Map updating device, map updating method, and computer program for map updating

Abstract

To shorten the time required for updating map information.SOLUTION: A map update device stores, in a map storage section, position information representing a representative position for each of a plurality of reference points for a predetermined feature and a position condition indicating a range where the reference point is present, determines whether a position of the reference point satisfies each of one or more position conditions represented in the map information for each of the plurality of points represented in each of a plurality of pieces of surroundings data representing surroundings including the feature, and updates the map information, for each of the plurality of reference points, from among one or more position conditions, using a position represented by the position condition as the representative position of the reference point, in which positions of the reference point represented in each of the plurality of pieces of surroundings data in a predetermined period are determined to satisfy the position conditions at a rate satisfying an update condition.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to a map updating device, a map updating method, and a computer program for map updating that update map information.

Background Art

[0002] There is known a map generation device that collects peripheral data representing features such as lane dividing lines around a vehicle acquired by sensors mounted on the vehicle, and generates a high-precision map that represents features with high accuracy using the collected peripheral data. The generated high-precision map is used for automatic driving control of the vehicle.

[0003] When the road shape represented in the high-precision map as a lane dividing line changes due to construction or the like, it is required to quickly update the high-precision map based on the change in the road shape. If the change in the road shape due to construction or the like is temporary, the high-precision map is updated to correspond to the change from the road shape before construction to the road shape during construction, and to the change from the road shape during construction to the road shape after construction.

[0004] In the map data update system described in Patent Document 1, an in-vehicle terminal acquires update map data from a map update server and updates the map data of the in-vehicle terminal. In a state where there is update data after the start of a temporary road change, the map update server instructs to temporarily use the update data and distributes the update data. In a state where there is update data after the end of a temporary road change, the map update server instructs to use the map data before the start of the temporary road change.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The map server detects changes in the shape of a road from the surrounding data collected from a vehicle, and generates map data representing the shape after the change. To generate map data representing the shape after the change from when the shape of the road has changed, it is necessary to collect a sufficient number of surrounding data for detecting the change, and it takes about the same time as generating map data representing a newly created road.

[0007] An object of the present disclosure is to provide a map updating device capable of shortening the time required for updating map information.

Means for Solving the Problems

[0008] The gist of the present disclosure is as follows.

[0009] (1) A map storage unit that stores map information representing, for each of a plurality of reference points for a predetermined feature, a representative position of each reference point and a position condition indicating a range of the position where the reference point exists; A determination unit that determines, for each of the plurality of reference points represented in each of the plurality of surrounding data representing a situation including the feature, whether the position of the reference point satisfies each of one or more position conditions represented in the map information; An update unit that updates the map information with a position represented by a position condition that satisfies an update condition, as the representative position of the reference point, for each of the plurality of reference points, where the ratio of the positions of the reference point represented in each of the plurality of surrounding data within a predetermined period that are determined to satisfy the position condition satisfies the update condition; A map updating device comprising the above.

[0010] (2) The one or more position conditions have a first position condition corresponding to a first reference point among the plurality of reference points and a second position condition different from the first position condition. If it is determined that the position of the first reference point represented by each of the plurality of pieces of peripheral data within the predetermined period does not satisfy the first position condition and satisfies the second position condition, and the ratio satisfies the update condition, the update unit updates the map information with the position represented by the second position condition as the representative position of the first reference point. The map update device according to (1) above.

[0011] (3) The first position condition , vehicle is a position condition associated with a reference point indicating the position of a lane dividing line that demarcates the driving lane on which the vehicle is traveling among a plurality of lanes included in the road section on which both are traveling. The second position condition is a position condition associated with a reference point indicating the position of a lane dividing line that demarcates another lane different from the driving lane among the plurality of lanes. The map update device according to (2) above.

[0012] (4) The first position condition , vehicle is a position condition associated with a reference point indicating the position of a lane dividing line that demarcates the driving lane on which the vehicle is traveling among a plurality of lane included in the road section on which both are traveling, and the second position condition is a position condition associated with a reference point indicating the position of a lane dividing line that demarcated the driving lane in the past. The map update device according to (2) above.

