Map information processing device and map information processing method

Abstract

In a map information processing device (10), a map update processing unit (14) identifies a mesh to be updated, which is a mesh requiring updating of local HD map data stored in a local HD map database (11). A travel plan change request unit (15) calculates, when an autonomous driving control device (22) is executing autonomous driving control of a host vehicle (20) using autonomous driving map information, an allowable time, which is the time until the host vehicle (20) reaches a required update completion point, which is a point at which the update of the local HD map data of the mesh to be updated should be completed, and a necessary time, which is the time required to update the local HD map data of the mesh to be updated. When the allowable time is less than the required time, the travel plan change request unit (15) requests the autonomous driving control device (22) to change the travel plan of the host vehicle (20) in the autonomous driving control so that the allowable time is equal to or greater than the required time.

Description

Map information processing device and map information processing method

[0001] The present disclosure relates to a map information processing device that generates map information for automatic driving of a vehicle from map data, and in particular to updating of map data.

[0002] In recent years, high-precision locators (HDLs) have been put into practical use, which are equipped with a map database storing high-precision map data (hereinafter referred to as "HD map data") including road shape data for each lane, and a high-precision positioning device, and which detect the position of a vehicle and the lane in which it is traveling with sub-meter accuracy, and are used in advanced driver assistance systems (ADAS) and autonomous driving systems. Generally, map databases store map data for each area (these areas are referred to as "meshes") obtained by dividing a map into meshes.

[0003] In ADAS systems and autonomous driving systems, high-precision locators are configured to obtain the latest HD map data from a map distribution server and keep the HD map data stored in the map database up to date. However, depending on conditions such as the communication speed between the high-precision locator and the map distribution server, the data capacity of the map database installed in the high-precision locator, and the number of meshes that require updating of the HD map data, it may be impossible to keep up with changes in the vehicle's position, and the HD map data may not be updated in time for the vehicle to reach a point where the HD map data update should be completed. In such cases, appropriate driving control is performed to the extent possible using older versions of HD map data.

[0004] Patent Document 1 listed below proposes a technique for updating map data in meshes where updating of map data is not possible in time, with priority given to updating map data the next time the vehicle travels.

[0005] International Publication No. 2022 / 085173

[0006] When automatic vehicle driving control is performed using HD map data, it is preferable to use the most recent HD map data possible. Therefore, it is desirable to increase the probability that automatic vehicle driving control will be performed using the most recent HD map data.

[0007] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a map information processing device that can increase the probability that automatic driving control of a vehicle will be performed using the latest HD map data.

[0008] The map information processing device according to the present disclosure includes a local HD map database in which HD map data (high-precision map data) including road shape data for each lane is stored for each mesh obtained by dividing a map into meshes; a server HD map data acquisition unit that acquires server HD map data for each mesh from a map distribution server that distributes server HD map data, which is the latest HD map data; a map information output unit that generates map information for autonomous driving including information on the lane shape of a road on which the host vehicle is traveling, the position of the host vehicle, and information on the lane on which the host vehicle is traveling, based on positioning information of the host vehicle and the local HD map data, which is the HD map data stored in the local HD map database, and outputs the map information for autonomous driving to an autonomous driving control device that performs autonomous driving control of the host vehicle; and a map information output unit that generates map information for autonomous driving based on the local HD map data, which is the HD map data stored in the local HD map database, from among the meshes related to the planned driving route of the host vehicle. The system is equipped with a map update processing unit that determines a mesh where the data version and the server HD map data version do not match as an update-required mesh, which is a mesh that requires updating of the local HD map data, and updates the local HD map data of the update-required mesh with the server HD map data; and a driving plan change request unit that, when the automatic driving control device is performing automatic driving control of the vehicle using map information for automatic driving, calculates an allowable time, which is the time it takes for the vehicle to reach an update-required point, where updating of the local HD map data of the update-required mesh should be completed, and a required time, which is the time required to update the local HD map data of the update-required mesh, and, if the allowable time is less than the required time, requests the automatic driving control device to change the driving plan of the vehicle under automatic driving control so that the allowable time is equal to or greater than the required time.

[0009] According to the map information processing device according to the present disclosure, it is possible to increase the probability that automatic driving control of a vehicle will be performed using the latest HD map data.

[0010] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings.

[0011] 1 is a diagram showing an automatic driving control system for a vehicle including a map information processing device according to a first embodiment. FIG. 1 is a diagram for explaining update-required completion points when only local HD map data of one mesh in which the host vehicle is located is used to generate map information for automatic driving. FIG. 2 is a diagram showing changes in the relationship between the allowable time and the required time when the traveling speed of the host vehicle is changed. FIG. 3 is a diagram showing changes in the relationship between the allowable time and the required time when the traveling speed of the host vehicle is changed. FIG. 4 is a flowchart showing the operation of the map information processing device according to the first embodiment. FIG. 1 is a diagram for explaining update-required completion points when only local HD map data of a 3×3 mesh centered on the mesh in which the host vehicle is located is used to generate map information for automatic driving. FIG. 2 is a diagram showing an example of the relationship between an automatic driving level and whether or not a notification and a request to change a driving plan are made. FIG. 3 is a diagram showing changes in the relationship between the allowable time and the required time when the traveling speed of the host vehicle is changed. FIG. 4 is a diagram showing changes in the relationship between the allowable time and the required time when the traveling speed of the host vehicle is changed.

[0012] 1 is a diagram showing an automatic driving control system for a vehicle including a map information processing device 10 according to embodiment 1. The automatic driving control system includes a vehicle 20 equipped with the map information processing device 10 and a map distribution server 30 that distributes the latest HD map data. Hereinafter, the vehicle 20 equipped with the map information processing device 10 will be referred to as the "host vehicle."

[0013] In this embodiment, it is assumed that the map information processing device 10 is mounted on the vehicle 20. However, the map information processing device 10 does not necessarily have to be permanently installed in the vehicle 20, and may be, for example, a device that can be removed from the vehicle 20, or may be realized as an application that runs on a mobile terminal such as a mobile phone, a smartphone, or a PND (Personal Navigation Device).

[0014] The map distribution server 30 is a communications server that distributes the latest HD map data. Hereinafter, the latest HD map data distributed by the map distribution server 30 will be referred to as "server HD map data." The map distribution server 30 has a server HD map database 31 that stores server HD map data for each mesh, and in response to a request from the map information processing device 10, transmits the server HD map data for the requested mesh to the map information processing device 10.

[0015] The map information processing device 10 is connected to a positioning device 21, an automatic driving control device 22, and a communication terminal 23 mounted on the vehicle 20.

