Map generation system, map generation method. and program

Abstract

To provide a map generation system, a map generation method and a program that allow for preparing a travel course and an operation timetable for an autonomous vehicle to travel and enhancing the efficiency of time up to practical application.SOLUTION: A map generation system of the present invention comprises a self-running mechanism that allows an autonomous vehicle to travel autonomously, a map-information recording section that generates map information based on a course where the autonomous vehicle traveled autonomously, and a map-information display section that displays the map information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a map generation system, a map generation method, and a program. [Background technology]

[0002] Patent Document 1 discloses an automated guided vehicle (an example of an automatic vehicle) that travels along a travel route (an example of a course) that is scanned by a camera using black vinyl tape attached to the travel route. Patent Documents 2 and 3 disclose a travel program creation device for an automated guided vehicle that can easily and rationally create travel routes that the automated guided vehicle can travel. Summary of the Invention [Problem to be solved by the invention]

[0003] Incidentally, when creating a driving route for the above-mentioned automated guided vehicle, it is necessary to separately measure the actual site layout and then create list data that manages actions at addresses, known as an operation schedule, created using an information terminal, and the actual driving route with markers attached.

[0004] However, when the driving route is complex, it is difficult to match the list data with the actual driving route, and when the driving route is changed, the list data and the actual driving route may become misaligned. Furthermore, when a marker is actually attached, it may be found that driving is not possible due to the environment, and so there are issues such as it taking time to create the correct operating environment.

[0005] The present invention has been made in consideration of the above, and aims to provide a map generation system, a map generation method, and a program that can improve the time efficiency of creating and operating a driving course and schedule for an autonomous vehicle. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the present invention comprises a self-propelled mechanism that allows an autonomous vehicle to propel itself, a map information recording unit that generates and records map information based on the course taken by the autonomous vehicle, and a map information display unit that displays the map information. [Effects of the Invention]

[0007] The present invention has the effect of improving the time efficiency of creating and operating a driving course and a driving schedule for an autonomous vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram for explaining an example of the configuration of an autonomous vehicle included in a map generation system according to this embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of the map generation system according to the present embodiment. [Figure 3] FIG. 3 is a diagram for explaining an example of image processing for acquiring the positions and angles of guide lines in the map generation system according to the present embodiment. [Figure 4] FIG. 4 is a diagram for explaining an example of guide lines and addresses in the map generation system according to the present embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of a train schedule in the map generation system according to the present embodiment. [Figure 6] FIG. 6 is a diagram for explaining an example of a tool for creating a train schedule in the map generation system according to the present embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a method for constructing an operating environment when creating a new course and modifying an existing course in the map generation system according to this embodiment. [Figure 8] FIG. 8 is a diagram for explaining an example of data when the map information is recorded while the autonomous vehicle is traveling in the map generation system according to this embodiment. [Figure 9]FIG. 9 is a diagram for explaining an example of a method for creating a driving course from map information acquired in scan mode in the map generation system according to this embodiment. [Figure 10] FIG. 10 is a diagram for explaining an example of a method for creating a new course and changing an existing course by creating a driving course in the map generation system according to this embodiment and then driving the vehicle in operation mode and scanning it. [Figure 11] FIG. 11 is a diagram illustrating an example of a method for editing an existing course by changing the marker and running an autonomous vehicle in a driving mode to scan the course in the map generation system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a map generation system, a map generation method, and a program will be described in detail with reference to the accompanying drawings.

[0010] 1 is a diagram for explaining an example of the configuration of an autonomous vehicle that a map generation system according to this embodiment has. In this embodiment, autonomous vehicle 1 has, as shown in FIG. 1, a camera 2, a drive unit 3, a communication unit 4, a driving management unit 5, an input reception unit 6, an image processing unit 7, and a drive control unit 8.

[0011] Camera 2 captures images of the guide line. The closer camera 2 is to the ground, the smaller the size of the body of self-driving vehicle 1 can be, and this can be achieved by changing the mounting angle, mounting height, focal length, etc. of camera 2.