[0013] (5) The map update device according to any one of (1) to (4) above, wherein the update unit updates the map information with the position condition that satisfies the update condition as the position condition corresponding to the reference point.

[0014] (6) The position condition is a probability distribution indicating the probability of existence of each of the plurality of reference points for each position. The determination unit determines, for each of the plurality of reference points represented by each of the plurality of pieces of peripheral data, whether or not the position of the reference point satisfies the position condition according to whether or not the position of the reference point corresponds to an outlier in the probability distribution corresponding to each of the one or more position conditions. The map update device according to any one of (1) to (5) above.

[0015] (7) The map update device With reference to map information representing, for each of a plurality of reference points corresponding to a predetermined feature stored in the map storage unit, a representative position of each of the plurality of reference points and a position condition indicating a range of positions where the reference point exists, for each of the plurality of reference points represented by each of the plurality of pieces of peripheral data representing a situation including the feature, it is determined whether or not the position of the reference point satisfies each of the one or more position conditions represented in the map information. For each of the plurality of reference points, among the one or more position conditions, the position represented by the position condition for which the ratio of the positions of the reference points represented by each of the plurality of pieces of peripheral data within a predetermined period that are determined to satisfy the position condition satisfies the update condition is used as the representative position of the reference point, and the map information is updated. A map update method including this.

[0016] (8) With reference to map information representing, for each of a plurality of reference points corresponding to a predetermined feature stored in the map storage unit, a representative position of each of the plurality of reference points and a position condition indicating a range of positions where the reference point exists, for each of the plurality of reference points represented by each of the plurality of pieces of peripheral data representing a situation including the feature, it is determined whether or not the position of the reference point satisfies each of the one or more position conditions represented in the map information. For each of the plurality of reference points, among the one or more position conditions, the position represented by the position condition for which the ratio of the positions of the reference points represented by each of the plurality of pieces of peripheral data within a predetermined period that are determined to satisfy the position condition satisfies the update condition is used as the representative position of the reference point, and the map information is updated. A computer program for map update that causes a processor to execute.

[0017] According to the map update device according to the present disclosure, the time required for updating map information can be shortened.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0019] Hereinafter, with reference to the drawings, a map update device capable of shortening the time required for updating map information will be described in detail. The map update device stores information representing the representative position of each of a plurality of reference points for a predetermined feature and the position condition indicating the range where the reference point exists in a map storage unit. map The map update device determines, for each of a plurality of points represented in each of a plurality of peripheral data representing a situation including features, whether the position of the reference point satisfies each of one or more position conditions represented in the map information.

[0020] The map update device determines, for each of a plurality of points represented in each of a plurality of peripheral data representing a situation including features, whether the position of the reference point satisfies each of one or more position conditions represented in the map information. reference The map update device determines, for each of a plurality of points represented in each of a plurality of peripheral data representing a situation including features, whether the position of the reference point satisfies each of one or more position conditions represented in the map information.

[0021] Then, for each of the plurality of reference points, the map updating device updates the map information by using, as the representative position of the reference point, the position represented by the position condition that satisfies the update condition, where the ratio of the positions of the reference point represented in each of the plurality of pieces of peripheral data within a predetermined period that are determined to satisfy the position condition among one or more position conditions.

[0022] FIG. 1 is a schematic configuration diagram of a map updating system. In the present embodiment, the map updating system 1 includes a plurality of vehicles 2 and a map updating device 3. Each of the plurality of vehicles 2 is communicably connected to the map updating device 3 via a wireless base station WBS and a communication network NW by accessing the wireless base station WBS connected to the communication network NW via a gateway (not shown) or the like. Hereinafter, one of the plurality of vehicles 2 is also referred to as "vehicle 2". In the map updating system 1, a plurality of wireless base stations WBS may be connected to the communication network NW.

