Map Information Updating Device and Map Information Updating Method

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 a requester. 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 updater, 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 the 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 solves the above problem by acquiring images of the area around the vehicle from an imaging device installed on the vehicle, acquiring the vehicle's location information, recognizing the roads around the vehicle from the surrounding images, determining whether the surrounding roads are registered in the map information based on the location information, and updating the map information by generating new nodes and links representing the unregistered surrounding roads that the vehicle traveled on if the vehicle traveled on such roads. [Effects of the Invention]

[0007] According to the present invention, the time required to update map information can be reduced. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing an example of an in-vehicle system including a map update device according to this embodiment. [Figure 2] Figure 2 shows an example of a functional block in the controller according to this embodiment. [Figure 3] Figure 3 is an explanatory diagram illustrating how the update unit updates map information. [Figure 4] Figure 4 is an explanatory diagram illustrating how the update unit updates map information. [Figure 5] Figure 5 is an explanatory diagram illustrating how the update unit updates map information. [Figure 6] Figure 6 is an explanatory diagram illustrating the processing steps of the controller in the modified example. [Modes for carrying out the invention]

[0009] Hereinafter, an embodiment of the map information update device and map information update method according to the present invention will be described with reference to the drawings. The map information update device according to this embodiment is implemented as part of an in-vehicle system 1, as shown in Figure 1. Figure 1 is a block diagram showing an example of an in-vehicle system 1 according to this embodiment. The in-vehicle system 1 is a system mounted on a vehicle and is a system for performing various controls on the vehicle. The in-vehicle system 1 can be installed in a vehicle that has an automatic driving function that drives automatically without the driver's involvement, a vehicle that has a driver assistance function that assists the driver in driving the vehicle, or a vehicle that does not have either an automatic driving function or a driver assistance function.

[0010] As shown in Figure 1, the in-vehicle system 1 includes a map information update device 10, a vehicle position detection device 20, a group of ambient environment sensors 30, and an in-vehicle navigation system 40. These devices and systems are mounted in the vehicle and connected by an in-vehicle network 2, such as CAN (Controller Area Network) or LIN (Local Interconnect Network).

[0011] The vehicle position detection device 20 is a device that detects the current location of a vehicle. The vehicle position detection device 20 consists of a GPS unit, a gyro sensor, and a vehicle speed sensor, etc. The vehicle position detection device 20 detects radio waves transmitted from multiple satellite communications using the GPS unit and periodically acquires vehicle position information. Based on the acquired vehicle position information, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor, it periodically detects the vehicle's current position information.

[0012] The surrounding environment sensor group 30 is a group of sensors for detecting objects present around the vehicle. These objects are ground features, such as road lane boundaries, center lines, road markings, median strips, guardrails, curbs, highway side walls, road signs, traffic lights, pedestrian crossings, construction sites, accident sites, and speed limit signs. The objects also include other vehicles (such as preceding vehicles and oncoming vehicles), motorcycles, bicycles, and pedestrians. The objects also include obstacles that may affect the vehicle's movement (such as parked or stopped vehicles on the road).

[0013] The surrounding environment sensor group 30 includes an imaging device 31 and a distance measuring device 32. Objects are detected, for example, by the imaging device 31 and the distance measuring device 32. The imaging device 31 is a device that recognizes objects around the vehicle by image, and is a camera such as a camera equipped with an image sensor such as a CCD, an ultrasonic camera, or an infrared camera. Information about objects recognized by the imaging device 31 includes, for example, the type of 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. Multiple imaging devices 31 can be installed on the vehicle, for example, they can be placed on the front grille, below the left and right door mirrors, and near the rear bumper. This reduces blind spots when recognizing objects around the vehicle.

[0014] The rangefinder 32 is a device for calculating the relative position of an object with respect to the vehicle, as well as the relative distance and relative speed between the vehicle and the object. For example, it may be a radar device or sonar such as a laser radar, millimeter-wave radar (LRF, etc.), LiDAR (Light detection and ranging) unit, or ultrasonic radar. Similar to the imaging device 31, multiple rangefinders 32 can be installed on the vehicle, for example, they can be placed in front of the vehicle, to the right, to the left, and behind the vehicle. This allows for the accurate calculation of the relative position of an object with respect to the vehicle, as well as the relative distance and relative speed between the vehicle and the object for objects around the vehicle.

