Map data updating device and map data updating method

Abstract

High-definition map data (HD map data) used for an autonomous driving control device (30) of a host vehicle (100) and a mesh obtained by partitioning a map into a mesh shape are stored in a local HD map database (22). A to-be-updated mesh specification unit (13) specifies, from a mesh corresponding to a planned travel route of the host vehicle (100), a to-be-updated mesh requiring a map update. A priority update mesh specification unit (14) specifies, from the to-be-updated mesh, a priority update mesh in which a point where the local HD map data and server HD map data are different is present on the planned travel route. A map update processing unit (15) performs a map update of the to-be-updated mesh that is the priority update mesh before performing a map update of the to-be-updated mesh that is not the priority update mesh.

Description

Map data update device and map data update method

[0001] The present disclosure relates to a map data update device that updates 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 satellite 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 data is stored in a map database for each area (the area is referred to as a "mesh") obtained by dividing a map into a mesh pattern.

[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] Japanese Patent Application Laid-Open No. 2003-144992 proposes a technique for updating map data in meshes where updating of map data is not possible in time, with priority given to updating the map data the next time the vehicle travels.

[0005] International Publication No. 2022 / 085173

[0006] When automatic vehicle driving control using HD map data is implemented, it is preferable to use the most recent HD map data possible.

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

[0008] A map data update device according to the present disclosure is a map data update device that updates local HD map data, which is HD map data (high precision map data) including road shape data for each lane, used in an automatic driving control device for a host vehicle, and the local HD map data is stored in a local HD map database for each mesh obtained by dividing a map into meshes. The map data update device includes 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 planned driving route acquisition unit that acquires information on a planned driving route for the host vehicle; The vehicle navigation system includes an update-needing mesh identifying unit that identifies, among meshes corresponding to a planned route, meshes for which the versions of the local HD map data and the server HD map data do not match and for which the local HD map data needs to be updated, as meshes that need to be updated; a priority update mesh identifying unit that compares the local HD map data of the meshes that need to be updated with the server HD map data and identifies, as meshes that need to be updated as meshes that need to be updated, meshes for which points on the planned route of the vehicle where the local HD map data and the server HD map data differ, and a map update processing unit that updates the local HD map data of the meshes that need to be updated with the server HD map data. If the map update processing unit determines that updating the local HD map data of the meshes that need to be updated in time if the local HD map data is updated in order starting from the meshes that are closest to the vehicle, the map update processing unit updates the local HD map data of the meshes that need to be updated as meshes that need to be updated as meshes that are priority update meshes, prioritizing updating the local HD map data of the meshes that need to be updated as meshes that are not priority update meshes.

[0009] The map data update device according to the present disclosure can 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] Fig. 1 is a diagram showing an automatic driving control system for a vehicle including a map data update device according to embodiment 1. Fig. 2 is a diagram for explaining the operation of the map data update device according to embodiment 1. Fig. 3 is a flowchart showing the operation of the map data update device according to embodiment 1. Fig. 4 is a diagram showing an example of the hardware configuration of the map data update device. Fig. 5 is a diagram showing an example of the hardware configuration of the map data update device.

[0012] <First Embodiment> Fig. 1 is a diagram showing an automatic driving control system for a vehicle including a map data update device 10 according to a first embodiment. The automatic driving control system includes a vehicle 100 equipped with the map data update device 10, and a map distribution server 200 that distributes the latest HD map data. Hereinafter, the vehicle 100 equipped with the map data update device 10 will be referred to as the "host vehicle."

[0013] In this embodiment, it is assumed that the map data update device 10 is mounted on the vehicle 100. However, the map data update device 10 does not necessarily have to be permanently installed in the vehicle 100. For example, the map data update device 10 may be a device that can be removed from the vehicle 100, 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 200 is a communications server that distributes the latest HD map data. Hereinafter, the latest HD map data distributed by the map distribution server 200 will be referred to as "server HD map data." The map distribution server 200 has a server HD map database 201 that stores server HD map data for each mesh, and in response to a request from the map data updating device 10, transmits the server HD map data for the requested mesh to the map data updating device 10.