[0012] The drive unit 3 operates in response to commands received from the drive control unit 8 to move the autonomous vehicle 1.

[0013] The communication unit 4 controls communication with the cruise control server 10. The communication unit 4 also acquires a schedule (an example of operation information) from the cruise control server 10 and receives movement commands. Here, the schedule is information for controlling the operation of the autonomous vehicle 1. In this embodiment, the schedule may be a driving course that includes the positions of guide lines and addresses, a driving route connecting the addresses, and an action to be taken at the addresses. The communication unit 4 also transmits the driving status and driving position of the autonomous vehicle 1 to the cruise control server 10.

[0014] The driving management unit 5 stores the operation schedule obtained via the communication unit 4. The driving management unit 5 also receives destinations and driving instructions (movement commands) from the communication unit 4 or the input reception unit 6, and manages the start and end of driving of the autonomous vehicle 1 to the received destination in the driving schedule.

[0015] The input reception unit 6 receives destination input and start (driving) instructions from the operator and transmits them to the driving management unit 5. The input reception unit 6 also receives driving mode switching operations and transmits them to the driving management unit 5.

[0016] The image processing unit 7 acquires images from the camera 2, processes the images, acquires guide line information, and transmits the guide line information to the drive control unit 8. Here, the guide line information may include the positions and angles (x, y, th) of the guide line and address. The angle of the guide line and address refers to the angle between the imaged guide line or address and the Y axis (the direction of travel of the autonomous vehicle 1), or the angle between the guide line and the address.

[0017] The drive control unit 8 acquires the guide line information from the image processing unit 7, calculates an arbitrary driving method for the guide line instructed by the driving management unit 5, and controls the drive unit 3.

[0018] Here, we will explain an example of a specific configuration of the driving management unit 5. As shown in Fig. 1, the driving management unit 5 has a self-driving mechanism 8a, a map information recording unit 8b, a recognition mechanism 8c, a detection unit 8d, a management unit 8e, an update unit 8f, and an abnormality detection unit 8g.

[0019] The recognition mechanism 8c is an example of a guide line recognition unit that recognizes guide lines set on the travel course of the autonomous vehicle 1. Specifically, the recognition mechanism 8c may recognize guide lines set with black tape or ink using an infrared camera, which is an example of the camera 2. This makes it possible to recognize specific signs (guide lines) without being affected by visible light stains or floor paint, because in the near-infrared region, the light reflection and absorption characteristics vary depending on the material rather than the color of the subject.

[0020] Alternatively, the recognition mechanism 8c may use a magnetic detection device to recognize guide lines made of magnetic tape, which allows the autonomous vehicle 1 to travel along the guide lines regardless of the road surface environment or dirt.

[0021] Self-propelled mechanism 8a is an example of a self-propelled mechanism that self-propels self-driving vehicle 1. In the present embodiment, self-propelled mechanism 8a self-propels self-driving vehicle 1 along a guide line recognized by recognition mechanism 8c.

[0022] The map information recording unit 8b is an example of a map information recording unit that generates and records map information based on the course traveled by the autonomous vehicle 1. Here, the map information may be driving path information that indicates the course traveled by the autonomous vehicle 1. The map information may also be a 3D map. If the map information is a 3D map, the autonomous vehicle 1 includes means for acquiring information about three-dimensional objects around the course traveled by the autonomous vehicle 1. Examples of means for acquiring three-dimensional object information include a distance measuring sensor and an imaging device. The map information recording unit 8b may also generate driving path information including the positions of guide lines and addresses, and the driving route of the autonomous vehicle 1, based on the amount of movement detected by the detection unit 8d, which will be described later. The map information recording unit 8b may also generate driving path information including the positions of guide lines and addresses, and the driving route of the autonomous vehicle 1, based on the attitude of the autonomous vehicle 1 detected by the detection unit 8d, which will be described later.