[0016] The positioning device 21 measures the position of the vehicle 20 using a positioning signal received from a Global Navigation Satellite System (GNSS) and outputs positioning information as the positioning result. The positioning device 21 may have a function of correcting the positioning result of the vehicle 20 using information obtained from a vehicle speed sensor, a direction sensor, a surrounding sensor, etc. of the vehicle 20.

[0017] The automatic driving control device 22 has a function of performing automatic driving control of the vehicle 20 based on the map information for automatic driving provided by the map information processing device 10. As will be described later, the map information for automatic driving is created from HD map data, and it is desirable to create it using the latest HD map data possible.

[0018] Note that the autonomous driving control performed by the autonomous driving control device 22 may include controls that do not use map information for autonomous driving. For example, adaptive cruise control, which adjusts the driving speed of the host vehicle 20 to match the vehicle ahead, and lane keep assist, which controls the steering of the host vehicle 20 to match lane markings, do not require map information for autonomous driving.

[0019] The communication terminal 23 is a means for communicating with the map distribution server 30. The communication terminal 23 may be a communication device dedicated to communication with the map distribution server 30, or may be a general-purpose communication device such as a mobile phone or a smartphone.

[0020] The map information processing device 10 includes a local HD map database 11 , a server HD map data acquisition unit 12 , a map information output unit 13 , a map update processing unit 14 , and a driving plan change request unit 15 .

[0021] The local HD map database 11 stores HD map data for each mesh. Hereinafter, the HD map data stored in the local HD map database 11 will be referred to as "local HD map data."

[0022] To update the local HD map data, the server HD map data acquisition unit 12 acquires the server HD map data, which is the latest HD map data, from the map distribution server 30 via the automatic driving control device 22.

[0023] The map information output unit 13 generates map information for automatic driving to control the automatic driving of the host vehicle 20, based on the positioning information of the host vehicle 20 acquired from the positioning device 21 and the local HD map data stored in the local HD map database 11, and outputs the generated map information for automatic driving to the automatic driving control device 22. The map information for automatic driving includes information on the lane shape of the road on which the host vehicle 20 is traveling, the position of the host vehicle 20, and the lane on which the host vehicle 20 is traveling. The lane on which the host vehicle 20 is traveling can be determined from time-series information on the position of the host vehicle 20 and the lane position information included in the local HD map data. The map information for automatic driving may further include various information included in the HD map data, such as the attributes of each lane, information on surrounding facilities, and information on road branching and merging points.

[0024] The map update processing unit 14 performs an update process for the local HD map data stored in the local HD map database 11. Hereinafter, the update process for the local HD map data may also be simply referred to as the "map update process."

[0025] The map update processing by the map update processing unit 14 is performed in the following procedure.

[0026] First, the map update processing unit 14 acquires the planned driving route of the host vehicle 20 from the automatic driving control device 22 and identifies meshes related to the planned driving route of the host vehicle 20. "Meshes related to the planned driving route" refer to meshes involved in creating map information for automatic driving when the host vehicle 20 travels the planned driving route in automatic driving mode. For example, if only local HD map data for one mesh in which the host vehicle 20 is located is used to generate map information for automatic driving, the mesh related to the planned driving route is only the mesh that includes the planned driving route (the mesh through which the planned driving route passes). However, if local HD map data for a 3x3 mesh centered on the mesh in which the host vehicle 20 is located is used to generate map information for automatic driving, the meshes related to the planned driving route are the mesh that includes the planned driving route and its adjacent meshes.

[0027] Next, the map update processing unit 14 accesses the local HD map database 11 and the map distribution server 30 and compares the version of the local HD map data for each mesh related to the planned driving route of the vehicle 20 with the version of the server HD map data. At this time, local HD map data with a version different from the server HD map data is an older version of HD map data. Therefore, the map update processing unit 14 determines that, among the meshes related to the planned driving route of the vehicle 20, meshes whose local HD map data versions do not match the server HD map data versions are meshes whose local HD map data needs to be updated. Hereinafter, meshes whose local HD map data needs to be updated are referred to as "meshes requiring update." The map update processing unit 14 acquires the server HD map data for the meshes requiring update from the map distribution server 30 via the server HD map data acquisition unit 12, and updates the local HD map data for the meshes requiring update with the server HD map data.

[0028] In this embodiment, the server HD map data for one mesh is stored in one file in the server HD map database 31 of the map distribution server 30, and the map information output unit 13 downloads the server HD map data file by file. However, it is not essential that the server HD map data for one mesh be composed of one file; one file may contain server HD map data for multiple meshes. Conversely, the server HD map data for one mesh may be composed of multiple files.

[0029] The determination of whether a mesh needs to be updated does not need to be performed for all meshes related to the planned travel route of the vehicle 20, but may be performed only for meshes within a predetermined distance (or route distance) from the position of the vehicle 20. The above-mentioned "predetermined distance" may be, for example, the length of one side of the mesh (5 km if one mesh is 5 km x 5 km in size) or three times that length (15 km). Furthermore, this "predetermined distance" may be a variable distance that becomes longer as the travel speed of the vehicle 20 increases.

[0030] The map update processing unit 14 may also be provided with a dedicated memory for storing information about the version of the local HD map data for each mesh. In this case, the map update processing unit 14 can check the version of the local HD map data without accessing the local HD map database 11, and can quickly determine whether each mesh needs to be updated.

[0031] Furthermore, the map update processing unit 14 does not necessarily have to acquire the planned driving route of the vehicle 20 from the automatic driving control device 22, but may acquire it from another in-vehicle information system, such as a navigation system. Furthermore, the map update processing unit 14 may regard the route of the road on which the vehicle 20 is traveling as the planned driving route of the vehicle 20, or may estimate the planned driving route from the driving history of the vehicle 20.

[0032] When the automatic driving control device 22 is executing automatic driving control of the vehicle 20 using map information for automatic driving and it is predicted that the update of the local HD map data will not be able to keep up with changes in the position of the vehicle 20 and that the map update process will not be completed in time by the time the vehicle 20 reaches a point where map update process for an update-requiring mesh should be completed, the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan of the vehicle 20 under automatic driving control so that the map update process can be completed in time. Hereinafter, the point where update of the local HD map data should be completed is referred to as the "update completion point."