[0023] FIG. 2 is a schematic configuration diagram of vehicle 2.

[0024] Vehicle 2 includes a peripheral camera 21, a data communication module (Data Communication Module, DCM) 22, a GNSS (Global Navigation Satellite System) receiver 23, a storage device 24, and an ECU (Electronic Control Unit) 25. The peripheral camera 21, the data communication module 22, the GNSS receiver 23, and the storage device 24 and the ECU 25 are communicably connected via an in-vehicle network compliant with a standard such as a controller area network.

[0025] The surrounding camera 21 is an example of a sensor for generating a surrounding image according to the surrounding situation of the vehicle 2. The surrounding camera 21 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector. The surrounding camera 21 is arranged, for example, at the upper front inside the vehicle cabin, facing forward. The surrounding camera 21 photographs the surrounding situation of the vehicle 2 through the front windshield or the rear windshield at a predetermined photographing cycle (for example, 1 / 30 second to 1 / 10 second), and outputs a surrounding image representing the surrounding situation.

[0026] The data communication module 22 is an example of a communication device, and is a device that executes wireless communication processing compliant with a predetermined wireless communication standard such as so-called 4G (4th Generation) or 5G (5th Generation). The data communication module 22 is communicably connected to the map updating device 3 via the wireless base station WBS and the communication network NW by accessing the wireless base station WBS, for example. The data communication module 22 includes the surrounding data received from the ECU 25 in the uplink wireless signal, and transmits the surrounding data to the map updating device 3 by transmitting the wireless signal to the wireless base station WBS. Note that the data communication module 22 may be implemented as a part of the ECU 25.

[0027] The GNSS receiver 23 is an example of a positioning sensor, and receives GNSS signals from GNSS satellites at a predetermined cycle by a GNSS antenna (not shown), and positions the self-position of the vehicle 2 based on the received GNSS signals. The GNSS receiver 23 outputs a positioning signal representing the positioning result of the self-position of the vehicle 2 based on the GNSS signals to the ECU 25 via the in-vehicle network at a predetermined cycle.

[0028] The storage device 24 is an example of a vehicle storage device and has, for example, a non-volatile semiconductor memory or a hard disk drive. The storage device 24 stores vehicle map information representing the representative positions of each of a plurality of reference points for a given feature existing in a given road section. The vehicle map information may be all or part of the map information updated by the map updating device 3. Further, the storage device 24 temporarily stores the peripheral data output by the peripheral camera 21 for a predetermined time.

[0029] The ECU 25 includes a communication interface circuit for connecting the ECU 25 to the in-vehicle network, a memory for storing various data and programs, and a processor for executing processing according to the programs stored in the memory.

[0030] The ECU 25 acquires the peripheral image generated by the peripheral camera 21 via the communication interface circuit. The ECU 25 detects the peripheral features from the peripheral image by inputting the peripheral image to an identifier that has been learned in advance to detect features from the image.

[0031] The identifier can be, for example, a convolutional neural network (CNN) having a plurality of convolutional layers connected in series from the input side to the output side, such as YOLO (You Only Look Once) or SSD (Single Shot MultiBox Detector). By performing the learning of the CNN in advance according to a predetermined learning method such as the error backpropagation method using a large number of images representing features to be detected such as lane dividing lines as teacher data, the CNN operates as an identifier for detecting features.

[0032] The ECU 25 estimates the position and orientation of the vehicle 2 when the surrounding image is generated by matching the position of the ground object detected from the surrounding image with the position of the ground object read from the storage device 24. Note that the ECU 25 may specify the position and orientation of the vehicle 2 based on the self-vehicle position represented by the positioning signal received from the GNSS receiver 23 and the orientation information obtained from an orientation sensor (not shown) mounted on the vehicle 2.