[0023] The detection unit 8d detects the traveling position (x, y, th) of the autonomous vehicle 1 based on the result of driving the drive unit 3 transmitted from the drive control unit 8. Here, the traveling position of the autonomous vehicle 1 may be the relative positional relationship of the autonomous vehicle 1 with the start address. For example, the traveling position of the autonomous vehicle 1 may be the distance traveled by the autonomous vehicle 1 from the start address.

[0024] Furthermore, the detection unit 8d may detect the amount of movement of the autonomous vehicle 1 based on the number of rotations of a motor, which is an example of the drive unit 3 of the autonomous vehicle 1. In this way, by using the amount of rotation of the motor to detect the amount of movement of the autonomous vehicle 1, the accuracy of recognizing the position of the autonomous vehicle 1 by detecting the amount of movement can be improved, and the accuracy of the address and driving route in the scan data can also be improved.

[0025] Furthermore, detection unit 8d may detect the attitude of autonomous vehicle 1 based on the acceleration of a gyro sensor of autonomous vehicle 1. In this way, by using a gyro sensor to detect the attitude of autonomous vehicle 1, it is possible to calculate the amount of movement of autonomous vehicle 1 without being affected by motor slippage or the like. Furthermore, by combining this with calculation of the amount of movement of autonomous vehicle 1 based on the amount of rotation of a motor, which is an example of drive unit 3, it is possible to reduce errors in the traveling position of autonomous vehicle 1.

[0026] Management unit 8e also manages changes (switching) of the driving mode for driving when operating autonomous vehicle 1 and the scan mode for creating a train schedule. That is, autonomous vehicle 1 has a driving mode and a scan mode. As a result, by using the scan mode for creating a train schedule to obtain map information before creating a train schedule for autonomous vehicle 1, and then creating the train schedule using a train schedule creation tool in driving control server 10, it is possible to create a train schedule that matches the actual map position of autonomous vehicle 1, and to efficiently create an operating environment.

[0027] Update unit 8f functions as an example of an update unit that detects updates to map information and continues to update the map information to the latest while autonomous vehicle 1 is operating (i.e., while autonomous vehicle 1 is running in operational mode). In this way, autonomous vehicle 1 updates the map information while in operation, which reduces the amount of work required by operators and makes it possible to easily keep the operational environment up to date.

[0028] The abnormality detection unit 8g functions as an example of an abnormality detection unit that detects an abnormality by detecting differences between the map information recorded in the map information recording unit 8b and the generated map information while the autonomous vehicle 1 is traveling in operation (i.e., while the autonomous vehicle 1 is traveling in the operational mode). As a result, if the autonomous vehicle 1 is traveling in a position different from the map information previously saved, this is determined to be abnormal traveling, and the problem can be minimized and the autonomous vehicle can be stopped safely.

[0029] Furthermore, the abnormality detection unit 8g manages abnormality detection data including the position on the course where the autonomous vehicle 1 detected an abnormality. The abnormality detection unit 8g then notifies the driving control server 10 of the abnormality detection data via the communication unit 4. The driving control server 10 tallys up the abnormality detection data. This makes it possible to manage in detail the error position where an abnormality was detected, and to deal with the location of the problem and its detailed cause.

[0030] Fig. 2 is a diagram for explaining an example of the configuration of a map generation system according to this embodiment. The map generation system according to this embodiment is an example of a map generation system that generates a driving course for an autonomous vehicle 1, and as shown in Fig. 2, includes the autonomous vehicle 1 and a driving control server 10 (an example of a server).

[0031] The driving control server 10 manages a driving schedule, transmits the driving schedule including driving route information to multiple autonomous vehicles 1, and manages the addresses along which the autonomous vehicles 1 drive. The driving control server 10 also issues driving instructions to the autonomous vehicles 1. In doing so, the driving control server 10 cooperates with external systems and can issue driving instructions to the autonomous vehicles 1 in response to the operation of the other systems. The driving control server 10 can also receive map information from the autonomous vehicles 1, display the map information, and issue traffic control instructions.