[0033] Specifically, when the automatic driving control device 22 is performing automatic driving control of the host vehicle 20 using the map information for automatic driving, the driving plan change request unit 15 calculates the allowable time, which is the time it takes for the host vehicle 20 to reach the update-required point, and the required time, which is the time required for the map update process of the update-required mesh, and compares the allowable time with the required time. If the allowable time is shorter than the required time, it is predicted that the map update process will not be completed in time. Therefore, if the allowable time is shorter than the required time, the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan of the host vehicle 20 so that the allowable time is equal to or greater than the required time. For example, if the driving plan change request unit 15 changes the driving plan to reduce the driving speed of the host vehicle 20, the host vehicle 20 will arrive at the update-required point more slowly, which will lengthen the allowable time, and the allowable time can be set to be equal to or greater than the required time.

[0034] As a result, the map update process is prevented from being completed in time, and the probability that the autonomous driving control of the host vehicle 20 will be performed using the latest HD map data (i.e., local HD map data of the same version as the server HD map data) increases.

[0035] Here, the "update completion point" will be described. As defined above, the update completion point is a point where the map update process should be completed before the host vehicle 20 arrives at that point. A typical example of a point that is an update completion point is a mesh boundary. However, to ensure a margin, the update completion point may be a fixed distance before the mesh boundary. The "fixed distance" here is, for example, 1 / 10 of the distance of one side of the mesh. Furthermore, this "fixed distance" may be a variable distance that increases as the traveling speed of the host vehicle 20 increases. For example, if only the local HD map data of one mesh in which the host vehicle 20 is located is used to generate map information for autonomous driving, the update completion point is a point where the planned traveling route of the host vehicle 20 enters the mesh that is required to be updated.

[0036] FIG. 2 is a diagram for explaining points that require update completion when only the local HD map data of one mesh in which the vehicle 20 is located is used to generate map information for autonomous driving. For simplicity of explanation, FIG. 2 shows a 6x6 mesh. Each mesh is assigned a mesh number Mnm (n is the row number, and m is the column number). The meshes related to the planned driving route are the meshes through which the planned driving route passes.

[0037] As shown in FIG. 2 , the host vehicle 20 is currently traveling through mesh M14, and travels along the planned travel route from mesh M14 to mesh M24 to mesh M23 to mesh M33, and so on. Here, among the meshes related to the planned travel route, meshes M23 and M33 are assumed to be meshes requiring update. In this case, the map update process for mesh M23 requiring update must be completed by the time the host vehicle 20 reaches mesh M23 requiring update. Therefore, the update completion point for mesh M23 requiring update is point P2 where the planned travel route enters mesh M23 requiring update. Similarly, the update completion point for mesh M33 requiring update is point P3 where the planned travel route enters mesh M33 requiring update.

[0038] Whether the map update process for the mesh M23 that needs to be updated can be completed in time before the vehicle 20 reaches the point P2 that needs to be updated can be determined by whether the allowable time, which is the time it takes for the vehicle 20 to reach the point P2 that needs to be updated from its current position P, is longer than the required time, which is the time required for the map update process for the mesh M23 that needs to be updated.

[0039] The allowable time Ta(V0) when the vehicle 20 is traveling at a speed of V0 can be calculated by dividing the distance D=P2-P from the current position P to the update-required point P2 by the average traveling speed V0. That is, the allowable time Ta(V0) can be calculated as Ta(V0)=(P2-P) / V0. Meanwhile, the required time Tn(M23) can be calculated by dividing the size of the server HD map data for mesh M23 by the communication speed.

[0040] 3 is a diagram showing the relationship between the allowable time and the required time. The dashed line graph in FIG. 3 indicates that when the traveling speed of the host vehicle 20 is V0, the allowable time Ta(V0)<the required time Tn(M23), and the map update process for the update-required mesh M23 will not be completed in time by the time the host vehicle 20 reaches the update-required point P2. By providing a margin, if the allowable time Ta(V0)<the required time Tn(M23)+α (α is the margin), it may be determined that the map update process for the update-required mesh M23 will not be completed in time.

[0041] The change to the driving plan of the host vehicle 20 requested by the driving plan change request unit 15 to the automatic driving control device 22 is intended to make the allowable time Ta ≧ the required time Tn, for example, a request to reduce the average driving speed of the host vehicle 20. If the average driving speed of the host vehicle 20 requested by the driving plan change request unit 15 is V1, then in order to make the allowable time Ta(V1) ≧ the required time Tn(M23), the relationship V1 ≦ (P2 − P) / Tn(M23) needs to be satisfied. A margin may be added, and V1 ≦ (P2 − P) / Tn(M23) − β (β is the margin). The solid line graph in FIG. 3 shows a case where the average driving speed V1 of the host vehicle 20 requested by the driving plan change request unit 15 to the automatic driving control device 22 is V1 = (P2 − P) / Tn(M23). In this case, the allowable time Ta(V0) = the required time Tn(M23).

[0042] After the host vehicle 20 enters mesh M23, the update completion point becomes point P3, where the planned travel route enters mesh M33 that requires update. Therefore, the allowable time Tn(V0) = (P3 - P2) / V0 for the update-required mesh M33 when the host vehicle 20 travels at a travel speed of V0 is compared with the required time Tn(M33) required for the map update process for mesh M33 that requires update. If the allowable time Ta(V0) < the required time Tn(M33), the travel speed V2 is calculated so that Tn(M33) ≥ Tn(V2) = (P3 - P2) / V2, and the automatic driving control device 22 is requested to change the travel plan for the host vehicle 20 so that the average travel speed of the host vehicle 20 is equal to or less than V2. For example, when V0 > V1 > V2, the relationship between the allowable time and the required time for mesh M33 that requires update is as shown in FIG. 4.

[0043] Here, an example has been shown in which the driving plan change request unit 15 independently requests a change to the driving plan (driving speed) of the vehicle 20 to the update completion point P2 for the update-required mesh M23 and a change to the driving plan of the vehicle 20 to the update completion point P2 for the update-required mesh M33. However, if multiple update-required meshes are consecutive or located close to each other, the request for a change to the driving plan may be made by treating the multiple update-required meshes as a group (a single group) of update-required meshes so that the driving speed of the vehicle 20 does not change significantly at the update completion points corresponding to each update-required mesh. This will be described in detail in Modification Example 8 below.

[0044] 5 is a flowchart showing the operation of the map information processing apparatus 10 according to embodiment 1. The operation of the map information processing apparatus 10 will be described below with reference to the flowchart in FIG.

[0045] When the map information processing device 10 is started, the map information processing device 10 checks whether the automatic driving control device 22 is executing automatic driving control of the host vehicle 20 using map information for automatic driving (step S101).