[0033] In order to detect reference points provided at positions spaced apart by a predetermined interval (for example, 50 m) from reference points such as intersections and merging points on the lane dividing lines, the ECU 25 determines the position a predetermined distance (for example, 5 m) ahead in the traveling direction from the position of the vehicle 2, and specifies the surrounding image generated by the surrounding camera 21 when the vehicle 2 reaches the position where the interval from the representative position of the reference point stored in the vehicle map information is minimized. In the said surrounding image, by detecting the position of the lane dividing line at a predetermined distance ahead in the traveling direction from the position of the vehicle 2, the ECU 25 can detect the position of the reference point provided on the lane dividing line. The predetermined interval is predefined in the map information. The predetermined distance is predefined according to imaging parameters such as the focal length of the optical system of the surrounding camera 21 and the imaging direction, and is stored in the memory.

[0034] The ECU 25 estimates the position of the reference point in the surrounding image. The ECU 25 converts the estimated position of the reference point into a position in the world coordinate system using the position and orientation of the vehicle 2, the imaging parameters of the surrounding camera 21, and the interval of the lane dividing lines included in the high-precision map.

[0035] The ECU 25 transmits data indicating each of the identifier and position of a predetermined reference point to the map updating device 3 via the data communication module 22 as surrounding data representing a situation including the lane dividing lines.

[0036] The ECU 25 may transmit the surrounding image, the position and orientation of the vehicle 2, and the imaging parameters of the surrounding camera 21 to the map updating device 3 as surrounding data. In this case, the map updating device 3 calculates the position of the reference point based on the surrounding data.

[0037] Figure 3 is a hardware configuration diagram of the map updating device 3. The map updating device 3 includes a communication interface 31, a storage device 32, a memory 33, and a processor 34.

[0038] The communication interface 31 is an example of a communication unit and has an interface circuit for connecting the map updating device 3 to the communication network NW. The communication interface 31 is configured to be able to communicate with other devices via the communication network NW. That is, the communication interface 31 passes data and the like received from other devices via the communication network NW to the processor 34. Also, the communication interface 31 transmits data and the like received from the processor 34 to other devices via the communication network NW.

[0039] The storage device 32 is an example of a map storage unit and has a storage device such as a hard disk device or a non-volatile semiconductor memory device. The storage device 32 stores map information representing the representative positions of a plurality of reference points for a predetermined ground object and the position conditions indicating the range where the reference point exists. The storage device 32 may store a plurality of pieces of surrounding data received from the vehicle 2. The map storage unit may be a separate storage device communicably connected to the map updating device 3.

[0040] Figure 4 is a diagram for explaining an example of map information, and Figure 5 is a diagram for explaining a first example of road conditions. In the first example of road conditions, the conditions of a road having lanes L1 - L2, a median M, and lanes L3 - L4 are represented.

[0041] In the map information 321 shown in Figure 4, the reference points A1, A2 are shown in Figure 5It is a reference point for one of the pair of lane dividing lines that demarcate lane L1 shown in the figure. The lane dividing line is an example of a feature stored in the map storage unit as map information. The reference points for the lane dividing line are provided, for example, at positions spaced apart by a predetermined interval from reference points such as intersections and merging points on the road. Similarly, reference points B1 and B2 are reference points for the other lane dividing line L1-2 of the lane dividing lines that demarcate lane L1.

[0042] In the example of FIG. 5, reference points B1 and B2 for the other lane dividing line L1-2 of the lane dividing lines that demarcate lane L1 are also used as reference points corresponding to one of the lane dividing lines L2-1 of the lane dividing lines that demarcate lane L2. However, the reference points for one of the lane dividing lines L2-1 of the lane dividing lines that demarcate lane L2 may be provided separately from the reference points for the other lane dividing line L1-2 of the lane dividing lines that demarcate lane L1.

[0043] In the map information 321 shown in FIG. 4, a representative position (A1X, A1Y) and a position condition PCA1 are associated with reference point A1. The representative position is a position that is treated as existing for the generation of a map based on the map information. At the representative position (A1X, A1Y), A1X indicates the latitude of the reference point and A1Y indicates the longitude of the reference point.

