vehicle, and can be arranged, for example, at the front grille portion of the vehicle, the lower part of the left and right door mirrors, and the vicinity of the rear bumper. Thereby, the dead angle when recognizing the objects around the vehicle can be reduced.

[0014] The distance measuring device 32 is a device for calculating the relative position of the object with respect to the vehicle, and the relative distance and relative speed between the vehicle and the object, and is, for example, a radar device such as a laser radar, a millimeter wave radar (such as an LRF), a LiDAR (Light detection and ranging) unit, an ultrasonic radar, or a sonar. Similar to the imaging device 31, a plurality of distance measuring devices 32 can be provided on the vehicle, and can be arranged, for example, at the front, the right side, the left side, and the rear of the vehicle. Thereby, for the objects around the vehicle, the relative position of the object with respect to the vehicle, and the relative distance and relative speed between the vehicle and the object can be accurately calculated.

[0015] The imaging device 31 and the distance measuring device 32 detect the surroundings of the vehicle at predetermined time intervals. The detection results of the imaging device 31 and the distance measuring device 32 may be integrated or synthesized by the controller 11 of the map information updating device 10 described later, and may be configured to complement information on objects lacking in the detection results. For example, the position information (self-position information) of the vehicle, which is the current location of the vehicle output from the vehicle position detection device 20, and the relative position (distance and direction) of the object with respect to the vehicle detected by the imaging device 31 or the distance measuring device 32 may be used by the controller 11 to calculate the position information of the object. Also, when the vehicle has information on a high-precision map used for automatic driving control or driving support control, instead of this, the high-precision map information, the positioning information based on odometry, and the relative position (distance and direction) between the vehicle and the object may be made to correspond to calculate the position information of the object. The calculated position information of the object may be integrated by the controller 11 with a plurality of information such as the detection results of the imaging device 31 and the distance measuring device 32, and the high-precision map information, and may be formed as the surrounding environment information of the vehicle.

[0016] The in-vehicle navigation system 40 causes a route from the current location of the vehicle to the destination to be displayed on a display based on the position information of the vehicle detected by the vehicle position detection device 20, and guides the vehicle occupants. The in-vehicle navigation system 40 has map information 41. The in-vehicle navigation system 40 may store the map information 41 as a map database, or may include a storage device that stores the map information 41. Note that the in-vehicle navigation system 40 is not limited to the configuration having the map information 41. For example, the map information 41 may be stored in a server provided outside the vehicle. In this case, the in-vehicle navigation system 40 receives the map information 41 from an external server via an in-vehicle communication device (not shown) having a wireless function.

[0017] The map information 41 includes a map for car navigation (hereinafter referred to as the car navigation map) for guiding the driver of the vehicle along the planned route of travel. The planned route of travel of the vehicle is the route from the current location of the vehicle to the destination. The car navigation map includes road network information indicating the road network and feature information indicating various features around or on the roads. The car navigation map is updated at a predetermined update cycle. For example, when the updated car navigation map exists in a server provided outside the vehicle, the in-vehicle navigation system 40 receives the updated car navigation map from the server via the in-vehicle communication device described above and updates the map information 41.

[0018] The road network information is information on the road network represented by a combination of nodes and links. A node is set at a predetermined point on the road as the position of an intersection or the connection point of a link in the car navigation map. A node has position information represented by coordinates (latitude and longitude) in the car navigation map. A link is formed in the car navigation map by connecting adjacent nodes so as to correspond to the actual road shape. A link also has information such as the type of road (types such as highway, toll road, national road, prefectural road, etc.), the length of the link, and the link shape as the attribute information of the link. Each node and link is set with a unique number. The in-vehicle navigation system 40 can identify each road network represented in the car navigation map from the set unique number or the position information of the node. Thereby, the in-vehicle navigation system 40 can search for a route from the current location of the vehicle to the destination in the car navigation map.

[0019] In addition, the road network information includes not only roads in which nodes and links are regularly registered, but also information on planned roads in which nodes and links are provisionally registered. A planned road is an unfinished planned road that is not regularly registered in the in-vehicle navigation map. Nodes and links representing planned roads are provisionally registered in the in-vehicle navigation map. In the road network information, nodes and links representing planned roads and regularly registered nodes and links are distinguished in a distinguishable manner. For example, nodes and links representing planned roads are assigned numbers, symbols, etc. according to rules different from those for the unique numbers assigned to regularly registered nodes and links. The method for identifying nodes and links representing planned roads is determined according to the specifications of the in-vehicle navigation system 40. Hereinafter, roads that are not regularly registered in the map information 41, including planned roads, are referred to as "unregistered roads". In addition, in order to distinguish them from nodes and links regularly registered in the map information 41, nodes and links representing planned roads are described as "temporary nodes" and "temporary links", respectively.