[0046] If the autonomous driving control using the autonomous driving map information is not being executed (NO in step S101), the map information processing device 10 checks whether the traveling of the host vehicle 20 has ended (step S111). If the traveling of the host vehicle 20 has not ended (NO in step S111), the process returns to step S101. If the traveling of the host vehicle 20 has ended (YES in step S111), the process in FIG. 5 ends.

[0047] If automatic driving control using the map information for automatic driving is being executed (YES in step S101), the map information output unit 13 acquires positioning information of the host vehicle 20 from the positioning device 21 (step S102), and acquires local HD map data of the area around the host vehicle 20 from the local HD map database 11 (step S103). The map information output unit 13 then generates map information for automatic driving from the information acquired (step S104) and transmits the generated map information for automatic driving to the automatic driving control device 22 (step S105). The automatic driving control device 22 continues automatic driving control of the host vehicle 20 based on the map information for automatic driving.

[0048] Next, the map update processing unit 14 acquires the planned driving route of the vehicle 20 from the automatic driving control device 22 (step S106), and checks whether there is a mesh that needs to be updated on the planned driving route within a predetermined distance from the vehicle 20 (step S107). If there is no mesh that needs to be updated on the planned driving route within the predetermined distance from the vehicle 20 (NO in step S107), the process proceeds to step S111.

[0049] If there is a mesh that needs to be updated on the planned driving route within a predetermined distance from the vehicle 200 (YES in step S107), the driving plan change request unit 15 determines whether the map update process for the mesh that needs to be updated can be completed before the vehicle 20 reaches the update completion point (step S108). That is, the driving plan change request unit 15 calculates the allowable time, which is the time it takes for the vehicle 20 to reach the update completion point, and the required time, which is the time required to update the local HD map data for the mesh that needs to be updated, and determines whether the allowable time is longer than the required time.

[0050] If it is determined that the map update process for the update-required mesh cannot be completed before the host vehicle 20 reaches the update-required point (i.e., the allowable time < the required time) (NO in step S108), the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan for the host vehicle 20 so that the map update process for the update-required mesh can be completed before the host vehicle 20 reaches the update-required point (step S109).If it is determined that the map update process for the update-required mesh can be completed before the host vehicle 20 reaches the update-required point (i.e., the allowable time ≥ the required time) (YES in step S108), step S109 is skipped.

[0051] Next, the map update processing unit 14 acquires the server HD map data of the mesh that needs to be updated from the map distribution server 30 and executes the map update process for the mesh that needs to be updated (step S110). After that, the process proceeds to step S111, and the above operation is repeated until the vehicle 20 has finished traveling.

[0052] In this way, according to the map information processing device 10 of this embodiment, when it is determined that the automatic map update of a mesh that needs to be updated will not be completed in time, the driving plan of the vehicle 20 is changed so that the update will be completed in time, thereby increasing the probability that the automatic driving control of the vehicle 20 will be carried out using the latest HD map data.

[0053] 5, if a mesh requiring update is found on the planned driving route within a predetermined distance from the vehicle 200, the driving plan change request unit 15 immediately calculates the allowable time and the required time and determines whether they are longer than the allowable time and the required time, but this determination may be made at a specific timing. For example, the driving plan change request unit 15 may calculate the allowable time and the required time when the route distance from the vehicle 200 to the update completion point reaches a predetermined value.

[0054] [Variation 1] In the first embodiment, an example was shown in which only the local HD map data of the one mesh in which the host vehicle 20 is located is used to generate the map information for autonomous driving, but multiple meshes including the mesh in which the host vehicle 20 is located (i.e., a group of meshes within a certain range based on the mesh in which the host vehicle 20 is located) may also be used to generate the map information for autonomous driving. In this case, the local HD map data of a mesh ahead in the direction of travel of the host vehicle 20 is read ahead before the host vehicle 20 reaches that mesh. Therefore, the update completion point for the mesh that needs to be updated is a point closer to the target than in the first embodiment.

[0055] 6 is a diagram for explaining points requiring update completion when local HD map data of a 3x3 mesh centered on the mesh where the vehicle 20 is located is used to generate map information for autonomous driving. The vehicle 20 is currently traveling through mesh M14, and will travel along the planned travel route from mesh M14 to mesh M24 to mesh M23 to mesh M33, and so on.

[0056] When local HD map data of a 3x3 mesh centered on the mesh where the vehicle 20 is located is used to generate map information for autonomous driving, the meshes related to the planned driving route are the mesh that includes the planned driving route and its adjacent meshes. Here, of the meshes related to the planned driving route, meshes M12, M22, M32, M42, M43, and M44 are assumed to be meshes that need to be updated.

[0057] When the vehicle 20 is located in mesh M14, the map information output unit 13 generates map information for autonomous driving using local HD map data for nine meshes centered on mesh M14: meshes M03, M04, M05, M13, M14, M15, M23, M24, and M25.

[0058] When the host vehicle 20 moves from mesh M14 to mesh M24, the map information output unit 13 generates map information for autonomous driving using the local HD map data of meshes M13, M14, M15, M23, M24, M25, M33, M34, and M35, which are nine meshes centered around mesh M24. However, because the local HD map data of M13, M14, M15, M23, M24, and M25 was stored in the cache memory when the host vehicle 20 was located in mesh M14, the meshes from which the map information output unit 13 needs to acquire new local HD map data are meshes M33, M34, and M35. Meshes M33, M34, and M35 do not require updating.

[0059] When the host vehicle 20 moves from mesh M24 to mesh M23, the map information output unit 13 generates map information for autonomous driving using the local HD map data of meshes M12, M13, M14, M22, M23, M24, M32, M33, and M34, which are nine meshes centered around mesh M23. However, because the local HD map data of M13, M14, M23, M24, M33, and M34 is stored in the cache memory when the host vehicle 20 is located in mesh M24, the meshes from which the map information output unit 13 needs to acquire new local HD map data are meshes M12, M22, and M32. Meshes M12, M22, and M32 are meshes that need to be updated.

[0060] In this case, the updates of the update-requiring meshes M12, M22, and M32 must be completed before the host vehicle 20 enters mesh M23. Therefore, the update-completion point for the update-requiring meshes M12, M22, and M32 is point P2 where the planned driving route of the host vehicle 20 enters mesh M23. In this way, when a set of meshes within a certain range based on the mesh in which the host vehicle 20 is located is used to generate map information for autonomous driving, the update-completion point is a point where the update-requiring mesh will be included in the set of meshes when the host vehicle 20 travels along the planned driving route.