[0032] That is, the driving control server 10 has a server-side communication unit 10a that transmits a driving schedule, which is an example of driving information, to the autonomous vehicle 1 via wireless communication and receives map information from the autonomous vehicle 1. As a result, even if there are multiple autonomous vehicles 1, the driving control server 10 can centrally manage the driving schedules by obtaining the driving schedules from the driving control server 10. Furthermore, map information can be easily exchanged between the autonomous vehicle 1 and the driving control server 10 via wireless communication. Furthermore, the driving control server 10 has an example of a map information display unit 10b (e.g., a monitor) that displays the course traveled by the autonomous vehicle 1 (i.e., map information stored in the driving management unit 5 of the autonomous vehicle 1).

[0033] This makes it possible to create a train schedule by having the autonomous vehicle 1 travel along a course created using markers, generating map information of the marker information and distance data, and adding operation information to the distance data and marker information of the actual layout, thereby matching the train schedule with the actual driving course.As a result, it is possible to improve the time efficiency from creating a driving course for the autonomous vehicle 1 and a train schedule to operating it.

[0034] The autonomous vehicle 1 acquires a schedule from the driving control server 10, and when instructed to drive, performs autonomous driving based on the schedule. The autonomous vehicle 1 periodically transmits the current position of the autonomous vehicle 1 to the driving control server 10. In other words, the communication unit 4 of the autonomous vehicle 1 is an example of a vehicle-side communication unit that acquires (receives) the schedule from the driving control server 10 via wireless communication and transmits map information to the driving control server 10.

[0035] 3 is a diagram for explaining an example of image processing for acquiring the position and angle of a guide line in the map generation system according to this embodiment. The image processing unit 7 acquires images from the camera 2 in the following order and transmits the guide line information to the drive control unit 8. FIG. 3 shows an example of image processing by the image processing unit 7.

[0036] The image processing unit 7 acquires an image from the camera 2, as shown in FIG. 3(a). The image processing unit 7 also performs image processing to extract the contours of the guide lines included in the image, as shown in FIG. 3(b). Next, the image processing unit 7 acquires the median, which is the center position, and the angle (x, y, th) for each contour from the information obtained from the extracted contours, as shown in FIG. 3(c). Thereafter, the image processing unit 7 transmits the guide line information including the acquired median and angle to the drive control unit 8. The drive control unit 8 controls the autonomous vehicle 1 to travel along the guide line in accordance with the guide line information sent from the image processing unit 7.

[0037] 4 is a diagram for explaining an example of guide lines and addresses in the map generation system according to this embodiment. Guide lines 11 are created using black tape, black paint, or the like. Autonomous vehicle 1 travels so as to follow these guide lines.

[0038] Address 12 is a sign for a location defined in a train schedule. By recognizing this address 12, the autonomous vehicle 1 can manage its actions at the relevant location by checking it against the train schedule. For example, by defining stop instructions, turning instructions, delivery of luggage, etc. in the train schedule, the autonomous vehicle 1 can perform those actions at the relevant location.

[0039] FIG. 5 is a diagram illustrating an example of a train schedule in the map generation system according to this embodiment. The communication unit 4 of the autonomous vehicle 1 acquires a train schedule such as that shown in FIG. 5(a) from the driving control server 10. The train schedule defines a destination, which is a collection of a number called an address, an action, and a parameter. When the autonomous vehicle 1 detects an address, it performs an action corresponding to the detected address and moves to the next address. FIG. 5(b) is an example of an action that can be used in the train schedule. FIG. 5(c) is an example of an action at the address of the autonomous vehicle 1 when the destination is "1 station."

[0040] Fig. 6 is a diagram for explaining an example of a traffic schedule creation tool in the map generation system according to this embodiment. In this embodiment, the driving control server 10 executes a traffic schedule creation tool (hereinafter referred to as a traffic schedule creation tool) as shown in Fig. 6 to display a traffic schedule creation screen. The user creates a traffic route by clicking any point on the traffic schedule creation screen to connect the points. Furthermore, the user sets the point where an action will be performed as an address on the traffic schedule creation screen.