[0020] Feature information is information on features associated with nodes and / or links in the road network information. Examples of features in the map information 41 include structures such as bridges, viaducts, tunnels, level crossings, footbridges, toll plazas, traffic signals, road signs, and pavement markings (including lane lines and crosswalks). Feature information is associated with regularly registered nodes and / or links. Whether or not feature information is associated with temporary nodes and / or temporary links is not particularly determined, and there may be cases where feature information is associated with temporary nodes and / or temporary links at the stage of unfinished roads, and there may also be cases where it is not.

[0021] An example of the navigation function by the in-vehicle navigation system 40 will be described. The in-vehicle navigation system 40 has, for example, a map matching function, a search function, a guidance function, and the like. When a destination is set by a passenger of the vehicle via an in-vehicle user interface (in-vehicle input device) such as a touch panel, the in-vehicle navigation system 40 estimates the current location of the vehicle on the car navigation map based on the information on the current location of the vehicle detected by the vehicle position detection device 20 by the map matching function. The in-vehicle navigation system 40 searches for the destination of the vehicle on the car navigation map by the search function. The in-vehicle navigation system 40 also searches for one or a plurality of routes from the current location of the vehicle to the destination by the search function. When a plurality of routes are obtained as search results, the in-vehicle navigation system 40 displays each route on the in-vehicle display. When one of the plurality of routes is selected by a passenger of the vehicle, the in-vehicle navigation system 40 sets the selected route as the guidance route. The in-vehicle navigation system 40 displays the guidance route on the in-vehicle display by the guidance function, or outputs the information on the guidance route by voice via an in-vehicle output device such as a speaker. Note that in this embodiment, the functions of the in-vehicle navigation system 40 are not particularly limited, and it is assumed that the navigation functions known at the time of filing of the present application can be applied to the in-vehicle navigation system 40.

[0022] Here, the relationship between the update frequency of the in-vehicle navigation map and the information accuracy of the in-vehicle navigation map will be described. Since the in-vehicle navigation map is updated at relatively long update intervals, such as once every six months, there may be a difference between the actual road network and the in-vehicle navigation map, and the information accuracy of the in-vehicle navigation map may decrease. For example, at a predetermined update time of the in-vehicle navigation map, unfinished roads are not regularly registered in the map information 41. However, if this road is completed before the next update time, although the vehicle can actually pass through the completed road, since the next update time has not arrived, it is still not regularly registered in the map information 41. In this case, despite the existence of the road, the in-vehicle navigation system 40 cannot include the road in the search candidates during route search and cannot guide the vehicle occupants to a route including the road. To address the problem that there are times when the information accuracy decreases due to the update frequency of the in-vehicle navigation map, the map information update device 10 according to the present embodiment adds an unregistered road to the map information 41 even if it is an unregistered road in the map information 41 when the vehicle travels on the unregistered road, and suppresses the decrease in the information accuracy of the in-vehicle navigation map regardless of the update frequency.

[0023] Next, the map information update device 10 will be described. As shown in FIG. 1, the map information update device 10 includes a controller 11. The controller 11 is composed of a computer having hardware and software, and has a memory storing a program and a CPU that executes the program stored in this memory. Note that as an operation circuit, an MPU, a DSP, an ASIC, an FPGA, etc. can be used instead of or together with the CPU.

[0024] FIG. 2 is an example of a functional block of the controller 11. As shown in FIG. 2, the controller 11 has, as functional blocks, a map information acquisition unit 12, an image acquisition unit 13, a position information acquisition unit 14, a road recognition unit 15, a road information acquisition unit 16, a determination unit 17, an update unit 18, and a storage unit 19. The controller 11 realizes each function of the functional block by software stored in the memory.

[0025] The map information acquisition unit 12 acquires the car navigation map included in the map information 41 from the in-vehicle navigation system 40. For example, when the ignition switch of the vehicle is turned on by the occupant and the map information acquisition unit 12 detects a signal indicating that the ignition has been turned on, the map information acquisition unit 12 acquires the car navigation map from the in-vehicle navigation system 40. Note that the acquisition timing of the car navigation map is an example and does not limit the acquisition timing.

[0026] The image acquisition unit 13 acquires a captured image showing the surroundings of the vehicle from the imaging device 31. The image acquisition unit 13 acquires the surrounding image of the vehicle from the imaging device 31 at a predetermined cycle. The surrounding image of the vehicle includes at least a captured image (front image of the vehicle) showing the front of the vehicle.

[0027] The position information acquisition unit 14 acquires the current position information of the vehicle (information on the current location of the vehicle) detected by the vehicle position detection device 20 from the vehicle position detection device 20. The position information acquisition unit 14 acquires the position information of the vehicle from the vehicle position detection device 20 at a predetermined cycle. The position information of the vehicle includes coordinate information representing the current location of the vehicle and traveling direction information representing the traveling direction of the vehicle.