[0061] When a group of meshes within a certain range based on the mesh in which the vehicle 20 is located is used to generate map information for autonomous driving, it is necessary to finish updating meshes that need to be updated earlier than in embodiment 1. Therefore, it is better for the vehicle 20 to determine whether the map update process for meshes that need to be updated will be completed in time earlier than in embodiment 1.

[0062] For example, when the vehicle 20 reaches point P0, which is two meshes away from the update completion point P2 (10 km if one side of the mesh is 5 km), the time it takes for the vehicle 20 to reach point P2 from point P0 is calculated as the allowable time, and the time required to complete the map update process for the update-required meshes M12, M22, and M32 is calculated as the required time, and it can be determined whether the map update process for the update-required meshes M12, M22, and M32 will be completed in time.

[0063] When the host vehicle 20 enters mesh M33 from mesh M23, the update-requiring meshes M42, M43, and M44 are included in the nine meshes centered on the mesh where the host vehicle 20 is located. Therefore, the update completion point for the update-requiring meshes M42, M43, and M44 is point P3, where the planned travel route of the host vehicle 20 enters mesh M33. Therefore, the travel plan change request unit 15 calculates the time it takes for the host vehicle 20 to reach point P2 from point P3 as the allowable time, and calculates the time required for the map update processing of the update-requiring meshes M42, M43, and M4 as the required time, and determines whether the map update processing of the update-requiring meshes M42, M43, and M4 will be completed in time.

[0064] In this way, when local HD map data of multiple meshes is used to generate map information for autonomous driving, the point where update completion is required is not the point where the planned driving route of the vehicle 200 enters the mesh that needs to be updated, but the point where the planned driving route of the vehicle 200 enters a mesh that is closer to the mesh that needs to be updated.

[0065] There are various possible configurations for the range of the mesh in which the local HD map data is used to generate the map information for autonomous driving, such as a configuration in which local HD map data of a 5×5 mesh centered on the mesh in which the host vehicle 20 is located is used to generate the map information for autonomous driving, or a configuration in which the range of the mesh in which the local HD map data is used to generate the map information for autonomous driving changes depending on the direction of travel of the host vehicle 20. The point requiring update completion changes depending on the range of the mesh in which the local HD map data is used to generate the map information for autonomous driving.

[0066] 6, the meshes M12, M22, M32, M42, and M44 that require updating do not have any roads represented by HD map data. Because the HD map data for such meshes does not contain high-precision road data, the amount of data is not large. However, the data does contain information that determines whether the road on which the vehicle 20 is traveling is a road represented by HD map data (e.g., a highway) or a road not represented by HD map data (e.g., an ordinary road), as well as information about the attributes of the mesh.

[0067] [Variation 2] As described above, the driving plan change request unit 15 may determine whether the map update process for the update-required mesh will be in time when the route distance from the vehicle 20 to the update-required point reaches a predetermined value. Furthermore, when the route distance from the vehicle 20 to the update-required point becomes shorter than a predetermined value, the driving plan change request unit 15 may periodically calculate the allowable time and the required time, and repeat the process of re-determining whether the map update process for the update-required mesh will be in time, and request the automatic driving control device 22 to change the driving plan so that the allowable time is maintained at or above the required time.

[0068] The timing for re-determining whether the map update process for a mesh that needs to be updated will be completed in time may be specified in any way, and examples include every fixed time (e.g., 1 minute) or every time the vehicle 200 travels a fixed distance (e.g., 1 km).

[0069] Furthermore, after the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan for the host vehicle 200, if a difference occurs between the changed driving plan and the actual driving of the host vehicle 20, the map update processing unit 14 may re-determine whether the map update process for the mesh that needs to be updated will be completed in time. A difference between the driving plan and the actual driving of the host vehicle 20 means a change in the time at which the host vehicle 20 reaches the update completion point. For example, a difference occurs between the driving plan and the actual driving of the host vehicle 20 when the host vehicle 20 cannot drive according to the driving plan because actual traffic conditions differ from those predicted.

[0070] According to this modification, unnecessary execution of the process of determining whether the map update process for the update-requiring mesh will be completed in time (S108 in FIG. 5) is prevented.

[0071] [Variant 3] When the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan of the vehicle 20 in order to make the allowable time longer than the required time, the driving plan change request unit 15 may request that the vehicle 20 drive the section from the current position of the vehicle 20 to the point where the update needs to be completed while gradually changing its driving speed.

[0072] For example, if the allowed time is shorter than the required time, the driving plan change request unit 15 may request the automatic driving control device 22 to change the driving plan by reducing the driving speed of the host vehicle 20 to sufficiently extend the allowed time, and then gradually increasing the driving speed as the host vehicle 20 approaches the update completion point. By extending the allowed time before the host vehicle 20 approaches the update completion point, it is possible to respond with ample time even if the required time increases due to an unexpected communication failure or the like. This makes it possible to avoid the driving plan change request unit 15 making unnatural requests to the automatic driving control device 22, such as drastically reducing the driving speed of the host vehicle 20.

[0073] [Variation 4] When requesting the automatic driving control device 22 to change the driving plan of the host vehicle 20 in order to make the allowable time equal to or longer than the required time, the driving plan change request unit 15 may request that the host vehicle 20 change lanes to a lane where vehicles are moving at a slower speed than the lane the host vehicle 20 is currently traveling in. Doing so will naturally reduce the driving speed of the host vehicle 20. Furthermore, reducing the driving speed of the host vehicle 20 without changing lanes may disrupt the flow of vehicles on the road the host vehicle 20 is traveling in, but this can be prevented by changing lanes to a lane where vehicles are moving at a slower speed than the lane the host vehicle 20 is currently traveling in.

[0074] [Variation 5] When the allowed time is shorter than the required time, the driving plan change request unit 15 may notify the driver of the vehicle 20 that the map update process for the update-requiring mesh will not be completed in time.

[0075] Furthermore, whether or not the driving plan change request unit 15 notifies that the map update process for the mesh that needs to be updated will not be completed in time, and whether or not to request the automatic driving control device 22 to change the driving plan of the vehicle 20, may be switched depending on the level of automatic driving currently being performed.

[0076] An example of this switching is shown in Figure 7. In Figure 7, the relationship between the autonomous driving level and whether or not to issue a notification and a request to change the driving plan is as follows: - When the autonomous driving level is 0 (no autonomous driving control), neither a notification nor a request to change the driving plan is issued. - When the autonomous driving level is 1 or 2, only a notification is issued, and a request to change the driving plan is not issued (the driver decides whether or not to adjust the speed of the vehicle 20 in response to the notification). - When the autonomous driving level is 3, both a notification and a request to change the driving plan are issued (the driver may adjust the speed of the vehicle 20, or the speed will be adjusted by autonomous driving control even if the driver does not adjust the speed). - When the autonomous driving level is 4 or 5, a notification is not issued, and a request to change the driving plan is issued.