[0041] In course editing on the train schedule creation screen, the user can select and connect addresses and operation routes to create a driving course, or select a start address and a goal address to create the addresses and operation routes that pass through them as a driving course.In this case, the train schedule creation tool calculates actions such as turning actions and stopping actions, and operations such as changing the driving speed, based on the shape of the operation routes, and sets them automatically.

[0042] In course editing, it is possible to set actions for each address and specify any driving control operation. In addition, in course editing, it is possible to import addresses and driving routes from the autonomous vehicle 1 after the autonomous vehicle 1 enters scan mode. In course editing, it is also possible to create driving route and address data based on the positional relationship of the actual addresses.

[0043] A driving course created from the addresses and driving routes created by the driving schedule creation tool is set as an unscanned course. An unscanned course becomes a scanned course by importing data (map information) of the driving route traveled by the autonomous vehicle 1. The driving control server 10 can output the created driving course as a driving schedule.

[0044] Here, the address is the location where the autonomous vehicle 1 performs an action. Actions include operations such as unloading luggage and turning, as well as changing settings such as speed settings. The driving route is a guide line along which the autonomous vehicle 1 travels, connecting addresses. The driving course may be a driving schedule for the autonomous vehicle 1 that compiles driving routes, addresses, and actions.

[0045] FIG. 7 is a diagram showing an example of a method for constructing an operating environment when creating a new course and modifying an existing course in the map generation system according to this embodiment. (1) When creating a new course (a new driving course), there are two methods: the first method, in which a driving course is created from data (map information) captured in scan mode, and the second method, in which a driving course is created and then driven in operation mode to scan the map information. (2) When changing an existing course (a driving course that has already been created), there are two methods: a second method in which a driving course is created and then the vehicle is driven in operation mode to scan the map information; and a third method in which markers such as guide lines and address markers are changed and then the vehicle is driven in operation mode to scan the map information.

[0046] As described above, when creating or changing a driving course, several methods (Methods 1 to 3) can be used depending on the stage of operation construction and the scale of the change. In all methods, the final result is a scanned driving course (scanned course) where the map information is imported into the operation schedule creation tool and the address and route locations match the on-site markers. The aim is to always maintain the state of the scanned course, even when changes are made.

[0047] Since the scanned course has the address and route location correctly acquired as data, if the current location of the self-driving vehicle 1 differs from the scanned course while in operation, it is possible to detect this and notify an error or stop the self-driving vehicle 1. Furthermore, by managing abnormality detection data such as where the self-driving vehicle 1 is on the route and where an error occurred, and notifying this to the driving control server 10, it is possible to manage more detailed information.

[0048] Here, the operation mode is a mode in which the autonomous vehicle 1 drives the driving course in the bus schedule and sequentially performs actions on the driving course to carry out operations. The scan mode is an auxiliary mode for creating a bus schedule in which the autonomous vehicle 1 drives along the first guide line it finds, saves the guide line and address position found from its driving position, and sends the driving route and address to the bus schedule creation tool.

[0049] 8 is a diagram illustrating an example of data when an autonomous vehicle records map information while traveling in the map generation system according to this embodiment. The autonomous vehicle 1 (map information recording unit 8b) generates map information in which the positions of guide lines and addresses are converted into data, with the address specified as the starting address (start address) as the origin.

[0050] The autonomous vehicle 1 travels by following the guide line recognized by the recognition mechanism 8c. At this time, the driving management unit 5 (detection unit 8d) calculates the current driving position (x, y, th) of the autonomous vehicle 1 while it is traveling, based on the rotation amount, gear ratio, and tire diameter of the drive unit 3 (e.g., motor) transmitted from the drive control unit 8. At this time, the driving management unit 5 (detection unit 8d) may use a gyro sensor to determine the attitude of the autonomous vehicle 1. Then, the driving management unit 5 (map information recording unit 8b) records the position (x [mm], y [mm]) of each Point located a certain distance away from the autonomous vehicle 1, using the data (e.g., the current driving position of the autonomous vehicle 1) as scan guide line position data (an example of driving path information).