[0015] The map data update device 10 is connected to a high-precision locator (hereinafter referred to as an “HD locator”) 20 mounted on the vehicle 100 , an automatic driving control device 30 , and a communication terminal 40 .

[0016] The HD locator 20 includes a satellite positioning device 21 , a local HD map database 22 , and an access control unit 23 .

[0017] The satellite positioning device 21 measures the position of the vehicle 100 using a positioning signal received from a Global Navigation Satellite System (GNSS), and outputs the positioning result as the position of the vehicle 100. The satellite positioning device 21 may have a function of correcting the positioning result using information obtained from a vehicle speed sensor, a direction sensor, a surrounding sensor, etc. of the vehicle 100.

[0018] The local HD map database 22 stores HD map data for each mesh. Hereinafter, the HD map data stored in the local HD map database 22 will be referred to as "local HD map data." The local HD map data is used for map matching, which corrects the positioning results of the satellite positioning device 21.

[0019] The access control unit 23 exchanges data between the HD locator 20 and the map data update device 10 and the automatic driving control device 30. The access control unit 23 provides, for example, the position of the vehicle 100 measured by the HD locator 20 and the local HD map data stored in the local HD map database 22 to the map data update device 10 and the automatic driving control device 30.

[0020] The automatic driving control device 30 performs automatic driving control of the host vehicle 100 using local HD map data provided from the local HD map database 22 of the HD locator 20. The automatic driving control performed by the automatic driving control device 30 may include controls that do not use local HD map data. For example, adaptive cruise control, which adjusts the traveling speed of the host vehicle 100 to match the vehicle ahead, and lane keep assist, which controls the steering of the host vehicle 100 to match lane markings, do not require local HD map data. In the following description, unless otherwise specified, "automatic driving control" refers to automatic driving control that uses local HD map data.

[0021] The communication terminal 40 is a means for communicating with the map distribution server 200. The communication terminal 40 may be a communication device dedicated to communication with the map distribution server 200, or may be a general-purpose communication device such as a mobile phone or a smartphone.

[0022] The map data update device 10 updates the local HD map data stored in the local HD map database 22 of the HD locator 20. As shown in Fig. 1, the map data update device 10 includes a server HD map data acquisition unit 11, a planned driving route acquisition unit 12, an update-requiring mesh identification unit 13, a priority update mesh identification unit 14, and a map update processing unit 15.

[0023] The server HD map data acquisition unit 11 acquires server HD map data, which is the latest HD map data used to update the local HD map data, from the map distribution server 200 via the communication terminal 40 .

[0024] The planned driving route acquisition unit 12 acquires information about the planned driving route of the vehicle 100 from the automatic driving control device 30. The planned driving route of the vehicle 100 does not necessarily have to be obtained from the automatic driving control device 30, and the planned driving route acquisition unit 12 may acquire it from another in-vehicle information system, such as a navigation system. Furthermore, the planned driving route acquisition unit 12 may consider the route of the road on which the vehicle 100 is traveling as the planned driving route of the vehicle 100, or may estimate the planned driving route from the driving history of the vehicle 100.

[0025] The update-needing mesh identification unit 13 identifies, as an "update-needing mesh," a mesh that needs to have its local HD map data updated, among the meshes that correspond to the planned driving route of the vehicle 100. Here, the "mesh corresponding to the planned driving route" is assumed to be a mesh through which the planned driving route passes. For example, the "mesh corresponding to the planned driving route" may be a mesh of a wider range, such as a mesh through which the planned driving route passes and adjacent meshes.

[0026] Specifically, the update-requiring mesh identifying unit 13 accesses the local HD map database 22 of the HD locator 20 and the server HD map database 201 of the map distribution server 200, and compares the version of the local HD map data with the version of the server HD map data for each mesh corresponding to the planned driving route of the vehicle 100 acquired by the planned driving route acquisition unit 12. Local HD map data with a different version from the server HD map data is an older version of HD map data. Therefore, the map update processing unit 15 identifies, among the meshes corresponding to the planned driving route of the vehicle 100, meshes for which the version of the local HD map data does not match the version of the server HD map data as meshes that need to be updated.