[0015] The imaging device 31 and the distance measuring device 32 detect the area around the vehicle at predetermined time intervals. The detection results from the imaging device 31 and the distance measuring device 32 may be integrated or combined by the controller 11 of the map information update device 10 (described later) to supplement any missing information about objects in the detection results. For example, the controller 11 may calculate the object's position information using the positioning information (self-position information) of the vehicle's current location output from the vehicle position detection device 20 and the relative position (distance and direction) of the object relative to the vehicle detected by the imaging device 31 or the distance measuring device 32. Alternatively, if the vehicle has high-precision map information used for automatic driving control or driving assistance control, the object's position information may be calculated by associating the high-precision map information with the positioning information obtained by odometry and the relative position (distance and direction) between the vehicle and the object. The calculated object's position information may be integrated by the controller 11 with multiple pieces of information, such as the detection results from the imaging device 31 and the distance measuring device 32 and the high-precision map information, to form the vehicle's surrounding environment information.

[0016] The in-vehicle navigation system 40 guides the vehicle's occupants by displaying a route from the vehicle's current location to its destination on a display, based on the vehicle's location information detected by the vehicle position detection device 20. 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 it may have a storage device for storing the map information 41. The in-vehicle navigation system 40 is not limited to having map information 41; for example, the map information 41 may be stored on a server located outside the vehicle. In this case, the in-vehicle navigation system 40 receives the map information 41 from the server outside the vehicle via an in-vehicle communication device (not shown) with wireless functionality.

[0017] The map information 41 includes a map for car navigation (hereinafter referred to as the car navigation map) for guiding the planned driving route of the vehicle to the passengers. The planned driving route 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 road. The car navigation map is updated at a predetermined update cycle. For example, when an 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 above-described in-vehicle communication device and updates the map information 41.

[0018] The road network information is information of 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] Furthermore, the road network information includes not only roads whose nodes and links are officially registered, but also information on planned roads whose nodes and links are provisionally registered. Planned roads are roads that are still in the planning stages and have not yet been completed, and are not officially registered on the car navigation map. Nodes and links representing planned roads are provisionally registered on the car navigation map. In the road network information, nodes and links representing planned roads and officially registered nodes and links are distinguished in a manner that allows for their identification. For example, nodes and links representing planned roads are assigned numbers and symbols according to rules different from the rules for assigning unique numbers to officially registered nodes and links. The method for identifying nodes and links representing planned roads is determined by the specifications of the in-vehicle navigation system 40. Hereafter, roads that are not officially registered in the map information 41, including planned roads, will be referred to as "unregistered roads." Also, in order to distinguish them from nodes and links officially registered in the map information 41, nodes and links representing planned roads will be described as "provisional nodes" and "provisional links," respectively.

[0020] Feature information refers to information about features associated with nodes and / or links in road network information. Examples of features in map information 41 include structures such as bridges, overpasses, tunnels, railway crossings, pedestrian bridges, and toll booths, as well as traffic lights, road signs, and road markings (including lane markings and pedestrian crossings). Feature information is associated with officially registered nodes and / or links. There is no specific rule as to whether or not feature information is associated with temporary nodes and / or temporary links; in some cases, feature information may be associated with temporary nodes and / or temporary links at the stage of an unfinished road, while in others it may 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 of 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. Further, the in-vehicle navigation system 40 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 the search result, 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 of the guidance route by voice via an in-vehicle output device such as a speaker. In addition, in the present embodiment, the function of the in-vehicle navigation system 40 is not particularly limited, and it is assumed that the navigation function known at the time of filing of the present application can be applied to the in-vehicle navigation system 40.

[0022] Here, we will explain the relationship between the update frequency of car navigation maps and the accuracy of the information in those maps. Because car navigation maps are updated at relatively long intervals, such as once every six months, discrepancies can arise between the actual road network and the car navigation map, which can lead to a decrease in the accuracy of the information in the car navigation map. For example, at a predetermined update time for the car navigation map, incomplete roads are not officially registered in the map information 41. However, if these roads are completed before the next update time, even though vehicles can actually travel on the completed roads, they are still not officially registered in the map information 41 because the next update time has not yet arrived. In this case, despite the roads existing, the in-vehicle navigation system 40 cannot include those roads as search candidates when searching for routes, and therefore cannot guide the vehicle's occupants on a route that includes those roads. To address the issue of information accuracy deteriorating due to the frequency of updates to car navigation maps, the map information update device 10 according to this embodiment adds unregistered roads to the map information 41 when a vehicle travels on an unregistered road, even if the road is not registered in the map information 41, thereby suppressing a decrease in the information accuracy of the car navigation map regardless of the update frequency.