[0028] The road recognition unit 15 recognizes the surrounding roads existing around the vehicle from the surrounding image of the vehicle acquired by the image acquisition unit 13. The road recognition unit 15 executes image recognition processing on the surrounding image of the vehicle, and recognizes the surrounding roads from the feature points of the roads existing around the vehicle. For example, the road recognition unit 15 extracts edges from the front image of the vehicle, identifies lane markers from the edge image, and estimates the lanes from the lane markers. When the road recognition unit 15 can estimate the lanes from the front image, it recognizes the road including the lanes as the surrounding roads. The lane marker is a lane boundary line located on both sides or one side of the left and right of the lane. The lane boundary line can be represented by a solid line or a broken line, and its color is represented by white or yellow. Also, when the lane marker is only partially recognized, such as when the lane marker is hidden by snow or puddles, the road recognition unit 15 may perform a Hough transform process for detecting a straight line shape from a straight line common to each candidate point, or an extended Hough transform process for detecting a curved shape from a plurality of circles centered on each candidate point. It is assumed that image recognition technologies known at the time of filing this application can be applied to the road recognition unit 15. Also, the road recognition unit 15 recognizes the road located in the traveling direction of the vehicle as the surrounding road from the front image of the vehicle, recognizes the road located on the left side of the traveling direction of the vehicle as the surrounding road from the left side image showing the left side of the traveling direction of the vehicle, and recognizes the road located on the right side of the traveling direction of the vehicle as the surrounding road from the right side image showing the right side of the traveling direction of the vehicle. The surrounding roads include at least the road on which the vehicle is traveling (the road along the traveling direction of the vehicle).

[0029] The road information acquisition unit 16 acquires road information about the surrounding roads recognized by the road recognition unit 15 from the surrounding image of the vehicle acquired by the image acquisition unit 13. The road information includes at least any one of road signs provided on the road, the number of lanes included in the road, the width of the lanes, the traveling direction of the lanes, and the speed limit of the road. For example, the road information acquisition unit 16 detects a linear shape or a curved shape from the surrounding image by the above-described Hough transform process or extended Hough transform process, performs pattern matching processing on the detected shape, and identifies road signs and road markings depicting the traveling direction. Also, for example, the road information acquisition unit 16 identifies adjacent lanes adjacent to the lane on which the vehicle is traveling from the edge image detected from the surrounding image. Also, for example, the road information acquisition unit 16 identifies the traveling direction of the vehicle from the surrounding image, and identifies the traveling direction of the lane from the identified traveling direction of the vehicle. It is assumed that image recognition techniques known at the time of filing this application can be applied to the road information acquisition unit 16. For example, the road information acquisition unit 16 is not limited to the surrounding image of the vehicle, and may perform vehicle-to-vehicle communication via the above-described in-vehicle communication device (not shown), and identify the traveling direction of the lane based on information from the preceding vehicle or the oncoming vehicle. Also, for example, the road information acquisition unit 16 may perform road-to-vehicle communication via the in-vehicle communication device and acquire road information (infrastructure information) of the surrounding roads from roadside units or the like provided around the road.

[0030] Based on the vehicle position information acquired by the position information acquisition unit 14, the determination unit 17 determines whether the surrounding roads recognized by the road recognition unit 15 in the map information 41 are unregistered. In this specification, "unregistered" is synonymous with not being formally registered in the map information 41, and the above-mentioned temporary nodes and temporary links are also included in the unregistered nodes and links. For example, the determination unit 17 determines whether the surrounding roads are unregistered based on the relative positional relationship between the current location of the vehicle and the surrounding roads, and the nodes and links of the car navigation map. The determination unit 17 estimates the position of the surrounding roads relative to the current location of the vehicle on the car navigation map. If neither nodes nor links exist at the estimated position of the surrounding roads in the car navigation map, the determination unit 17 determines that the surrounding roads are unregistered roads. On the other hand, if a node or a link exists at the estimated position of the surrounding roads on the car navigation map, the determination unit 17 determines that the surrounding roads are formally registered roads. When the road recognition unit 15 recognizes a plurality of surrounding roads, the determination unit 17 determines whether each surrounding road is unregistered in the map information 41.

[0031] When the vehicle travels on an unregistered surrounding road determined by the determination unit 17 to be unregistered in the map information 41, the update unit 18 updates the map information 41 by adding the unregistered surrounding road on which the vehicle has traveled to the map information 41. Further, when the road information acquisition unit 16 acquires road information regarding an unregistered surrounding road, the update unit 18 adds the road information regarding the unregistered surrounding road to the map information 41. When the vehicle travels on an unregistered surrounding road, the driving entity of the vehicle is not particularly limited. The vehicle may travel on an unregistered surrounding road by the driving of the driver, or the vehicle may also travel on an unregistered surrounding road by a driving assistance function.

[0032] A specific method for updating the map information 41 by the update unit 18 will be described with reference to FIGS. 3 to 5. FIGS. 3 to 5 are explanatory diagrams for explaining the method for updating the map information 41 by the update unit 18.