[0051] When the autonomous vehicle 1 (map information recording unit 8b) detects an address on the right side while traveling, it registers the Point in the address position data (an example of driving route information) as an address in the direction of travel, with the leading edge of the detected address detected first as the start point and the trailing edge as the end point. Also, when the autonomous vehicle 1 (map information recording unit 8b) detects an address on the left side while traveling, it registers the Point in the address position data as an address in the opposite direction to the direction of travel, with the leading edge detected first of the detected address as the end point and the trailing edge as the start point. Addresses have a direction of travel, and the direction of travel of the autonomous vehicle 1 can be determined based on the direction from the start point to the end point. Connected guide lines are managed as route data, with points managed as a series of lists. Guide lines are independent of the direction of travel, so travel from the opposite direction is also possible.

[0052] 9 is a diagram for explaining an example of a method for creating a driving course from map information captured in scan mode in the map creation system according to this embodiment. The map creation system according to this embodiment creates a driving course for the autonomous vehicle 1 according to the following steps (1) to (5). (1) The worker sets up guide lines and addresses in the environment where the autonomous vehicle 1 will actually run. (2) Autonomous vehicle 1 starts traveling in scan mode from the address marker that serves as the starting address. In operation mode, autonomous vehicle 1 travels according to a schedule, but in scan mode, autonomous vehicle 1 travels automatically along the guide line it finds, and records the positions of the guide line and the addresses as map information, with the starting address as the origin. (3) The autonomous vehicle 1 may travel only on the main line of the guide line, circle the main line, and return to its original position or continue traveling until the markers disappear, or it may move to a branch line it finds along the way after completing its travel on the main line and travel on the branch line as the main line, passing all the markers. (4) The map information (e.g., driving conditions, location) of the self-driving vehicle 1 traveling in scan mode is imported into the operation schedule creation tool of the driving control server 10, and an operation schedule including addresses and driving routes based on actual distances is created. (5) The operation schedule creation tool sets the addresses to be passed and actions based on the imported map information such as addresses and operation routes, and creates an operation schedule including the driving course.

[0053] 10 is a diagram for explaining an example of a method for creating a new course or modifying an existing course by creating a driving course in the map generation system according to this embodiment and then driving the vehicle in operation mode and scanning it. In this embodiment, a new course is created or an existing course is modified according to the following steps (1) to (4).

[0054] (1) The worker creates or modifies the address, route, and driving course using the train schedule creation tool. The train schedule creation tool registers the created or modified driving course as an unscanned course. Once the driving course creation is complete, the train schedule creation tool outputs a train schedule that includes the driving course. (2) The worker sets up guide lines and addresses in the environment where the self-driving vehicle 1 will actually run. (3) The autonomous vehicle 1 is operated in operation mode. When the autonomous vehicle 1 travels on an unscanned course, the autonomous vehicle 1 scans guide lines and addresses as it travels, so map information such as guide lines and addresses can be generated without affecting the operation of the autonomous vehicle 1. (4) The train schedule creation tool imports the scan data (generated map information) to correctly correct the addresses and routes of unscanned driving courses. The train schedule creation tool also registers the corrected driving courses as scanned courses.

[0055] 11 is a diagram illustrating an example of a method for editing an existing course by changing the marker and running an autonomous vehicle in a driving mode to scan the course in the map generation system according to this embodiment. In this embodiment, an existing course is edited according to the following steps (1) to (6).

[0056] (1) The operator changes the address and route location of the existing course. This change can be made to the address and route location to the extent that the actions of the existing course do not change. (2) The autonomous vehicle 1 is driven in driving mode along the changed driving course. (3) The self-driving vehicle 1 compares the position of the driving route of the scanned course with its current position, detects that it is driving on a route that deviates from the scanned course, and makes an emergency stop. (4) The operator operates the input reception unit 6 of the stopped autonomous vehicle 1 to resume driving of the autonomous vehicle 1 and register the planned change course. (5) While traveling, the autonomous vehicle 1 generates map information such as the addresses of the travel course and the travel route. (6) The train schedule creation tool imports the scan data (generated map information) to correctly correct the addresses and route of the unscanned driving course.The train schedule creation tool then registers the corrected driving course as a scanned course.