[0044] The position condition PCA1 is a condition indicating the range in which reference point A1 exists. The position condition PCA1 may be a probability distribution indicating the probability of the existence of the reference point represented in the peripheral data acquired by vehicle 2 for each position. The position condition may be set based on the peripheral data representing the situation of the feature received from vehicle 2. As shown in FIG. 4, position conditions PCA1-PCF1 are stored in the map information 321 corresponding to reference points A1-F1. The representative position may be a statistical representative value such as the arithmetic mean value or the median value in the probability distribution set as the position condition.

[0045] Returning to FIG. 3, the memory 33 is another example of the storage unit and includes a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 33 stores various data used for processing by the processor 34, such as update conditions for determining whether to update the map information 321 with a position represented by a predetermined position condition as a representative position of a reference point. The memory 33 also stores various application programs, such as a computer program for map update that updates the map information 321.

[0046] The processor 34 includes one or more CPUs (Central Processing Units) and its peripheral circuits. The processor 34 may further include other arithmetic circuits such as a logical arithmetic unit or a numerical arithmetic unit.

[0047] FIG. 6 is a functional block diagram of the processor 34 included in the map update device 3.

[0048] The processor 34 of the map update device 3 includes, as functional blocks, a determination unit 341 and an update unit 342. Each of these units included in the processor 34 is a functional module implemented by a program executed on the processor 34. The computer program that realizes the functions of each unit of the processor 34 may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, each of these units included in the processor 34 may be implemented in the map update device 3 as an independent integrated circuit, a microprocessor, or firmware.

[0049] For each of the plurality of reference points represented in each of the plurality of peripheral data representing a situation including ground features, the determination unit 341 determines whether the position of the reference point satisfies each of one or more position conditions stored in the storage device 32.

[0050] The determination unit 341 reads out one piece of peripheral data from among a plurality of pieces of peripheral data from the storage device 32. The determination unit 341 specifies a reference point represented by the read peripheral data.

[0051] The determination unit 341 selects, from the map information, one or more position conditions having a representative position within a predetermined range (for example, 100 m) from a representative position corresponding to the reference point represented by the read peripheral data. Then, the determination unit 341 determines whether the reference point represented by the read peripheral data satisfies each of the selected one or more position conditions. The determination unit 341 temporarily stores, in the memory 33, the determination result for each of the selected one or more position conditions for each reference point.

[0052] When a probability distribution indicating the probability of the existence of the reference point represented by the peripheral data acquired by the vehicle 2 for each position is set as a position condition, the determination unit 341 may determine whether the position condition is satisfied according to whether the position of the read reference point corresponds to an outlier in the probability distribution corresponding to each of the selected one or more position conditions. For example, when the probability distribution set as the position condition is approximated to a normal distribution, the determination unit 341 regards a position outside the normal range such as the mean value ± standard deviation × 2 as an outlier, and determines that a reference point having such a position does not satisfy the position condition. The determination of whether it corresponds to an outlier may be made by applying an existing method such as the Smirnov–Grubbs test or a determination based on percentile values.

[0053] In the first example of the road conditions shown in FIG. 5, the peripheral data representing the reference points existing in the detection range DR by the peripheral camera 21 of the vehicle 2 includes a position A1' corresponding to the reference point A1 and a position B1' corresponding to the reference point B1. The determination unit 341 selects position conditions PCA1 - PCF1 having a representative position within a predetermined range range from the representative position (A1X, A1Y) of the reference point A1.

[0054] Let the reference point A1 be the first reference point, the position condition PCA1 corresponding to the first reference point be the first position condition, and the position condition PCD1 different from the first position condition be the second position condition. In the first example of the road situation shown in FIG. 5, the first position condition is a position condition associated with a reference point indicating the position of the lane dividing line that demarcates lane L1 on which vehicle 2 is traveling among lanes L1-L4 included in the road on which vehicle 2 is traveling. The second position condition is a position condition associated with a reference point indicating the position of the lane dividing line that demarcates lane L3 on which vehicle 2 is not traveling among lanes L1-L4 included in the road on which vehicle 2 is traveling.