[0033] FIG. 3 is an example of a captured image P in which the traveling direction (front of the vehicle V) of the vehicle V is shown. The captured image P is an example of a captured image captured by an imaging device 31 provided in front of the vehicle V. The captured image P is an image captured when the vehicle V stops at a stop line in front of an intersection and shows the intersection. The captured image P shows that there is a surrounding road R1 as the route when the vehicle V goes straight through the intersection, and also shows that there is a surrounding road R2 as the route when the vehicle V turns left at the intersection, and also shows that there is a surrounding road R3 as the route when the vehicle V turns right at the intersection. In the scene shown in FIG. 3, a scene where the vehicle V goes straight through the intersection and travels on the surrounding road R1 will be described as an example. Note that in the map information 41, the surrounding road R1 is a road that is not registered regularly, and the surrounding roads R2 and R3 are roads that are registered regularly. The road recognition unit 15 recognizes the surrounding roads R1 to R3 as the surrounding roads of the vehicle V, and the determination unit 17 determines that the surrounding road R1 is an unregistered surrounding road in the map information 41.

[0034] FIG. 4 is an explanatory diagram for explaining a method of adding the surrounding road R1 to the map information 41 when the surrounding road R1 is temporarily registered in the map information 41 as a planned road. In FIGS. 4(A) and 4(B), the circular figures indicate nodes, the line segments connecting the nodes indicate links, the black nodes and the solid lines indicate the nodes and links that are regularly registered in the map information 41, respectively, and the white nodes indicated by the broken lines and the links indicated by the broken lines indicate the temporary nodes and temporary links that are temporarily registered in the map information 41, respectively. The symbol V indicates the current location of the vehicle V detected by the vehicle position detection device 20.

[0035] As shown in FIG. 4(A), when the vehicle V reaches the intersection, the temporary nodes UN1 to UN3 and the temporary link UL1 and UL2 representing the surrounding road R1 are temporarily registered in the map information 41. When the traffic signal at the intersection changes from a non-signal display (red signal) to a signal display (blue signal), the vehicle V goes straight through the intersection and starts traveling on the surrounding road R1.

[0036] Figure 4(B) shows the scene after a predetermined time has elapsed from the scene of Figure 4(A). As shown in Figure 4(B), consider the case where the vehicle V passes through the road section represented by the temporary link UL1 (see Figure 4(A)) and travels on the road section represented by the temporary link UL2. In this case, first, the update unit 18 determines, based on the map information 41 and the current location of the vehicle V, that the vehicle V has passed through the road section represented by the temporary link UL1. Next, the update unit 18 activates the temporary node UN1 and the temporary link UL1 representing the road section through which the vehicle V has passed, respectively. Activation means temporarily regarding the temporary node and the temporary link as the nodes and links normally registered in the map information 41, rather than normally registering the temporary node and the temporary link in the map information 41. In Figure 4(B), the activated temporary node UN1 is shown as the node EN1, and the activated temporary link UL1 is shown as the link EL1. In the scene of Figure 4(B), the node EN1 and the link EL1 are added to the map information 41 by the update unit 18, and the map information 41 is updated.

[0037] Also, when a predetermined time further elapses from the scene of Figure 4(B) and the vehicle V passes through the road section represented by the temporary link UL2 and travels on the road section represented by the temporary link UL3, first, the update unit 18 determines, based on the map information 41 and the current location of the vehicle V, that the vehicle V has passed through the road section represented by the temporary link UL2. Next, the update unit 18 activates the temporary node UN2 and the temporary link UL2 representing the road section through which the vehicle V has passed, respectively. Thereafter, until the vehicle V reaches the road normally registered in the map information 41, the update unit 18 repeatedly activates the temporary nodes and the temporary links according to the road sections traveled by the vehicle V.

[0038] Also, when information on a feature is associated with the temporary node and / or the temporary link, the update unit 18 activates the information on the feature associated with the temporary link and / or the temporary link together with the activation of the temporary node and the temporary link. The activated information on the feature is, like the activated temporary node and the temporary link, the information on the feature temporarily regarded as the information on the feature normally registered in the map information 41, rather than the information on the feature normally registered in the map information 41.

[0039] FIG. 5 is an explanatory diagram for explaining a method of adding a surrounding road R1 to the map information 41 when the surrounding road R1 is not temporarily registered in the map information 41 as a planned road. In FIGS. 5(A) and 5(B), the circular figures indicate nodes, the line segments connecting the nodes indicate links, and the black nodes and the solid-line links indicate the nodes and links that are normally registered in the map information 41, respectively. Also, the symbol V indicates the current location of the vehicle V detected by the vehicle position detection device 20. Note that the scene in FIG. 5(A) corresponds to the scene in FIG. 4(A), and the scene in FIG. 5(B) corresponds to the scene in FIG. 4(B).