[0027] The determination of whether a mesh needs to be updated does not need to be performed for all meshes corresponding to the planned travel route of the vehicle 100, but may be performed only for meshes within a predetermined distance (or route distance) from the position of the vehicle 100. 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 100 increases.

[0028] Furthermore, the update-requiring mesh identifying unit 13 may be provided with a dedicated memory for storing information on the version of the local HD map data for each mesh. In this case, the update-requiring mesh identifying unit 13 can check the version of the local HD map data without accessing the local HD map database 22, and can therefore quickly determine whether each mesh is a mesh that requires updating.

[0029] The priority update mesh identification unit 14 identifies as a "priority update mesh" a mesh that needs to be updated, among the meshes that have been identified by the update needing mesh identification unit 13, if the mesh has a point where the map data has changed (i.e., a point where the local HD map data and the server HD map data differ) on the planned driving route of the vehicle 100. Specifically, the priority update mesh identification unit 14 accesses the local HD map database 22 of the HD locator 20 and the server HD map database 201 of the map distribution server 200, compares the local HD map data of the mesh that needs to be updated with the server HD map data, and identifies the point where the local HD map data and the server HD map data differ, thereby identifying the point where the map data has changed. The priority update mesh identification unit 14 then compares the point where the map data has been changed with the planned driving route of the vehicle 100, and if at least a portion of the point where the map data has been changed is included in the planned driving route of the vehicle 100 acquired by the planned driving route acquisition unit 12, the priority update mesh identification unit 14 identifies the mesh that needs to be updated as a priority update mesh.

[0030] The map update processing unit 15 acquires the server HD map data of the mesh that needs to be updated from the map distribution server 200 via the server HD map data acquisition unit 11, and updates the local HD map data of the mesh that needs to be updated with the server HD map data. Hereinafter, updating the local HD map data may also be simply referred to as "map update."

[0031] The map update processing unit 15 basically performs map updates in order of meshes that need to be updated, starting with the mesh closest to the vehicle 100. However, if it determines that performing the map updates of meshes that need to be updated in that order would not be able to complete the map update of a mesh that is a priority mesh in time, the map update of the mesh that is a priority mesh that needs to be updated is performed with priority over the map update of a mesh that is not a priority mesh that needs to be updated. Hereinafter, a "mesh that is a priority mesh that needs to be updated" will simply be referred to as a "priority mesh," and a "mesh that is not a priority mesh that needs to be updated" will be referred to as a "non-priority mesh."

[0032] The situation where "the map update of the mesh requiring update cannot be completed in time" refers to a situation where the update of the local HD map data cannot keep up with the change in the position of the vehicle 100, and the map update cannot be completed by the time the vehicle 100 reaches a point where the map update of the mesh requiring update should have been completed. Hereinafter, the point where the update of the local HD map data should have been completed is referred to as the "update completion point."

[0033] Specifically, the map update processing unit 15 calculates the allowable time, which is the time it takes for the vehicle 100 to reach the update-required point, and the required time, which is the time required to update the map of the mesh that needs to be updated, and compares the allowable time with the required time. If the allowable time is shorter than the required time, the map update processing unit 15 determines that the map update of the mesh that needs to be updated will not be completed in time.

[0034] 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 100 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 100 increases. For example, when the autonomous driving control uses only the local HD map data of the one mesh in which the host vehicle 100 is located, a typical example of the update completion point is a point where the planned traveling route of the host vehicle 100 enters a mesh that is required to be updated.

[0035] According to the map data updating device 10 of this embodiment, map updates for priority update meshes are performed preferentially, thereby preventing the map updates for the priority update meshes from being delayed. Because the priority update meshes are meshes for which the local HD map data related to the planned driving route of the vehicle 100 is outdated, preventing the map updates for the priority update meshes from being delayed increases the probability that the autonomous driving control of the vehicle 100 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).