[0077] As in this example, by not issuing a notification that the map update process for meshes that need to be updated will not be completed in time when the autonomous driving level is higher than a predetermined level, unnecessary notifications can be eliminated and unnecessary inconvenience to the driver can be prevented.

[0078] The relationship between the autonomous driving level and whether or not to issue a notification and a request to change the driving plan may be defined in any way, without being limited to the example in Fig. 7. Furthermore, the relationship between the autonomous driving level and whether or not to issue a notification and a request to change the driving plan may be changeable according to the driver's preferences.

[0079] [Variant 6] When calculating the allowable time, the driving plan change request unit 15 may use the communication terminal 23 to obtain road traffic information for the section from the position of the vehicle 20 to the point where the update needs to be completed, estimate the allowable driving speed of the vehicle 20 for that section from the obtained road traffic information, and calculate the allowable time based on the estimated allowable driving speed.

[0080] For example, in a situation where the traveling speed of the host vehicle 20 naturally decreases, such as when there is traffic congestion before the update completion point, the traveling plan change request unit 15 can estimate the allowable time longer. This can prevent the traveling plan change request unit 15 from requesting the automatic driving control device 22 to unnecessarily decelerate the host vehicle 20.

[0081] [Variant 7] When calculating the required time, the driving plan change request unit 15 may obtain information about the communication environment in the section from the position of the vehicle 20 to the update completion point, in particular information about the possible communication speed, estimate the possible communication speed with the map distribution server 30 from that information, and calculate the required time based on the estimated possible communication speed.

[0082] For example, if the section from the position of the vehicle 20 to the update completion point is in a mountainous area, it is expected that the communication speed will decrease due to the influence of the mountains or that communication will be cut off in a tunnel, and the driving plan change request unit 15 can estimate the required time longer. This prevents the required time from being underestimated, and reduces the possibility that the map update process for the update-required mesh will not be completed in time.

[0083] The driving plan change request unit 15 may also predict the number of other vehicles traveling near the vehicle 20 from road traffic information, and estimate that the communication speed will be lower when the number is large than when the number is small.

[0084] [Variation 8] In the first embodiment, as shown in Figures 3 and 4, an example was shown in which the driving plan change request unit 15 independently requests a change to the driving plan (driving speed) of the vehicle 20 up to the update completion point for each update-required mesh. However, if multiple update-required meshes are consecutive or nearby, the request for a change to the driving plan may be made by treating the multiple update-required meshes as a group (a group) of update-required meshes so that the driving speed of the vehicle 20 does not change significantly at the update completion point corresponding to each update-required mesh. In other words, the driving plan change request unit 15 may calculate a constant driving speed that will allow the map update process to be completed in time for all of the multiple update-required meshes that make up the group of update-required meshes, and then request a change to the driving plan for the vehicle 20.

[0085] For example, in the example of FIG. 2 , assume that when the host vehicle 20 arrives at point P0, the driving plan change request unit 15 independently performs a process to determine whether the map update process for the update-requiring meshes M23 and M33 will be completed in time. As a result, as shown in FIG. 8 , it is determined that the map update process will be completed in time if the driving speed in the section from point P0 to point P2 is reduced from the current V0 to V1, and further reduced to V2 in the section from point P2 to point P3. At this time, if the difference between V2 and V1 exceeds a predetermined threshold (e.g., 5 km / h), the driving plan change request unit 15 considers the update-requiring meshes M23 and M33 as a group of update-requiring meshes, calculates a constant driving speed V3 that will allow the map update process for both the update-requiring meshes M23 and M33 to be completed in time, as shown in FIG. 9 , and requests the automatic driving control device 22 to set the driving speed of the host vehicle 20 to V3. V3 satisfies the condition V3≦(P3−P0) / (Tn(M23)+Tn(M23)).

[0086] Here, the explanation has been given using Figure 2 as an example, but this modified example can also be applied when, as in variant 1, multiple meshes including the mesh in which the vehicle 20 is located (i.e., a group of meshes within a certain range based on the mesh in which the vehicle 20 is located) are used to generate map information for autonomous driving.

[0087] [Variation 9] When the allowed time is shorter than the required time, the driving plan change request unit 15 may calculate the required time after restricting communication for an entertainment-related in-vehicle system if the in-vehicle system is consuming communication resources used for communication with the map distribution server 30. Entertainment-related activities include, for example, access to websites, streaming video and music, and web meetings.

[0088] By limiting the consumption of communication resources by less important in-vehicle systems and allocating the secured communication resources to map update processing, the required time can be shortened and the frequency with which the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan of the vehicle 20 can be reduced.

[0089] [Variation 10] If the allowable time is shorter than the required time and the communication resources used for communication with the map distribution server 30 are being consumed by an in-vehicle system that stores SD map data (normal-accuracy map data) that does not include road shape data on a lane-by-lane basis to update the SD map data, the driving plan change request unit 15 may calculate the required time after restricting the execution of updating the SD map data.

[0090] As in variant example 9, the consumption of communication resources by less important in-vehicle systems can be limited, and the communication resources secured thereby can be allocated to map update processing, thereby shortening the required time and reducing the frequency with which the driving plan change request unit 15 requests the automatic driving control device 22 to change the driving plan of the vehicle 20.

[0091] [Variation 11] Even if the allowable time is less than the required time, if the driving speed of the host vehicle 20 needs to be reduced by more than a certain amount or less than the legal minimum speed in order to make the allowable time equal to or greater than the required time, the driving plan change request unit 15 does not need to request a change to the driving plan from the automatic driving control device 22. The above-mentioned "certain amount" is, for example, 20%.

[0092] In addition, the driving plan change request unit 15 does not need to request a change to the driving plan from the automatic driving control device 22 even if reducing the driving speed of the vehicle 20 would delay the arrival time at the destination (including stopover points) by more than a certain amount in order to make the allowable time longer than the required time.

[0093] If the driving plan of the vehicle 20 is not changed, the map update process for the mesh that needs to be updated will not be completed in time, and automatic driving control will be performed based on map information for automatic driving that was generated using an old version of local HD map data, so the driver of the vehicle 20 may be notified of this. The driver can choose to continue driving the vehicle 20 as is, or to enter a service area (SA) or parking area (PA) and wait for the map update process to be completed.