[0040] As shown in FIG. 5(A), when the vehicle V reaches the intersection, the nodes and links representing the surrounding road R1 are not registered in the map information 41. Also, the nodes and links representing the surrounding road R1 are not temporarily registered in the map information 41 as a planned road. When the traffic signal at the intersection changes from a signal-unavailable display (red signal) to a signal-available display (blue signal), the vehicle V goes straight through the intersection and starts traveling on the surrounding road R1 that does not exist in the map information 41.

[0041] FIG. 5(B) shows a scene after a predetermined time has elapsed from the scene of FIG. 5(A). Consider a case where the vehicle V passes through a predetermined road section of the surrounding road R1 and is traveling on the surrounding road R1. In this case, first, the update unit 18 determines that the vehicle V has traveled a predetermined distance on the surrounding road R1 based on the coordinates of the node N3 and the current location of the vehicle V. The predetermined distance is a predetermined distance, for example, a distance set based on the node interval rule or the link length rule in the map information 41. The predetermined distance may be read as "predetermined road section". Next, the update unit 18 newly generates the node and link representing the road section traveled by the vehicle V as the node NN1 and the link NL1. The node and link generated by the update unit 18 are nodes and links temporarily regarded as the nodes and links regularly registered in the map information 41, but are not the nodes and links regularly registered in the map information 41. In the scene of FIG. 5(B), the node NN1 and the link NL1 are added to the map information 41 by the update unit 18, and the map information 41 is updated.

[0042] Also, when a predetermined time further elapses from the scene of FIG. 5(B) and the vehicle V is traveling on the surrounding road R1, the update unit 18 newly generates the node and link representing the road section traveled by the vehicle V each time the vehicle V travels a predetermined distance on the surrounding road R1. The update unit 18 repeatedly creates new nodes and links according to the road sections traveled by the vehicle V until the vehicle V reaches a road regularly registered in the map information 41.

[0043] While the vehicle V is traveling on the surrounding road R1 and the road information acquisition unit 16 acquires the road information of the surrounding road R1, the update unit 18 adds the road information regarding the surrounding road R1 to the map information 41. Specifically, the update unit 18 adds the road information regarding the surrounding road R1 including at least any one of the road signs provided on the surrounding road R1, the number of lanes included in the surrounding road R1, the width of the lanes, the traveling direction of the lanes, and the speed limit of the surrounding road R1 to the map information 41. Note that the added road information is temporarily regarded as the road information that is regularly registered in the map information 41, similar to the generated nodes and links, and is not the road information that is regularly registered in the map information 41.

[0044] Returning to FIG. 2, the storage unit 19 stores the map information 41 updated by the update unit 18 in the storage device. The storage device for which the storage unit 19 stores the updated map information 41 is not particularly limited. For example, when the in-vehicle navigation system 40 includes a storage device that stores the map information 41, the storage unit 19 stores the updated map information 41 in the storage device included in the in-vehicle navigation system 40. Thereby, the in-vehicle navigation system 40 can search for a route including unregistered roads using the updated map information 41 before the map information 41 is due for update. Also, for example, when the vehicle system 1 includes a storage device separately from the storage device included in the in-vehicle navigation system 40, the storage unit 19 stores the updated map information 41 in a storage device separate from the in-vehicle navigation system 40. Thereby, for example, a vehicle control device (not shown) can perform automatic driving control or driving support control for traveling a route including unregistered roads using the updated map information 41.

[0045] As described above, the map information updating device 10 according to the present embodiment updates the map information 41 used in the vehicle. The map information updating device 10 includes an image acquisition unit 13 that acquires a peripheral image of the vehicle from an imaging device 31 provided in the vehicle, a position information acquisition unit 14 that acquires the position information of the vehicle, a road recognition unit 15 that recognizes the peripheral roads of the vehicle from the peripheral image, a determination unit 17 that determines whether the peripheral roads are unregistered in the map information 41 based on the position information of the vehicle, and an update unit 18 that updates the map information 41 by adding the unregistered peripheral roads traveled by the vehicle to the map information 41 when the vehicle travels on the unregistered peripheral roads. The update unit 18 adds the unregistered peripheral roads to the map information 41 by newly generating nodes and links representing the unregistered peripheral roads traveled by the vehicle. When the vehicle travels on an unregistered road in the map information, the map information 41 is updated, so that the time required for updating the map information 41 can be shortened. In addition, since the difference between the actual road network and the map information 41 can be eliminated, it is possible to suppress a decrease in the information accuracy of the map information 41 regardless of the update frequency of the map information 41. Further, even when the information as the planned road does not exist in the map information 41, the map information 41 can be updated by the newly established nodes and links.

[0046] Also, in the present embodiment, when the unregistered peripheral roads traveled by the vehicle are temporarily registered as planned roads in the map information 41, the update unit 18 adds the unregistered peripheral roads to the map information 41 by validating the temporary nodes and temporary links representing the planned roads. Even though they are temporary nodes and temporary links, since the map information 41 can be updated only by performing the process of validating the existing information, the map information 41 can be updated more simply compared to the case of newly generating nodes and links, and the calculation load on the controller 11 can be reduced.