[0036] A specific example of the operation of the map data updating device 10 will be described with reference to Fig. 2. Fig. 2 shows local HD map data of a 5x5 mesh, and each mesh is assigned a mesh number Mnm (n is the row number, and m is the column number).

[0037] As shown in Figure 2, the vehicle 100 is currently traveling through mesh M24, and travels along the planned travel route from mesh M24 to mesh M23 to mesh M33, and so on. These meshes correspond to the planned travel route. Here, it is assumed that among the meshes corresponding to the planned travel route, meshes M23 and M33 are meshes that need to be updated. In other words, meshes M23 and M33 include points where the local HD map data differs from the server HD map data (hereinafter simply referred to as "points that differ from the server HD map data").

[0038] In the mesh M23 that needs updating, there are no points on the planned driving route that differ from the server HD map data. Therefore, the mesh M23 that needs updating is a non-priority update mesh. On the other hand, in the mesh M33 that needs updating, there are points on the planned driving route that differ from the server HD map data. Therefore, the mesh M33 that needs updating is a priority update mesh.

[0039] In this case, in order for the autonomous driving control of the vehicle 100 to be performed using the latest HD map data, the map update of the priority update mesh M33 must be completed by the time the vehicle 100 reaches the update-required mesh M33. Therefore, the update-completion point for the priority update mesh M33 is point P3 where the planned driving route enters the priority update mesh M33.

[0040] It is preferable that the map update of the non-priority update mesh M23 is also completed by the time the vehicle 100 reaches point P2 where it enters the non-priority update mesh M23. However, since there are no points on the planned driving route in the non-priority update mesh M23 that differ from the server HD map data, there is no substantial impact on the automatic driving control of the vehicle 100 even if the map update of the non-priority update mesh M23 has not been completed.

[0041] The map update processing unit 15 normally performs map updates on meshes that require update, starting with the mesh closest to the vehicle 100, without considering whether each mesh is a priority mesh. Therefore, in the situation shown in FIG. 2 , the map update processing unit 15 first starts the map update on the mesh M23 that requires update. After the map update on the mesh M23 is complete, the map update on the mesh M33 that requires update is attempted. However, if the communication environment is poor and the download speed of the server HD map data is slow, or if the vehicle 100 is traveling at a high speed, performing the map updates in this order may result in the map update on the priority mesh M33 not being completed in time (the vehicle 100 may reach point P3 before the map update on the mesh M33 that requires update is completed in time). If the map update processing unit 15 determines that the map update on the priority mesh M33 will not be completed in time, it cancels the update on the non-priority mesh M23 and prioritizes the map update on the priority mesh M33. This allows the map update on the priority mesh M33 to be completed in time.

[0042] However, depending on the situation, even if the map update of the priority update mesh is performed prior to the map update of the non-priority update mesh, it may not be possible to complete the map update of the priority update mesh in time. In this case, if the autonomous driving control of the host vehicle 100 continues, the autonomous driving control will be performed using old HD map data. Therefore, the map update processing unit 15 instructs the autonomous driving control device 30 to terminate the autonomous driving control of the host vehicle 100. This prevents the autonomous driving control from being performed using old HD map data. When the autonomous driving control device 30 terminates the autonomous driving control of the host vehicle 100, it may switch to manual driving or autonomous driving control that does not use local HD map data, or it may evacuate and stop the host vehicle 100 to a safe location.

[0043] It is possible that, as a result of prioritizing the update of the local HD map data of the priority update mesh, there may be meshes that require updating, resulting in the map update being unable to be performed. For example, in the example of Figure 2, if the map update of the priority update mesh M33 is performed preferentially, the vehicle 100 may enter the update-requiring mesh M23 without being able to perform the map update of the update-requiring mesh M23. In such a case, the map update processing unit 15 may perform the map update of the update-requiring mesh at any time after the vehicle 100 has passed through the update-requiring mesh.