[0094] [Variation 12] In the first embodiment, when a mesh that needs to be updated and for which the map update process cannot be completed in time is found, the driving plan change request unit 15 always requests the automatic driving control device 22 to change the driving plan of the vehicle 20. However, the driving plan change request unit 15 may request the automatic driving control device 22 to change the driving plan of the vehicle 20 only when the mesh that needs to be updated and for which the map update process cannot be completed in time is a specific mesh that requires advanced automatic driving control.

[0095] Specific meshes that require advanced automated driving control include meshes that include points where a lane change is required, meshes that include junctions (JCTs) or interchanges (ICs) where different roads connect, etc. In other words, the driving plan change request unit 15 requests the automated driving control device 22 to change the driving plan only when the allowable time is less than the required time and the mesh that needs to be updated includes a point where the vehicle 20 needs to change lanes or a junction or interchange where different roads connect.

[0096] Note that points where a lane change is required also include points where the vehicle approaches a service area or parking area. As for an interchange, only when the vehicle 20 uses the interchange to exit the expressway, the mesh that includes the interchange may be treated as a specific mesh.

[0097] 10 and 11 are diagrams showing examples of the hardware configuration of the map information processing device 10. The functions of the components of the map information processing device 10 shown in FIG. 1 are realized, for example, by a processing circuit 50 shown in FIG. 10. That is, the map information processing device 10 stores HD map data (high-precision map data) including road shape data for each lane in a local HD map database 11 for each mesh obtained by dividing a map into meshes, generates map information for automatic driving including information on the lane shape of the road on which the host vehicle 20 is traveling, the position of the host vehicle 20, and the lane on which the host vehicle 20 is traveling based on positioning information of the host vehicle 20 and the local HD map data, which is the HD map data stored in the local HD map database 11, outputs the map information for automatic driving to an automatic driving control device 22 that performs automatic driving control of the host vehicle 20, obtains server HD map data for each mesh from a map distribution server 30 that distributes server HD map data, which is the latest HD map data, and generates map information for automatic driving for each mesh among the meshes related to the planned driving route of the host vehicle 20 based on the local HD map data. The automatic driving control device 22 includes a processing circuit 50 for determining a mesh where the version of the server HD map data does not match as a mesh that requires updating of the local HD map data, and for calculating, when the automatic driving control device 22 is performing automatic driving control of the vehicle 20 using map information for automatic driving, an allowable time, which is the time it takes for the vehicle 20 to reach an update-required point where updating of the local HD map data of the mesh that requires updating should be completed, and a required time, which is the time required to update the local HD map data of the mesh that requires updating, and, if the allowable time is shorter than the required time, requesting the automatic driving control device 22 to change the driving plan of the vehicle 20 under automatic driving control so that the allowable time is equal to or longer than the required time, and updating the local HD map data of the mesh that requires updating with the server HD map data. The processing circuit 50 may be dedicated hardware or may be configured using a processor (also called a central processing unit (CPU), processing device, arithmetic device, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

[0098] When the processing circuitry 50 is dedicated hardware, the processing circuitry 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these. The functions of the components of the map information processing device 10 may be realized by individual processing circuits, or these functions may be realized together by a single processing circuit.

[0099] 11 shows an example of the hardware configuration of the map information processing device 10 when the processing circuitry 50 is configured using a processor 51 that executes a program. In this case, the functions of the components of the map information processing device 10 are realized by software, etc. (software, firmware, or a combination of software and firmware). The software, etc. is written as a program and stored in the memory 52. ​​The processor 51 realizes the function of each part by reading and executing the program stored in the memory 52.That is, when executed by the processor 51, the map information processing device 10 performs the following processes: a process of storing HD map data (high-precision map data) including road shape data for each lane in the local HD map database 11 for each mesh obtained by dividing a map into meshes; a process of generating map information for automatic driving including information on the lane shape of the road on which the host vehicle 20 is traveling, the position of the host vehicle 20, and the lane on which the host vehicle 20 is traveling, based on the positioning information of the host vehicle 20 and the local HD map data, which is the HD map data stored in the local HD map database 11, and outputting the map information for automatic driving to the automatic driving control device 22, which performs automatic driving control of the host vehicle 20; a process of acquiring server HD map data for each mesh from the map distribution server 30, which distributes server HD map data, which is the latest HD map data; and a process of extracting the local HD map data from among the meshes related to the planned driving route of the host vehicle 20. The map information processing device 10 includes a memory 52 for storing a program that ultimately executes the following processes: determining a mesh whose version does not match the version of the server HD map data as a mesh that requires updating of its local HD map data; calculating, while the automatic driving control device 22 is executing automatic driving control of the vehicle 20 using map information for automatic driving, an allowable time, which is the time it takes for the vehicle 20 to reach an update-required point where updating of the local HD map data of the update-required mesh should be completed, and a required time, which is the time required to update the local HD map data of the update-required mesh; and, if the allowable time is less than the required time, requesting the automatic driving control device 22 to change the driving plan of the vehicle 20 under automatic driving control so that the allowable time is equal to or greater than the required time; and updating the local HD map data of the update-required mesh with the server HD map data. In other words, this program causes a computer to execute the procedures and methods of the operation of the components of the map information processing device 10.

[0100] Here, the memory 52 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), a HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and a drive device for such a disk, or any other storage medium that will be used in the future.

[0101] The above describes a configuration in which the functions of the components of the map information processing device 10 are realized either by hardware or software, etc. However, the present invention is not limited to this, and the map information processing device 10 may be configured such that some of the components are realized by dedicated hardware and other components are realized by software, etc. For example, the functions of some of the components may be realized by the processing circuit 50 as dedicated hardware, and the functions of other components may be realized by the processing circuit 50 as the processor 51 reading and executing a program stored in the memory 52.

[0102] As described above, the map information processing apparatus 10 can realize the above-mentioned functions by hardware, software, or a combination of these.

[0103] The embodiments can be modified or omitted as appropriate.

[0104] The above description is illustrative in all respects, and it is understood that countless variations not illustrated can be envisioned.

[0105] 10 Map information processing device, 11 Local HD map database, 12 Server HD map data acquisition unit, 13 Map information output unit, 14 Map update processing unit, 15 Travel plan change request unit, 20 Vehicle, 21 Positioning device, 22 Automatic driving control device, 23 Communication terminal, 30 Map distribution server, 31 Server HD map database, 50 Processing circuit, 51 Processor, 52 Memory.