[0047] Also, in the present embodiment, the update unit 18 adds the information of the feature to the map information 41 by validating the information of the feature associated with the temporary node or the temporary link. Even though it is the information of the feature at the stage of the planned road, the map information 41 can be updated only by performing the process of validating the existing information. Therefore, compared with the case of newly acquiring the information of the feature, the map information 41 can be updated simply, and the computational load on the controller 11 can be reduced.

[0048] Also, in the present embodiment, every time the vehicle travels a predetermined distance on an unregistered surrounding road, the update unit 18 newly generates nodes and links. The nodes and links representing the unregistered surrounding road can be added to the map information 41 in accordance with the interval between the nodes or the length of the links that are regularly registered in the map information 41.

[0049] Also, in the present embodiment, the map information updating device 10 includes a road information acquisition unit 16 that acquires road information including at least any one of road signs provided on the road, the number of lanes included in the road, the width of the lanes, the traveling direction of the lanes, and the speed limit of the road from the surrounding image of the vehicle. The update unit 18 adds the road information regarding the unregistered surrounding road on which the vehicle has traveled to the map information 41. By adding the road information that is not regularly registered in the map information 41, the difference between the information of the actual road and the map information 41 can be reduced, and the deterioration of the information accuracy of the map information 41 can be suppressed regardless of the update frequency of the map information 41.

[0050] Also, the map information updating device 10 according to the present embodiment includes a storage unit 19 that stores the updated map information 41 in a storage device. Thereby, for example, the in-vehicle navigation system 40 can search for a route including an unregistered road using the updated map information 41 before the update timing of the map information 41 arrives.

[0051] (Modification example) Hereinafter, a modification example of the above-described embodiment will be described. Note that the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is incorporated herein by reference as appropriate.

[0052] As a first modification example, the controller 11 includes an inquiry unit that inquires of the vehicle occupants whether to add unregistered surrounding roads to the map information 41, and to which the answers of the vehicle occupants to the inquiry are input. For example, in the scene of FIG. 4(B), the inquiry unit activates the temporary node UN1 and the temporary link UL1 representing the road section traveled by the vehicle V via the in-vehicle display or the in-vehicle speaker, and inquires of the vehicle occupants whether to add the node EN1 and the link EL1 to the map information 41. Also, for example, in the scene of FIG. 5(B), the inquiry unit inquires of the vehicle occupants whether to add the newly generated node NN1 and the link NL1 as the node and the link representing the road section traveled by the vehicle V to the map information 41 via the in-vehicle display or the in-vehicle speaker. The occupants to be inquired include the driver, the occupant sitting in the passenger seat, and the occupant sitting in the rear seat. Examples of the method of inquiring the occupants include displaying the inquiry content on the in-vehicle display and outputting the inquiry information by voice via the in-vehicle speaker. Also, examples of the method of answering by the occupants include the occupants operating a touch panel type in-vehicle display to input an answer and the occupants answering by voice via the in-vehicle microphone.

[0053] Also, in the first modification example, when the answer of the occupants to add the unregistered surrounding roads to the map information 41 is input to the inquiry unit, the update unit 18 adds the unregistered surrounding roads traveled by the vehicle to the map information 41. For example, in the example of FIG. 4(B), when the answer of the occupants permitting the activation of the temporary node UN1 and the temporary link UL1 is input to the inquiry unit, the update unit 18 activates the temporary node UN1 and the temporary link UL1. Also, for example, in the example of FIG. 5(B), when the answer of the occupants permitting the addition of the newly generated node NN1 and the link NL1 is input to the inquiry unit, the update unit 18 adds the node NN1 and the link NL1 to the map information 41.

[0054] On the other hand, when the response from the vehicle occupant indicating that unregistered surrounding roads are not to be added to the map information 41 is input to the inquiry unit, the update unit 18 does not add the unregistered surrounding roads traveled by the vehicle to the map information 41. For example, in the example of FIG. 4(B), when the response from the vehicle occupant rejecting the activation of the temporary node UN1 and the temporary link UL1 is input to the inquiry unit, the update unit 18 does not activate the temporary node UN1 and the temporary link UL1. Also, for example, in the example of FIG. 5(B), when the response from the vehicle occupant rejecting the addition of the newly generated node NN1 and the link NL1 is input to the inquiry unit, the update unit 18 does not add the node NN1 and the link NL1 to the map information 41.

[0055] Thus, in the first modification, since the vehicle occupant can decide whether to update the map information 41, the map information 41 can be changed according to the preference of the occupant. For example, when the frequency of the vehicle traveling on unregistered surrounding roads in the map information 41 is high and the occupant feels convenience (such as shortening of travel time) when traveling on such roads, the occupant may input a response to update the map information 41 to the inquiry unit. On the other hand, for example, when the frequency of the vehicle traveling on unregistered surrounding roads in the map information 41 is low and the occupant does not feel much convenience when traveling on such roads, the occupant may input a response not to update the map information 41 to the inquiry unit.