[0044] 3 is a flowchart showing the operation of the map data update device 10 according to embodiment 1. The operation of the map data update device 10 will be described below with reference to the flowchart in FIG. 3. It is assumed here that the automatic driving control device 30 is executing automatic driving control of the host vehicle 100.

[0045] When the map data update device 10 is started, the planned driving route acquisition unit 12 acquires the planned driving route of the vehicle 100 from the HD locator 20 (step S101). The update-required mesh identification unit 13 identifies, among the meshes corresponding to the planned driving route of the vehicle 100, meshes in which the versions of the local HD map data and the server HD map data do not match as meshes in need of update (step S102). The priority update mesh identification unit 14 identifies, among the meshes in need of update, meshes in which points where the local HD map data and the server HD map data differ are present on the planned driving route of the vehicle 100 as priority update meshes (step S103). If no mesh in need of update is found in step S102 (NO in step S104), the flow of FIG. 3 ends.

[0046] If there is a mesh that needs to be updated (YES in step S104), the map update processing unit 15 starts a map update process that updates the map in order from the mesh that needs to be updated closest to the vehicle 100 (step S105).

[0047] Then, the map update processing unit 15 calculates the allowable time (the time it takes for the vehicle 100 to reach the point where the update needs to be completed) and the required time (the time required to update the map) for each priority update mesh, and by comparing the two, checks whether there are any priority update meshes for which the map update will not be completed in time (step S106).

[0048] If there are no priority update meshes for which the map update will not be completed in time (NO in step S106), the map update process started in step S105 continues. Whether the map update of the priority update meshes will be completed in time may vary depending on the traffic conditions and communication environment at the location of the vehicle 100, so the map update processing unit 15 repeats step S106 until map updates for all meshes that need to be updated are completed (step S107). When map updates for all meshes that need to be updated are completed (YES in step S107), the flow in FIG. 3 ends.

[0049] If there is a priority update mesh for which the map update cannot be completed in time (YES in step S106), the map update processing unit 15 stops the map update process started in step S105 and starts the map update of the priority update mesh that is closest to the vehicle 100 (step S108). In other words, the map update processing unit 15 performs the map update of the priority update mesh with priority.

[0050] Then, the map update processing unit 15 calculates the allowable time (the time it takes for the vehicle 100 to reach the point where the update needs to be completed) and the required time (the time required to update the map) for the priority update mesh closest to the vehicle 100, and by comparing the two, determines whether the map update for the priority update mesh will be completed in time (step S109).

[0051] If it is determined that the map update for the priority update mesh will be completed in time (YES in step S109), the map update processing started in step S108 continues. Whether the map update for the priority update mesh will be completed in time may vary depending on the traffic conditions and communication environment at the location of the vehicle 100, so the map update processing unit 15 repeatedly performs step S109 until the map update for the priority update mesh is completed (step S110).

[0052] When the map update of the priority update mesh closest to the vehicle 100 is completed (YES in step S110), the process returns to step S105, and the map update process is started again, performing map updates on meshes that require update, starting with the meshes closest to the vehicle 100. Note that if the map update of the priority update mesh closest to the vehicle 100 was performed first, map updates for meshes that require update that could not be performed may be performed at any time after the vehicle 100 has passed through the mesh that requires update (for example, after the flow in FIG. 3 has ended).

[0053] If it is determined that the map update of the priority update mesh closest to the vehicle 100 will not be completed in time (NO in step S109), the map update processing unit 15 instructs the automatic driving control device 30 to end the automatic driving control of the vehicle 100 (step S111), and the flow in Fig. 3 ends. This prevents the automatic driving control from being performed using old HD map data.