[0023] Next, the map information update device 10 will be described. As shown in Figure 1, the map information update device 10 is equipped with a controller 11. The controller 11 is composed of a computer equipped with hardware and software, and has a memory that stores programs and a CPU that executes the programs stored in this memory. As for the operating circuit, an MPU, DSP, ASIC, FPGA, etc. can be used instead of or in conjunction with the CPU.

[0024] Figure 2 shows an example of the functional blocks of the controller 11. As shown in Figure 2, the controller 11 has the following functional blocks: a map information acquisition unit 12, an image acquisition unit 13, a location 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 implements each function of the functional blocks through software stored in 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 map information acquisition unit 12 detects a signal indicating that the vehicle's ignition switch has been turned on by an occupant, it acquires the car navigation map from the in-vehicle navigation system 40. Note that the timing of acquiring the car navigation map is just an example and does not limit the acquisition timing.

[0026] The image acquisition unit 13 acquires captured images from the imaging device 31 that show the area around the vehicle. The image acquisition unit 13 acquires images of the area around the vehicle from the imaging device 31 at predetermined intervals. The images of the area around the vehicle include captured images that show at least the front of the vehicle (front-facing images of the vehicle).

[0027] The location information acquisition unit 14 acquires the current location information (information of the vehicle's current location) of the vehicle detected by the vehicle location detection device 20 from the vehicle location detection device 20. The location information acquisition unit 14 acquires the vehicle's location information from the vehicle location detection device 20 at predetermined intervals. The vehicle's location information includes coordinate information representing the vehicle's current location and direction of travel information representing the vehicle's direction of travel.

[0028] The road recognition unit 15 recognizes surrounding roads from the surrounding images of the vehicle acquired by the image acquisition unit 13. The road recognition unit 15 performs image recognition processing on the surrounding images of the vehicle and recognizes surrounding roads from the feature points of the roads surrounding the vehicle. For example, the road recognition unit 15 extracts edges from the forward image of the vehicle, identifies lane markers from the edge images, and estimates the lanes from the lane markers. If the road recognition unit 15 can estimate the lanes from the forward image, it recognizes the road containing those lanes as a surrounding road. Lane markers are lane boundary lines located on both sides or one side of the lane. Lane boundary lines are represented by solid or dashed lines, and their color is white or yellow. If lane markers are partially recognized, such as when they are hidden by snow or puddles, the road recognition unit 15 may perform a Hough transform process to detect straight lines from straight lines common to each candidate point, or an extended Hough transform process to detect curved shapes from multiple circles centered on each candidate point. The road recognition unit 15 is capable of applying image recognition technologies known at the time of filing this application. The road recognition unit 15 recognizes roads located in the direction of travel of the vehicle as surrounding roads from the image in front of the vehicle, recognizes roads located to the left of the direction of travel of the vehicle as surrounding roads from the left-side image showing the left side in the direction of travel of the vehicle, and recognizes roads located to the right of the direction of travel of the vehicle as surrounding roads from the right-side image showing the right side in the direction of travel of the vehicle. Surrounding roads include at least the road on which the vehicle is traveling (the road along the direction of travel of the vehicle).

[0029] The road information acquisition unit 16 acquires road information from the surrounding road recognized by the road recognition unit 15, based on the surrounding image of the vehicle acquired by the image acquisition unit 13. The road information includes at least one of the following: road signs installed on the road, the number of lanes included in the road, the width of the lanes, the direction of travel of the lanes, and the speed limit of the road. For example, the road information acquisition unit 16 detects straight or curved shapes from the surrounding image using the Hough transform processing or extended Hough transform processing described above, performs pattern matching processing on the detected shapes, and identifies road signs and road markings depicting the direction of travel. For example, the road information acquisition unit 16 identifies adjacent lanes adjacent to the lane in which the vehicle is traveling from the edge images detected from the surrounding image. For example, the road information acquisition unit 16 identifies the direction of travel of the vehicle from the surrounding image, and identifies the direction of travel of the lanes from the identified direction of travel of the vehicle. The road information acquisition unit 16 is capable of applying image recognition technologies known at the time of filing this application. For example, the road information acquisition unit 16 may not be limited to images of the vehicle's surroundings, but may also perform vehicle-to-vehicle communication via the above-mentioned in-vehicle communication device (not shown) and determine the direction of travel in the lane based on information from preceding vehicles and oncoming vehicles. Alternatively, for example, the road information acquisition unit 16 may perform vehicle-to-infrastructure communication via the in-vehicle communication device and acquire road information (infrastructure information) of surrounding roads from roadside devices installed around the road.