[0056] As a second modification, the controller 11 includes, in the functional block, an intersection recognition unit that recognizes an intersection located in front of the vehicle from the surrounding image of the vehicle. The intersection recognition unit executes image recognition processing on the surrounding image of the vehicle and recognizes an intersection existing in front of the vehicle. For example, the intersection recognition unit extracts edges from the front image in which the traveling direction of the vehicle is captured, specifies the feature points of the intersection from the edge image, and recognizes the intersection from the feature points.

[0057] Also, in the second modification, the road recognition unit 15 recognizes a road that intersects an unregistered peripheral road on which the vehicle travels at an intersection recognized by the intersection recognition unit as an intersecting road. The road recognition unit 15 executes image recognition processing on the peripheral image of the vehicle and recognizes a road that intersects the road on which the vehicle travels at the intersection. For example, the road recognition unit 15 extracts edges from the front image of the vehicle, the left side image of the vehicle, or the right side image of the vehicle, specifies the lane markers of the intersecting road from the edge image, and recognizes the intersecting road from the lane markers.

[0058] Also, in the second modification, the update unit 18 adds the intersecting road recognized by the road recognition unit 15 to the map information 41.

[0059] FIG. 6 is an explanatory diagram for explaining the processing content of the controller 11 according to the second modification. Regarding the description of the node, link, and symbol V shown in FIGS. 6(A) and 6(B), the description made with reference to FIGS. 5(A) and 5(B) is incorporated. Also, the symbol C indicates a figure simulating the imaging range of the imaging device 31. Note that FIG. 6(A) shows a scene after a predetermined time has elapsed from the scene of FIG. 5(B).

[0060] As shown in FIG. 6(A), when the vehicle V passes through the road section represented by the link NL1 and travels in front of a predetermined intersection on the peripheral road R1, the intersection recognition unit recognizes the intersection located in front of the vehicle V from the peripheral image of the vehicle V. The road recognition unit 15 recognizes, as an intersecting road, a road that intersects the peripheral road R1 at the intersection recognized by the intersection recognition unit from the peripheral image of the vehicle V. The information on the intersection recognized by the intersection recognition unit and the intersecting road recognized by the road recognition unit 15 is not regularly registered in the map information 41.

[0061] FIG. 6(B) shows a scene after a predetermined time has elapsed from the scene of FIG. 6(A). Consider the case where the vehicle V goes straight through the intersection recognized by the intersection recognition unit. In this case, similar to the explanation using FIG. 5(B), first, the update unit 18 determines that the vehicle V has traveled a predetermined distance on the peripheral road R1 based on the coordinates of the node NN1 and the current location of the vehicle. Next, the update unit 18 newly generates a node and a link representing the road section traveled by the vehicle V as the node NL2 and the link NL2. Further, the update unit 18 newly generates a node and a link representing the road section of the intersecting road as the nodes NN3, NN4 and the links NL3, NL4. In the scene of FIG. 6(B), the nodes NN2 to NN4 and the links NL2 to NL4 are added to the map information 41 by the update unit 18, and the map information 41 is updated. Note that NN3 and NN4 are located within the imaging range C of the imaging device 31. The update unit 18 newly generates a node and a link located within the imaging range of the imaging device 31 among the intersecting roads.

[0062] As described above, in the second modification, not only the road on which the vehicle has traveled but also the intersecting roads on which the vehicle has not traveled can be added to the map information 41. Therefore, even if there is no information on the features or roads indicating the intersection, the position of the intersection can be added to the map information 41.

[0063] As a third modification, the controller 11 includes a preceding vehicle recognition unit in the functional block to recognize a preceding vehicle traveling ahead of the vehicle. The preceding vehicle recognition unit performs image recognition processing on the surrounding image of the vehicle to recognize a preceding vehicle traveling ahead of the vehicle. For example, the preceding vehicle recognition unit extracts edges from the front image of the vehicle, identifies the feature points of the preceding vehicle from the edge image, and recognizes the preceding vehicle from the feature points. The number of preceding vehicles is not particularly limited, and may be one preceding vehicle or a plurality of preceding vehicles.

[0064] Also, in the third modification, when the preceding vehicle recognized by the preceding vehicle recognition unit travels on an unregistered peripheral road, the update unit 18 adds the unregistered peripheral road on which the preceding vehicle has traveled to the map information 41. For example, in the example of FIG. 4, when the preceding vehicle of the vehicle V travels on the peripheral road R1, the update unit 18 activates the temporary node UN1 and the temporary link UL1 representing the road section on which the preceding vehicle has traveled. Also, for example, in the example of FIG. 5, when the preceding vehicle of the vehicle V travels on the peripheral road R1, the update unit 18 newly generates a node and a link representing the road section on which the preceding vehicle has traveled as the node NN1 and the link NL1.