[0057] As described above, the map generation system according to this embodiment makes it possible to generate a train schedule by having the autonomous vehicle 1 travel along a course created using markers, generating map information of the marker information and distance data, and adding operation information to the distance data and marker information of the actual layout, thereby matching the train schedule with the actual travel course. As a result, it is possible to improve the time efficiency from creating the travel course along which the autonomous vehicle 1 will travel and the train schedule to using them.

[0058] The program executed by autonomous vehicle 1 of this embodiment is provided by being pre-installed in a ROM (Read Only Memory) or the like. The program executed by autonomous vehicle 1 of this embodiment may also be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0059] Furthermore, the program executed by autonomous vehicle 1 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by autonomous vehicle 1 of this embodiment may be provided or distributed via a network such as the Internet.

[0060] The program executed by the self-driving vehicle 1 of this embodiment has a modular structure including the above-mentioned units (self-propelled mechanism 8a, map information recording unit 8b, recognition mechanism 8c, detection unit 8d, management unit 8e, update unit 8f, and abnormality detection unit 8g), and in actual hardware, a processor such as a CPU (Central Processing Unit) reads and executes the program from the above-mentioned ROM, loading the above-mentioned units onto the main memory device, and generating the self-propelled mechanism 8a, map information recording unit 8b, recognition mechanism 8c, detection unit 8d, management unit 8e, update unit 8f, and abnormality detection unit 8g on the main memory device.

[0061] For example, aspects of the present invention are as follows. <1> A self-propelled mechanism that allows the autonomous vehicle to propel itself; a map information recording unit that generates and records map information based on a course traveled by the autonomous vehicle; a map information display unit that displays the map information; A map generation system comprising: <2> The map information includes road information indicating the course. <1> The map generation system according to claim 1. <3> a guide line recognition unit that recognizes guide lines provided on the course; the self-propelled mechanism causes the automated vehicle to self-propel along the guide line recognized by the guide line recognition unit. <2> The map generation system according to claim 1. <4> The map generation system includes: a server having a server-side communication unit that transmits operation information including the driving route information to the autonomous driving vehicle by wireless communication and receives the map information from the autonomous driving vehicle; The autonomous vehicle has a vehicle-side communication unit that acquires the operation information from the server via wireless communication and transmits the map information. <2> The map generation system according to claim 1. <5> a detection unit that detects the amount of movement of the autonomous vehicle based on the number of rotations of the motor of the autonomous vehicle; the map information recording unit records the driving route information including the positions of the guide lines and addresses and the driving route of the automated driving vehicle based on the detected movement amount; <3> The map generation system according to claim 1. <6> the detection unit detects the attitude of the autonomous vehicle based on the acceleration of a gyro sensor of the autonomous vehicle; the map information recording unit records the driving route information including the positions of the guide lines and addresses and the driving route of the autonomous driving vehicle based on the detected attitude; <5> The map generation system according to claim 1. <7> The guide line recognition unit recognizes the guide line provided with black tape or ink using an infrared camera. <3> The map generation system according to claim 1. <8> The guide line recognition unit recognizes the guide line provided by a magnetic tape using a magnetic detection device. <3> The map generation system according to claim 1. <9> The autonomous vehicle has a driving mode for driving the autonomous vehicle in operation and a scan mode for creating the map information. <1> from <8> 10. A map generation system according to any one of the preceding claims. <10> an update unit that detects updates to the map information while the autonomous vehicle is traveling and continues to update the map information to the latest; <1> from <9> 10. A map generation system according to any one of the preceding claims. <11> and an abnormality detection unit that detects an abnormality by detecting a difference between the map information recorded in the map information recording unit and the generated map information while the autonomous vehicle is traveling in operation. <4> The map generation system according to claim 1. <12> the abnormality detection unit manages abnormality detection data including a position on the course where the autonomous vehicle detected an abnormality, and notifies the server of the abnormality detection data; the server aggregates the anomaly detection data; <11> The map generation system according to claim 1. <13> 1. A map generation method executed in a map generation system, comprising: A step of driving the self-driving vehicle; generating and recording map information based on a course traveled by the autonomous vehicle; displaying the map information; A map generation method including: <14> Computer, A self-propelled mechanism that allows the autonomous vehicle to propel itself; a map information recording unit that generates and records map information based on a course traveled by the autonomous vehicle; A program to make it function as such. [Explanation of symbols]