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

[0031] The update unit 18 updates the map information 41 by adding the unregistered surrounding roads that the vehicle has traveled on to the map information 41 when the determination unit 17 determines that such roads are unregistered in the map information 41. Furthermore, if the update unit 18 obtains road information regarding unregistered surrounding roads from the road information acquisition unit 16, it adds the road information regarding the unregistered surrounding roads to the map information 41. When a vehicle travels on unregistered surrounding roads, the driver is not particularly limited; the vehicle may travel on unregistered surrounding roads under the control of a driver, or it may travel on unregistered surrounding roads using a driver assistance function.

[0032] The specific method for updating the map information 41 by the update unit 18 will be explained using Figures 3 to 5. Figures 3 to 5 are explanatory diagrams for illustrating the method for updating the map information 41 by the update unit 18.

[0033] Figure 3 is an example of an image P showing the direction of travel of vehicle V (in front of vehicle V). Image P is an example of an image captured by an imaging device 31 installed in front of vehicle V. Image P was captured when vehicle V stopped at the stop line before the intersection, and shows the intersection. Image P shows that surrounding road R1 exists as a route when vehicle V goes straight through the intersection, surrounding road R2 exists as a route when vehicle V turns left through the intersection, and surrounding road R3 exists as a route when vehicle V turns right through the intersection. In the scene shown in Figure 3, we will explain using the example of vehicle V going straight through the intersection and traveling on surrounding road R1. Note that in map information 41, surrounding road R1 is a road that is not officially registered, while surrounding roads R2 and R3 are officially registered roads. The road recognition unit 15 recognizes surrounding roads R1 to R3 as surrounding roads of vehicle V, and the determination unit 17 determines that surrounding road R1 is an unregistered surrounding road in the map information 41.

[0034] Figure 4 is an explanatory diagram illustrating how to add surrounding road R1 to map information 41 when surrounding road R1 is provisionally registered as a planned road in map information 41. In Figures 4(A) and 4(B), circular shapes represent nodes, line segments connecting nodes represent links, black nodes and solid links represent nodes and links that are officially registered in map information 41, respectively, while dashed white nodes and dashed links represent provisional nodes and provisional links that are provisionally registered in map information 41, respectively. The symbol V indicates the current location of vehicle V detected by the vehicle position detection device 20.

[0035] As shown in Figure 4(A), when vehicle V reaches the intersection, temporary nodes UN1 to UN3 and temporary links UL1 and UL2, representing the surrounding road R1, are temporarily registered in map information 41. When the traffic light at the intersection changes from a signal unavailable (red light) to a signal available (green light), vehicle V proceeds straight through the intersection and begins traveling along the surrounding road R1.

[0036] Figure 4(B) shows the scene after a predetermined time has elapsed from the scene in Figure 4(A). As shown in Figure 4(B), consider the case where vehicle V has passed through the road section represented by temporary link UL1 (see Figure 4(A)) and is traveling through the road section represented by temporary link UL2. In this case, first, the update unit 18 determines that vehicle V has passed through the road section represented by temporary link UL1 based on the map information 41 and the current location of vehicle V. Next, the update unit 18 activates the temporary node UN1 and temporary link UL1, which represent the road sections that vehicle V has passed through. Activation means temporarily treating the temporary node and temporary link as a node and link that have been officially registered in the map information 41, and does not mean officially registering the temporary node and temporary link in the map information 41. In Figure 4(B), the activated temporary node UN1 is shown as node EN1, and the activated temporary link UL1 is shown as link EL1. In the scene shown in Figure 4(B), node EN1 and link EL1 are added to map information 41 by the update unit 18, and map information 41 is updated.

[0037] Furthermore, if a predetermined amount of time has elapsed since the scene in Figure 4(B), and vehicle V has passed through the road section represented by temporary link UL2 and is traveling through the road section represented by temporary link UL3, first the update unit 18 determines, based on the map information 41 and the vehicle V's current location, that vehicle V has passed through the road section represented by temporary link UL2. Next, the update unit 18 activates the temporary node UN2 and temporary link UL2, respectively, which represent the road sections that vehicle V has traveled through. Thereafter, the update unit 18 repeatedly activates the temporary nodes and temporary links according to the road sections that vehicle V has traveled through, until vehicle V reaches a road that is officially registered in the map information 41.