[0065] In this way, in the third modification, when the preceding vehicle traveling ahead of the vehicle travels on an unregistered peripheral road, the map information 41 can be updated, so the update timing of the map information 41 can be advanced.

[0066] As a fourth modification, the controller 11 includes, in the functional block, a transmission unit that transmits the map information 41 updated by the update unit 18 to a server provided outside the vehicle. The transmission unit transmits the updated map information 41 to the server via the above-described in-vehicle communication device (not shown). For example, when the server provided outside the vehicle can also communicate with other vehicles, the updated map information 41 can be shared with other vehicles. Thereby, for example, the in-vehicle navigation system 40 can search for a route including an unregistered peripheral road traveled by another vehicle before the update timing of the map information 41 arrives.

[0067] Note that the embodiments and modifications described above are described to facilitate the understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiments is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

Explanation of Reference Numerals

[0068] 1... In-vehicle system 2... In-vehicle network 10... Map information update device 11…Controller 12…Map information acquisition unit 13…Image acquisition unit 14…Position information acquisition unit 15…Road recognition unit 16…Road information acquisition unit 17…Judgment unit 18…Update unit 19…Memory unit 20…Vehicle position detection device 30…Surrounding environment sensor group 31…Imaging device 32…Distance measuring device 40…In-vehicle navigation system 41…Map information

Claims

1. A map information updating device for updating map information used in a vehicle, comprising: an image acquisition unit that acquires a peripheral image of the vehicle from an imaging device provided in the vehicle; a position information acquisition unit that acquires position information of the vehicle; a road recognition unit that recognizes a peripheral road of the vehicle from the peripheral image; a determination unit that determines whether the peripheral road is unregistered in the map information based on the position information; an update unit that updates the map information by adding the unregistered peripheral road that the vehicle has traveled to the map information when the vehicle travels on the unregistered peripheral road in the map information; The update unit adds the unregistered peripheral road to the map information by newly generating nodes and links representing the unregistered peripheral road that the vehicle has traveled. A map information updating device.

2. The map information updating device according to claim 1, wherein when the unregistered peripheral road that the vehicle has traveled is temporarily registered as a planned road in the map information, the update unit activates a temporary node and a temporary link representing the planned road, thereby adding the unregistered peripheral road to the map information. A map information updating device.

3. The map information updating device according to claim 2, wherein the update unit adds the information of the feature to the map information by activating the information of the feature associated with the temporary node or the temporary link. A map information updating device.

4. The map information updating device according to claim 1, wherein each time the vehicle travels a predetermined distance on the unregistered peripheral road, the update unit newly generates the node and the link. A map information updating device.

5. The map information updating device according to any one of claims 1 to 4, comprising: a road information acquisition unit that acquires road information including at least one of a road sign provided on the road, the number of lanes included in the road, the width of the lane, the traveling direction of the lane, and the speed limit of the road from the peripheral image; the update unit adds the road information regarding the unregistered peripheral road to the map information. A map information updating device.

6. The map information updating device according to any one of claims 1 to 5, comprising: an inquiry unit that inquires of a passenger of the vehicle whether to add the unregistered peripheral road to the map information, and receives an answer from the passenger to the inquiry; The update unit When the response of the occupant for adding the unregistered surrounding road to the map information is input, the unregistered surrounding road is added to the map information, When the response of the occupant not to add the unregistered surrounding road to the map information is input, a map information updating device that does not add the unregistered surrounding road to the map information.

7. A map information updating device according to any one of claims 1 to 6, comprising an intersection recognition unit that recognizes an intersection located in front of the vehicle from the surrounding image, The road recognition unit recognizes an intersecting road that intersects the unregistered surrounding road on which the vehicle travels at the intersection, The updating unit is a map information updating device that adds the intersecting road to the map information.

8. A map information updating device according to any one of claims 1 to 7, comprising a preceding vehicle recognition unit that recognizes a preceding vehicle traveling in front of the vehicle from the surrounding image, The updating unit is a map information updating device that adds the unregistered surrounding road on which the preceding vehicle has traveled to the map information when the preceding vehicle travels on the unregistered surrounding road.

9. A map information updating device according to any one of claims 1 to 8, A map information updating device comprising a storage unit that stores the updated map information in a storage device.

10. A map information updating device according to any one of claims 1 to 9, A map information updating device comprising a transmission unit that transmits the updated map information to a server.

11. A map information updating method in which a controller updates map information used in a vehicle, acquiring a surrounding image of the vehicle from an imaging device provided in the vehicle, acquiring the position information of the vehicle, recognizing the surrounding road of the vehicle from the surrounding image, determining whether the surrounding road is unregistered in the map information based on the position information, When the vehicle travels on the unregistered surrounding road in the map information, the map information is updated by adding the unregistered surrounding road on which the vehicle has traveled to the map information, A map information updating method for adding the unregistered surrounding road to the map information by newly generating a node and a link representing the unregistered surrounding road on which the vehicle has traveled in the update of the map information.

Images