Claims

1. A map information processing apparatus comprising: a local HD map database that stores HD map data (high-precision map data) including road shape data for each lane, stored for each mesh obtained by partitioning the map into a mesh shape; a server HD map data acquisition unit that acquires the server HD map data for each mesh from a map distribution server that distributes server HD map data, which is the latest HD map data; a map information output unit that generates map information for autonomous driving including a lane shape of a road on which the host vehicle is traveling, a position of the host vehicle, and information on a lane in which the host vehicle is traveling, based on the positioning information of the host vehicle and local HD map data, which is the HD map data stored in the local HD map database, and outputs the map information for autonomous driving to an autonomous driving control apparatus that performs autonomous driving control of the host vehicle; a map update processing unit that determines a mesh in which the version of the local HD map data does not match the version of the server HD map data among the meshes related to the planned travel route of the host vehicle as a mesh to be updated that requires updating of the local HD map data, and updates the local HD map data of the mesh to be updated with the server HD map data; and a travel plan change request unit that calculates an allowable time, which is the time until the host vehicle reaches a point where the update of the local HD map data of the mesh to be updated should be completed when the autonomous driving control apparatus is executing the autonomous driving control of the host vehicle using the map information for autonomous driving, and a required time, which is the time required for updating the local HD map data of the mesh to be updated, and requests the autonomous driving control apparatus to change the travel plan of the host vehicle in the autonomous driving control so that the allowable time is not less than the required time when the allowable time is less than the required time.

2. The map information processing apparatus according to claim 1, wherein the point where the update should be completed is a point where the planned travel route enters the mesh to be updated.

3. The map information processing apparatus according to claim 1, wherein the point where the update should be completed is a point where the mesh to be updated is included in a group of meshes within a certain range based on the mesh in which the host vehicle is located when the host vehicle travels along the planned travel route.

4. The map information processing apparatus according to claim 3, wherein the mesh group is a 3×3 mesh centered on the mesh in which the host vehicle is located.

5. The map information processing apparatus according to claim 1, wherein the travel plan change request unit calculates the allowable time and the required time when the route distance from the host vehicle to the point where update is to be completed reaches a predetermined value.

6. The map information processing apparatus according to claim 5, wherein when the route distance from the host vehicle to the point where update is to be completed becomes shorter than a predetermined value, the travel plan change request unit periodically calculates the allowable time and the required time, and requests the automatic driving control device to change the travel plan so that the allowable time is maintained to be equal to or longer than the required time.

7. The map information processing apparatus according to claim 1, wherein when the allowable time is less than the required time, the travel plan change request unit requests the automatic driving control device to change the travel plan so as to lower the travel speed of the host vehicle to extend the allowable time and then increase the travel speed as the host vehicle approaches the point where update is to be completed.

8. The map information processing apparatus according to claim 1, wherein when the allowable time is less than the required time, the travel plan change request unit requests the automatic driving control device to change the travel plan so as to change the lane of the host vehicle to a lane in which vehicles flow at a slower speed than the lane in which the host vehicle is traveling.

9. The map information processing apparatus according to claim 1, wherein when the automatic driving level of the host vehicle is lower than a predetermined level, when the allowable time is less than the required time, the travel plan change request unit notifies the driver of the host vehicle that the update of the local HD map data will not be in time.

10. The map information processing apparatus according to claim 1, wherein the travel plan change request unit estimates the travelable speed of the host vehicle in the section from the position of the host vehicle to the point where update is to be completed from the road traffic information regarding the section, and calculates the allowable time based on the estimation result of the travelable speed.

11. The map information processing apparatus according to claim 1, wherein the travel plan change request unit estimates the communicable speed with the map distribution server from the communication environment in the section from the position of the host vehicle to the point where update is to be completed, and calculates the required time based on the estimation result of the communicable speed.

12. When the entertainment in-vehicle system is consuming communication resources used for communication with the map distribution server when the allowable time is less than the required time, the travel plan change request unit restricts the communication of the entertainment in-vehicle system and then calculates the required time. The map information processing apparatus according to claim 1.

13. When the in-vehicle system storing SD map data (normal-precision map data) not including lane-by-lane road shape data is consuming the communication resources used for communication with the map distribution server for updating the SD map data when the allowable time is less than the required time, the travel plan change request unit restricts the execution of the update of the SD map data and then calculates the required time. The map information processing apparatus according to claim 1.

14. Even when the allowable time is less than the required time, if it is necessary to reduce the traveling speed of the host vehicle by a certain width or more or to reduce it below the legally prescribed minimum speed in order to make the allowable time equal to or more than the required time, the travel plan change request unit does not request the automatic driving control device to change the travel plan. The map information processing apparatus according to claim 1.

15. Even when the allowable time is less than the required time, if reducing the traveling speed of the host vehicle to make the allowable time equal to or more than the required time would cause the arrival time at the destination to be delayed by a certain width or more, the travel plan change request unit does not request the automatic driving control device to change the travel plan. The map information processing apparatus according to claim 1.

16. When the allowable time is less than the required time and the to-be-updated mesh includes a point where the host vehicle needs to change lanes or a junction or interchange where different roads are connected, the travel plan change request unit requests the automatic driving control device to change the travel plan. The map information processing apparatus according to claim 1.

17. HD map data (high-precision map data) including road shape data in units of lanes is stored in the local HD map database of the map information processing device for each mesh obtained by partitioning the map into a mesh shape. The map information output unit of the map information processing device generates map information for autonomous driving including the lane shape of the road on which the host vehicle is traveling, the position of the host vehicle, and information on the lane in which the host vehicle is traveling based on the positioning information of the host vehicle and the local HD map data stored in the local HD map database, and outputs the map information for autonomous driving to an autonomous driving control device that performs autonomous driving control of the host vehicle. The server HD map data acquisition unit of the map information processing device acquires the server HD map data for each mesh from a map distribution server that distributes the server HD map data, which is the latest HD map data. The map update processing unit of the map information processing device determines a mesh in which the version of the local HD map data does not match the version of the server HD map data among the meshes related to the planned travel route of the host vehicle as a mesh that needs to be updated in the local HD map data, i.e., a mesh to be updated. When the autonomous driving control device is executing the autonomous driving control of the host vehicle using the map information for autonomous driving, the travel plan change request unit of the map information processing device calculates the allowable time, which is the time until the host vehicle reaches a point where the update of the local HD map data of the mesh to be updated should be completed, and the required time, which is the time required to update the local HD map data of the mesh to be updated. If the allowable time is less than the required time, the travel plan change request unit requests the autonomous driving control device to change the travel plan of the host vehicle in the autonomous driving control so that the allowable time is equal to or greater than the required time. The map update processing unit updates the local HD map data of the mesh to be updated with the server HD map data. A map information processing method.

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