[0038] Furthermore, if feature information is associated with a temporary node and / or temporary link, the update unit 18 activates the temporary node and temporary link, as well as the feature information associated with the temporary link and / or temporary link. The activated feature information is, like the activated temporary node and temporary link, feature information that is temporarily considered to be legally registered in the map information 41, but is not feature information that is legally registered in the map information 41.

[0039] Figure 5 is an explanatory diagram illustrating how to add surrounding road R1 to map information 41 when it has not been provisionally registered as a planned road in map information 41. In Figures 5(A) and 5(B), circular shapes represent nodes, line segments connecting nodes represent links, and black nodes and solid links represent nodes and links that are officially registered in map information 41, respectively. The symbol V indicates the current location of vehicle V detected by the vehicle position detection device 20. Note that the scene in Figure 5(A) corresponds to the scene in Figure 4(A), and the scene in Figure 5(B) corresponds to the scene in Figure 4(B).

[0040] As shown in Figure 5(A), when vehicle V reaches the intersection, the node and link representing surrounding road R1 are not registered in map information 41. Furthermore, the node and link representing surrounding road R1 are not even provisionally registered in map information 41 as a planned road. When the traffic light at the intersection changes from a signal unavailable indication (red light) to a signal available indication (green light), vehicle V proceeds straight through the intersection and begins traveling on surrounding road R1, which does not exist in map information 41.

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

[0042] Furthermore, if a predetermined amount of time has elapsed since the scene in Figure 5(B) and vehicle V is traveling on the surrounding road R1, the update unit 18 generates new nodes and links representing the road sections traveled by vehicle V each time 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 vehicle V until vehicle V reaches a road that is officially registered in the map information 41.

[0043] Furthermore, while vehicle V is traveling on surrounding road R1, if road information for surrounding road R1 is acquired by the road information acquisition unit 16, the update unit 18 adds road information related to surrounding road R1 to map information 41. Specifically, the update unit 18 adds road information related to surrounding road R1 to map information 41 that includes at least one of the following: road signs installed on surrounding road R1, the number of lanes included in surrounding road R1, the width of the lanes, the direction of travel of the lanes, and the speed limit of surrounding road R1. Note that the added road information, like the generated nodes and links, is road information that is temporarily considered to be officially registered in map information 41, but is not road information that is officially registered in map information 41.

[0044] Returning to Figure 2, the storage unit 19 stores the map information 41 updated by the update unit 18 in a storage device. The storage device to which the storage unit 19 stores the updated map information 41 is not particularly limited, but for example, if the in-vehicle navigation system 40 has a storage device that stores map information 41, the storage unit 19 stores the updated map information 41 in the storage device of the in-vehicle navigation system 40. This allows the in-vehicle navigation system 40 to search for a route including unregistered roads using the updated map information 41 before the time for updating the map information 41 arrives. Alternatively, for example, if the in-vehicle system 1 has a storage device separate from the storage device of 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. This allows, for example, a vehicle control device (not shown) to use the updated map information 41 to perform automatic driving control or driving assistance control to drive a route including unregistered roads.

[0045] As described above, the map information update device 10 according to this embodiment updates the map information 41 used by the vehicle. The map information update device 10 includes an image acquisition unit 13 that acquires images of the area around the vehicle from an imaging device 31 installed on the vehicle, a location information acquisition unit 14 that acquires location information of the vehicle, a road recognition unit 15 that recognizes roads around the vehicle from the surrounding images, a determination unit 17 that determines whether or not the surrounding roads are unregistered in the map information 41 based on the location information of the vehicle, and an update unit 18 that updates the map information 41 by adding the unregistered surrounding roads that the vehicle has traveled on to the map information 41 when the vehicle has traveled on such roads. The update unit 18 adds the unregistered surrounding roads to the map information 41 by newly generating nodes and links that represent the unregistered surrounding roads that the vehicle has traveled on. Since the map information 41 is updated when the vehicle travels on roads that are not registered in the map information, the time required to update the map information 41 can be shortened. Furthermore, since the discrepancy between the actual road network and the map information 41 can be eliminated, the deterioration of the information accuracy of the map information 41 can be suppressed regardless of the update frequency of the map information 41. In addition, even if information as a planned road does not exist in the map information 41, the map information 41 can be updated by newly created nodes and links.