[0055] The position A1′ represented in the surrounding data is not outside the normal range NRA1 of the first position condition. Therefore, the determination unit 341 determines that the position A1′ satisfies the first position condition. Also, the position A1′ represented in the surrounding data is outside the normal range NRD1 of the second position condition. Therefore, the determination unit 341 determines that the position A1′ does not satisfy the second position condition.

[0056] FIG. 7 is a diagram for explaining a second example of the road situation. The second example of the road situation represents a situation where lanes L1 and L2 in the first example of the road situation shown in FIG. 5 are closed midway due to reasons such as construction, and a part of lane L3 is changed to lane L1.

[0057] In the second example of the road situation shown in FIG. 7, the surrounding data representing the reference points existing in the detection range DR by the surrounding camera 21 of vehicle 2 includes the position A2′ corresponding to the reference point A2 and the position B2′ corresponding to the reference point B2. The determination unit 341 selects position conditions PCA2-PCF2 having representative positions within a predetermined range range from the representative position (A2X, A2Y) of the reference point A2.

[0058] Let the reference point A2 be the first reference point, the position condition PCA2 corresponding to the first reference point be the first position condition, and the first positionSet the position condition PCD2 different from the condition as the second position condition. In the second example of the road situation shown in FIG. 7, the first position condition is a position condition associated with a reference point indicating the position of the lane dividing line that demarcates lane L1 on which vehicle 2 is traveling among lanes L1 - L4 included in the road on which vehicle 2 is traveling. The second position condition is a position condition associated with a reference point indicating the position of the lane dividing line that demarcates lane L3 on which vehicle 2 is not traveling among lanes L1 - L4 included in the road on which vehicle 2 is traveling.

[0059] The position A2′ represented in the surrounding data does not deviate from the normal range NRA2 of the first position condition. Therefore, the determination unit 341 determines that the position A2′ satisfies the first position condition. Also, the position A2′ represented in the surrounding data deviates from the normal range NRD2 of the second position condition. Therefore, the determination unit 341 determines that the position A2′ does not satisfy the second position condition.

[0060] Returning to FIG. 6, for each of the plurality of reference points, the update unit 342 updates the map information with the position represented by the position condition that satisfies the update condition, among one or more position conditions, as the representative position of the reference point, where the ratio of the positions of the reference point represented in each of the plurality of surrounding data within a predetermined period that are determined to satisfy the position condition satisfies the update condition.

[0061] The predetermined period is set in advance according to the frequency at which surrounding data is acquired for the road section where the reference point exists, and is, for example, one week. The update condition is set such that, for example, the ratio of the positions of the reference point represented in each of the plurality of surrounding data within a predetermined period that are determined to satisfy the position condition is greater than the update threshold (e.g., 60%).

[0062] In the second example of the road situation shown in FIG. 7, the position condition PCA2 associated with the reference point A2 represents the distribution of the positions of the reference points detected from the surrounding data acquired before the road shape is changed. Vehicle 2 travels according to the changed road shape and detects the position corresponding to the lane dividing line that demarcates lane L3 before the road shape is changed as a provided reference point that is separated from the previous reference point A1 by a predetermined distance.

[0063] Before the road shape is changed, the positions of the reference points represented in the surrounding data generally satisfy the position condition PCA2 and do not satisfy the position condition PCD2. As time elapses after the road shape is changed, the surrounding data representing the positions of the reference points that are obtained by the vehicle 2 traveling according to the changed road shape and do not satisfy the position condition PCA2 but satisfy the position condition PCD2 increases. When a predetermined period has elapsed and the ratio of the positions of the reference points represented in a plurality of surrounding data that satisfy the position condition PCD2 becomes large enough to satisfy the update condition, the update unit 342 updates the map information 321 with the position represented by the position condition PCD2 as the representative position of the reference point A2.