[0062] 1. Self-driving cars 2 Cameras 3 Drive unit 4. Communications Department 5. Driving Management Department 6 Input reception section 7 Image processing section 8 Drive control unit 8a Self-propelled mechanism 8b Map information recording section 8c recognition mechanism 8d Detector 8e Management Department 8f update section 8g Abnormality detection section 10 Driving control server 10a Server-side communication unit 10b Map information display section [Prior art documents] [Patent documents]

[0063] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-251922 [Patent Document 2] Japanese Patent Application Publication No. 11-143534 [Patent Document 3] Japanese Patent Application Publication No. 2022-181438

Claims

1. A self-propelled mechanism that allows the autonomous vehicle to propel itself; a map information recording unit that generates and records map information based on a course traveled by the autonomous vehicle; a map information display unit that displays the map information; A map generation system comprising:

2. The map generating system according to claim 1 , wherein the map information includes road information indicating the course.

3. a guide line recognition unit that recognizes guide lines provided on the course; The map generation system according to claim 2 , wherein the self-propelled mechanism causes the automated vehicle to self-propel along the guide line recognized by the guide line recognition unit.

4. The map generation system includes: a server having a server-side communication unit that transmits operation information including the driving route information to the autonomous driving vehicle by wireless communication and receives the map information from the autonomous driving vehicle; The map generation system according to claim 2 , wherein the autonomous vehicle has a vehicle-side communication unit that acquires the operation information from the server via wireless communication and transmits the map information.

5. a detection unit that detects the amount of movement of the autonomous vehicle based on the number of rotations of the motor of the autonomous vehicle; The map generating system according to claim 3 , wherein the map information recording unit records the driving route information including the positions of the guide lines and addresses and the driving route of the automated driving vehicle based on the detected amount of movement.

6. the detection unit detects the attitude of the autonomous vehicle based on the acceleration of a gyro sensor of the autonomous vehicle; The map generating system according to claim 5 , wherein the map information recording unit records the driving route information including the positions of the guide lines and addresses and the driving route of the autonomous vehicle based on the detected attitude.

7. The map generating system according to claim 3 , wherein the guide line recognition unit uses an infrared camera to recognize the guide lines provided with black tape or ink.

8. The map generating system according to claim 3 , wherein the guide line recognition unit recognizes the guide lines provided by magnetic tape using a magnetic detection device.

9. The map generating system according to claim 1 , wherein the autonomous vehicle has a driving mode for driving during operation of the autonomous vehicle and a scan mode for creating the map information.

10. The map generating system according to claim 1 , further comprising an update unit that detects updates to the map information while the autonomous vehicle is operating and traveling, and continues to update the map information to the latest information.

11. 5. The map generation system according to claim 4, further comprising an anomaly detection unit that detects an anomaly by detecting a difference between the map information recorded in the map information recording unit and the generated map information while the autonomous vehicle is traveling in operation.

12. the abnormality detection unit manages abnormality detection data including a position on the course where the autonomous vehicle detected an abnormality, and notifies the server of the abnormality detection data; The map generation system of claim 11 , wherein the server aggregates the anomaly detection data.

13. 1. A map generation method executed in a map generation system, comprising: A step of driving the self-driving vehicle; generating and recording map information based on a course traveled by the autonomous vehicle; displaying the map information; A map generation method including:

14. Computer, A self-propelled mechanism that allows the autonomous vehicle to propel itself; a map information recording unit that generates and records map information based on a course traveled by the autonomous vehicle; A program to make it function as such.

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