[0046] In this embodiment, if an unregistered surrounding road traveled by a vehicle is provisionally registered as a planned road in the map information 41, the update unit 18 adds the unregistered surrounding road to the map information 41 by activating the provisional node and provisional link representing the planned road. Since the map information 41 can be updated simply by activating existing information, even if it is a provisional node and provisional link, the map information 41 can be updated more easily than when new nodes and links are generated, and the computational load on the controller 11 can be reduced.

[0047] In this embodiment, the update unit 18 adds feature information to the map information 41 by activating the feature information associated with a temporary node or temporary link. Although this is feature information at the planning stage of a road, the map information 41 can be updated simply by activating existing information. This is more convenient than acquiring new feature information, and reduces the computational load on the controller 11.

[0048] In this embodiment, the update unit 18 generates new nodes and links each time the vehicle travels a predetermined distance on unregistered surrounding roads. Nodes and links representing unregistered surrounding roads can be added to the map information 41 in accordance with the spacing or link lengths of nodes that are already registered in the map information 41.

[0049] In this embodiment, the map information update device 10 includes a road information acquisition unit 16 that acquires road information from an image of the vehicle's surroundings, including at least one of the following: road signs installed on the road, the number of lanes included in the road, the width of the lanes, the direction of travel of the lanes, and the speed limit of the road. The update unit 18 adds road information about unregistered surrounding roads that the vehicle has traveled on to the map information 41. By adding road information that is not officially registered in the map information 41, the difference between the actual road information and the map information 41 can be narrowed, and the decrease in the accuracy of the map information 41 can be suppressed regardless of the update frequency of the map information 41.

[0050] Furthermore, the map information update device 10 according to this embodiment includes a storage unit 19 that stores the updated map information 41 in a storage device. This allows, for example, the in-vehicle navigation system 40 to search for a route that includes unregistered roads using the updated map information 41 before the time for updating the map information 41 arrives.

[0051] (modified version) The following describes modified examples of the embodiments described above. Components similar to those in the embodiments described above are denoted by the same reference numerals, and their descriptions are appropriately referenced.

[0052] As a first modification, the controller 11 includes a query unit in its functional block that inquires with the vehicle occupants whether or not to add unregistered surrounding roads to the map information 41, and receives the occupants' responses to the query. For example, in the scene shown in Figure 4(B), the query unit, via the in-vehicle display or speaker, activates temporary node UN1 and temporary link UL1 representing the road section traveled by vehicle V, and inquires with the vehicle occupants whether or not to add node EN1 and link EL1 to the map information 41. Also, for example, in the scene shown in Figure 5(B), the query unit, via the in-vehicle display or speaker, inquires with the vehicle occupants whether or not to add newly generated node NN1 and link NL1 to the map information 41 as nodes and links representing the road section traveled by vehicle V. The occupants to be inquired about include the driver, the passenger in the front seat, and the passenger in the rear seat. Methods for inquiring with occupants include, for example, displaying the query content on the in-vehicle display or outputting the query information audibly via the in-vehicle speaker. Other methods for occupants to respond include, for example, occupants operating a touch-panel in-car display to input their answers, or occupants responding verbally via an in-car microphone.

[0053] In the first modified example, if the occupant's response to the inquiry unit is to add unregistered surrounding roads to the map information 41, the update unit 18 adds the unregistered surrounding roads that the vehicle traveled on to the map information 41. For example, in the example in Figure 4(B), if the occupant's response to the inquiry unit is to permit the activation of temporary node UN1 and temporary link UL1, the update unit 18 activates temporary node UN1 and temporary link UL1. Also, for example, in the example in Figure 5(B), if the occupant's response to the inquiry unit is to permit the addition of newly generated node NN1 and link NL1, the update unit 18 adds node NN1 and link NL1 to the map information 41.

[0054] On the other hand, if the update unit 18 receives a response from the occupant stating that they do not want the unregistered surrounding roads to be added to the map information 41, the update unit 18 will not add the unregistered surrounding roads that the vehicle traveled on to the map information 41. For example, in the example in Figure 4(B), if the occupant stating that they refuse to activate the temporary node UN1 and temporary link UL1 is received by the inquiry unit, the update unit 18 will not activate the temporary node UN1 and temporary link UL1. Also, for example, in the example in Figure 5(B), if the occupant stating that they refuse to add the newly generated node NN1 and link NL1 is received by the inquiry unit, the update unit 18 will not add node NN1 and link NL1 to the map information 41.