[0064] Regarding the reference point A2 as the first reference point, the position condition PCA2 corresponding to the first reference point as the first position condition, and the position condition PCD2 different from the first position condition as the second position condition. In this case, when it is determined that the positions of the first reference points represented in each of the plurality of surrounding data within a predetermined period do not satisfy the first position condition and the ratio of those that satisfy the second position condition satisfies the update condition, the update unit 342 may update the map information 321 with the position represented by the second position condition as the representative position of the first reference point.

[0065] In updating the map information 321, the update unit 342 may update the map information 321 with the position condition representing the position updated as the representative position of the reference point as the position condition of the reference point.

[0066] FIG. 8 is a flowchart of the map update process. The processor 34 of the map update device 3 executes the map update process shown in FIG. 7 for each of the plurality of reference points represented in each of the plurality of surrounding data.

[0067] First, the determination unit 341 of the processor 34 identifies one reference point from the plurality of reference points represented in each of the plurality of surrounding data (step S1)

[0068] Next, the determination unit 341 selects one or more position conditions corresponding to a specified reference point from the map information 321 stored in the storage device 32 (step S2).

[0069] Subsequently, the determination unit 341 determines whether the position of the specified reference point satisfies each of the selected one or more position conditions, and temporarily stores the determination result in the memory 33 (step S3).

[0070] The update unit 342 of the processor 34 determines whether there is a position condition that satisfies the update condition among the one or more selected position conditions, where the ratio of the positions of the one reference point represented in each of the plurality of pieces of peripheral data within a predetermined period satisfying the position condition satisfies the update condition (step S4). If there is no position condition that satisfies the update condition (step S4: N), the update unit 342 ends the map update process for the reference point represented in the peripheral data.

[0071] If there is a position condition that satisfies the update condition (step S4: Y), the update unit 342 updates the map information 321 with the representative position corresponding to the position condition that satisfies the update condition as the position of the one reference point (step S5), and ends the map update process for the reference point represented in the peripheral data.

[0072] By executing the map update process in this way, the map update device 3 does not need to newly accumulate peripheral data to create position conditions, so the time required for updating the map information can be shortened, and map information representing the latest road shape can be provided to a vehicle or the like.

[0073] In this embodiment, other lane part of as travel vehicle lineAn example was described in which, in accordance with a change in the road shape to be changed, the position condition associated with the reference point of the lane dividing line that divides the driving lane is updated with the position condition that was associated with the reference point of the lane dividing line that divides the other lane. However, the change in the road shape that can reduce the time required for updating the map information by the map updating device 3 according to the present disclosure is not limited to the examples illustrated in the present embodiment. For example, consider the case where the road shape in the second example of the road situation shown in FIG. 7 is re-changed to the road shape in the first example of the road shown in FIG. 5. In this case, the position condition PCD2 is the position condition associated with the reference point D2 indicating the position of the lane dividing line that divides the driving lane on which the vehicle is traveling, and the position condition PCA2 is the position condition associated with the reference point A2 indicating the position of the lane dividing line that divided the driving lane in the past. The map updating device 3 executes the map updating process with the position condition PCD2 as the first position condition and the position condition PCA2 as the second position condition, thereby updating the map information with the position represented by the position condition PCA2 as the representative position of the reference point A2 indicating the position of the lane dividing line that newly divides the driving lane due to the shape change. situation

[0074] Further, the map updating device 3 of the present disclosure can also reduce the time required for updating other features on the map, such as road markings other than the lane dividing line, for example, stop lines, speed displays, level crossings, tunnels, etc., in the same manner as the lane dividing line.

[0075] In the present embodiment, an example in which the position of the reference point is represented two-dimensionally such as latitude and longitude has been described. The map updating device according to the present disclosure can handle the case where the position of the reference point is represented three-dimensionally such as latitude, longitude, and altitude in the same manner.