[0055] Thus, in the first modified example, the vehicle occupants can decide whether or not to update the map information 41, allowing the map information 41 to be changed according to the occupants' preferences. For example, if the vehicle frequently travels on surrounding roads not registered in the map information 41, and the occupants feel that traveling on those roads is convenient (e.g., reduces travel time), the occupants can simply input a response in the inquiry section to update the map information 41. On the other hand, for example, if the vehicle rarely travels on surrounding roads not registered in the map information 41, and the occupants do not feel that traveling on those roads is particularly convenient, the occupants can simply input a response in the inquiry section to not update the map information 41.

[0056] As a second variation, the controller 11 includes an intersection recognition unit in its functional block that recognizes an intersection located in front of the vehicle from an image of the vehicle's surroundings. The intersection recognition unit performs image recognition processing on the image of the vehicle's surroundings to recognize an intersection in front of the vehicle. For example, the intersection recognition unit extracts edges from a forward image showing the direction of travel of the vehicle, identifies feature points of the intersection from the edge image, and recognizes the intersection from the feature points.

[0057] In the second modified example, the road recognition unit 15 recognizes roads that intersect with unregistered surrounding roads on which the vehicle is traveling at an intersection recognized by the intersection recognition unit as intersecting roads. The road recognition unit 15 performs image recognition processing on the vehicle's surrounding image and recognizes roads that intersect with the road on which the vehicle is traveling at the intersection. For example, the road recognition unit 15 extracts edges from the vehicle's front image, the vehicle's left side image, or the vehicle's right side image, identifies the lane markers of the intersecting roads from the edge images, and recognizes the intersecting roads from the lane markers.

[0058] In the second modified example, the update unit 18 adds the intersecting roads recognized by the road recognition unit 15 to the map information 41.

[0059] Figure 6 is an explanatory diagram illustrating the processing content of the controller 11 according to the second modified example. For the explanation of the nodes, links, and the symbol V shown in Figures 6(A) and 6(B), refer to the explanation given using Figures 5(A) and 5(B). The symbol C represents a figure that simulates the imaging range of the imaging device 31. Figure 6(A) shows the scene after a predetermined time has elapsed from the scene in Figure 5(B).

[0060] As shown in Figure 6(A), when vehicle V is passing through the road section represented by link NL1 and is traveling before a predetermined intersection on the surrounding road R1, the intersection recognition unit recognizes the intersection located in front of vehicle V from the surrounding image of vehicle V. The road recognition unit 15 recognizes roads that intersect the surrounding road R1 at the intersection recognized by the intersection recognition unit as intersecting roads from the surrounding image of vehicle V. The information of the intersection recognized by the intersection recognition unit and the intersecting roads recognized by the road recognition unit 15 is not officially registered in the map information 41.

[0061] Figure 6(B) shows the scene after a predetermined time has elapsed from the scene in Figure 6(A). As shown in Figure 6(B), consider the case where vehicle V travels straight through an intersection recognized by the intersection recognition unit. In this case, similar to the explanation using Figure 5(B), first the update unit 18 determines that vehicle V has traveled a predetermined distance on the surrounding road R1 based on the coordinates of node NN1 and the vehicle's current location. Next, the update unit 18 newly generates nodes and links representing the road section traveled by vehicle V as node NL2 and link NL2. Furthermore, the update unit 18 newly generates nodes and links representing the road sections of the intersecting roads as nodes NN3, NN4 and links NL3, NL4. In the scene in Figure 6(B), nodes NN2 to NN4 and 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 generates new nodes and links among the intersecting roads that are located within the imaging range of the imaging device 31.

[0062] Thus, in this second modification, not only roads on which vehicles traveled but also intersecting roads on which vehicles did not travel can be added to the map information 41. Therefore, even if there is no information on features or roads indicating intersections, the location of the intersection can be added to the map information 41.

[0063] As a third modification, the controller 11 includes a functional block that includes a preceding vehicle recognition unit that recognizes a preceding vehicle traveling in front of the vehicle. The preceding vehicle recognition unit performs image recognition processing on an image of the vehicle's surroundings and recognizes a preceding vehicle traveling in front of the vehicle. For example, the preceding vehicle recognition unit extracts edges from an image of the vehicle's front, identifies 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; there may be one preceding vehicle or multiple preceding vehicles.

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

[0065] Thus, in this third modification, if a preceding vehicle traveling ahead of the vehicle travels on an unregistered surrounding road, the map information 41 can be updated, thus allowing the timing of the map information 41 update to be accelerated.

[0066] As a fourth modification, the controller 11 includes a transmission unit in its functional block that transmits the map information 41 updated by the update unit 18 to a server located outside the vehicle. The transmission unit transmits the updated map information 41 to the server via the above-mentioned in-vehicle communication device (not shown). For example, if the server located outside the vehicle can communicate with other vehicles, the updated map information 41 can be shared with other vehicles. This allows, for example, the in-vehicle navigation system 40 to search for routes that include unregistered surrounding roads traveled by other vehicles before the map information 41 update period arrives.

[0067] The embodiments and modifications described above are provided to facilitate understanding of the present invention and are not intended to limit it. Therefore, each element disclosed in the above embodiments is intended to include all design changes and equivalents that fall within the technical scope of the present invention. [Explanation of Symbols]

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

Claims

1. A map information updating device that updates map information used in a vehicle, an image acquisition unit that acquires an image of the surroundings of the vehicle from an imaging device provided in the vehicle; a location information acquisition unit that acquires location information of the vehicle; a road recognition unit that recognizes roads around the vehicle from the surrounding image; a determination unit that determines whether the surrounding roads are not registered in the map information based on the location information; an update unit that, when the vehicle travels on a peripheral road that is not registered in the map information, updates the map information by adding the unregistered peripheral road on which the vehicle has traveled to the map information; The update unit adds the unregistered surrounding roads to the map information by generating new nodes and links representing the unregistered surrounding roads on which the vehicle has traveled.

2. 2. The map information updating device according to claim 1, The update unit is a map information update device that, if the unregistered surrounding road on which the vehicle has traveled is provisionally registered as a planned road in the map information, adds the unregistered surrounding road to the map information by activating a provisional node and provisional link representing the planned road.

3. 3. The map information updating device according to claim 2, The map information updating device, wherein the update unit validates information about a feature associated with the temporary node or the temporary link, thereby adding the information about the feature to the map information.

4. 2. The map information updating device according to claim 1, The update unit generates new nodes and new links each time the vehicle travels a predetermined distance on the unregistered peripheral roads.

5. 5. A map information updating device according to claim 1, a road information acquisition unit that acquires road information from the surrounding image, the road information including at least one of road signs provided on a road, the number of lanes included in the road, the width of the lanes, the direction of travel of the lanes, and the speed limit of the road; The update unit adds the road information related to the unregistered peripheral roads to the map information.

6. 6. A map information updating device according to claim 1, an inquiry unit that inquires of an occupant of the vehicle whether or not the unregistered surrounding road should be added to the map information, and inputs an answer from the occupant to the inquiry; The update unit When the occupant's answer to add the unregistered peripheral road to the map information is input, the unregistered peripheral road is added to the map information; a map information updating device that does not add the unregistered peripheral road to the map information when the occupant's response not to add the unregistered peripheral road to the map information is input;

7. 7. A map information updating device according to claim 1, an intersection recognition unit that recognizes an intersection located ahead of the vehicle from the surrounding image; the road recognition unit recognizes an intersecting road that intersects with the unregistered peripheral road on which the vehicle is traveling at the intersection, The update unit is a map information update 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, a preceding vehicle recognition unit that recognizes a preceding vehicle traveling in front of the vehicle from the surrounding image; The update unit adds the unregistered peripheral road on which the preceding vehicle has traveled to the map information when the preceding vehicle has traveled on the unregistered peripheral road.

9. A map information updating device according to any one of claims 1 to 8, A map information updating device including 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 transmitting 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 an image of the surroundings of the vehicle from an imaging device provided in the vehicle; Acquire location information of the vehicle; Recognizing roads around the vehicle from the surrounding image; determining whether the surrounding road is not registered in the map information based on the location information; When the vehicle travels on a peripheral road that is not registered in the map information, the map information is updated by adding the peripheral road that the vehicle traveled on to the map information; A map information updating method in which, in updating the map information, the unregistered surrounding roads are added to the map information by newly generating nodes and links representing the unregistered surrounding roads on which the vehicle has traveled.

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