[0076] It should be understood by those skilled in the art that various changes, substitutions, and modifications can be added thereto without departing from the spirit and scope of the present disclosure.

Description of Reference Numerals

[0077] 3 Map updating device 341 Determination unit​ 342 Update Unit

Claims

1. A map storage unit that stores map information representing, for each of a plurality of reference points for a predetermined feature, a representative position of each reference point and a position condition indicating a range of the position where the reference point exists; A determination unit that determines, for each of the plurality of reference points represented in each of the plurality of peripheral data representing a situation including the feature, whether the position of the reference point satisfies each of one or more position conditions represented in the map information; An update unit that updates the map information with the position represented by the position condition that satisfies the update condition as the representative position of the reference point, for each of the plurality of reference points, where the ratio of the positions of the reference point represented in each of the plurality of peripheral data within a predetermined period that are determined to satisfy the position condition is the position represented by the position condition that satisfies the update condition; A map update device comprising the above.

2. The one or more position conditions include a first position condition corresponding to a first reference point among the plurality of reference points and a second position condition different from the first position condition; When it is determined that the position of the first reference point represented in each of the plurality of peripheral data within the predetermined period does not satisfy the first position condition and the ratio of the positions that satisfy the second position condition satisfies the update condition, the update unit updates the map information with the position represented by the second position condition as the representative position of the first reference point; The map update device according to Claim 1.

3. The first position condition is a position condition associated with a reference point indicating the position of a lane dividing line that divides the driving lane on which the vehicle is traveling among a plurality of lanes included in the road section on which the vehicle is traveling; The second position condition is a position condition associated with a reference point indicating the position of a lane dividing line that divides another lane different from the driving lane among the plurality of lanes; The map update device according to Claim 2.

4. The first position condition is a position condition associated with a reference point indicating the position of a lane dividing line that divides the driving lane on which the vehicle is traveling among a plurality of lanes included in the road section on which the vehicle is traveling; The second position condition is a position condition associated with a reference point indicating the position of a lane dividing line that divided the driving lane in the past; The map update device according to Claim 2.

5. The map updating device according to claim 1, wherein the updating unit updates the map information with a position condition that satisfies the updating condition as a position condition corresponding to the reference point.

6. The position condition is a probability distribution indicating the probability of the existence of each of the plurality of reference points for each position, The determination unit determines whether or not each of the plurality of reference points represented in each of the plurality of pieces of peripheral data satisfies the position condition according to whether or not the position of the reference point corresponds to an outlier in the probability distribution corresponding to each of the one or more position conditions. The map updating device according to claim 1.

7. A map updating device, With reference to map information representing, for each of a plurality of reference points for a predetermined feature stored in a map storage unit, a representative position of each reference point and a position condition indicating a range of positions where the reference point exists, for each of the plurality of reference points represented in each of the plurality of pieces of peripheral data representing a situation including the feature, it is determined whether or not the position of the reference point satisfies each of the one or more position conditions represented in the map information, For each of the plurality of reference points, the position represented by the position condition that satisfies the update condition, where the ratio of the positions of the reference points represented in each of the plurality of pieces of peripheral data within a predetermined period that are determined to satisfy the position condition is used as the representative position of the reference point to update the map information. A map updating method including this.

8. With reference to map information representing, for each of a plurality of reference points for a predetermined feature stored in a map storage unit, a representative position of each reference point and a position condition indicating a range of positions where the reference point exists, for each of the plurality of reference points represented in each of the plurality of pieces of peripheral data representing a situation including the feature, determining whether or not the position of the reference point satisfies each of the one or more position conditions represented in the map information; For each of the plurality of reference points, using the position represented by the position condition that satisfies the update condition, where the ratio of the positions of the reference points represented in each of the plurality of pieces of peripheral data within a predetermined period that are determined to satisfy the position condition is used as the representative position of the reference point to update the map information; A computer program for map updating that causes a processor to execute this.

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