[0054] 4 and 5 are diagrams showing examples of the hardware configuration of the map data update device 10. The functions of the components of the map data update device 10 shown in Fig. 1 are realized by, for example, a processing circuit 50 shown in Fig. 4. That is, the map data update device 10 acquires information about the planned driving route of the vehicle 100, and identifies as update-needing meshes, among the meshes corresponding to the planned driving route of the vehicle 100, meshes for which the version of the local HD map data does not match the version of the server HD map data, which is the latest HD map data distributed from the map distribution server 200, and which require a map update; acquires the server HD map data of the update-needing meshes from the map distribution server 200; compares the local HD map data of the update-needing meshes with the server HD map data; identifies as priority update-needing meshes those meshes for which there are points on the planned driving route of the vehicle 100 where the local HD map data and the server HD map data differ; updates the local HD map data of the update-needing meshes with the server HD map data; and, if it determines that the map update of the priority update-needing mesh will not be completed in time if the map updates are performed in order from the meshes closest to the vehicle 100, the map update of the priority update-needing meshes is performed with priority. 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 unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

[0055] When the processing circuit 50 is dedicated hardware, the processing circuit 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 data update device 10 may be realized by individual processing circuits, or these functions may be realized together by a single processing circuit.

[0056] 5 shows an example of the hardware configuration of the map data update device 10 in a case where the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the components of the map data update device 10 are realized by software or the like (software, firmware, or a combination of software and firmware). The software or the like is written as a program and stored in the memory 52. ​​The processor 51 realizes the functions of each part by reading and executing the program stored in the memory 52. ​​That is, when executed by the processor 51, the map data update device 10 performs the following processes: a process of acquiring information on the planned driving route of the vehicle 100; a process of identifying, as an update-requiring mesh, a mesh that corresponds to the planned driving route of the vehicle 100 and for which the version of the local HD map data does not match the version of the server HD map data, which is the latest HD map data distributed from the map distribution server 200; a process of acquiring server HD map data for the update-requiring mesh from the map distribution server 200; a process of comparing the local HD map data for the update-requiring mesh with the server HD map data and determining the local HD map data for the update-requiring mesh; The map data update device 10 includes a memory 52 for storing a program that ultimately executes the following processes: a process for identifying, as a priority update mesh, a mesh that needs to be updated and that has a point where the map data and the server HD map data differ along the planned driving route of the vehicle 100; a process for updating the local HD map data of the mesh that needs to be updated with the server HD map data; and a process for prioritizing the map update of the priority update mesh over the map update of meshes that do not need to be updated if it is determined that the map update of the priority update mesh will not be completed in time if the map updates are performed in order starting with the meshes that need to be updated closest to the vehicle 100. In other words, this program causes a computer to execute the procedures and methods of the operation of the components of the map data update device 10.

[0057] 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.

[0058] The above describes a configuration in which the functions of the components of the map data update device 10 are realized either by hardware or software, etc. However, this is not a limitation, and the map data update 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.

[0059] As described above, the map data updating device 10 can realize the above-mentioned functions by using hardware, software, or a combination of these.

[0060] The embodiments can be modified or omitted as appropriate.

[0061] The above description is illustrative in all respects, and it is understood that countless variations not illustrated can be envisioned.

[0062] 10 Map data update device, 11 Server HD map data acquisition unit, 12 Planned driving route acquisition unit, 13 Mesh to be updated identification unit, 14 Priority update mesh identification unit, 15 Map update processing unit, 20 HD locator, 21 Satellite positioning device, 22 Local HD map database, 23 Access control unit, 30 Automatic driving control device, 40 Communication terminal, 100 Vehicle, 200 Map distribution server, 201 Server HD map database, 50 Processing circuit, 51 Processor, 52 Memory.

Claims

1. A map data update device for updating local HD map data, which is HD map data (high precision map data) including road shape data for each lane, used in an automatic driving control device for a vehicle, wherein the local HD map data is stored in a local HD map database for each mesh obtained by dividing a map into meshes; the map data update device comprises: 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 planned driving route acquisition unit that acquires information on a planned driving route for the vehicle; and an update-required mesh identification unit that identifies, among the meshes corresponding to the planned driving route of the vehicle, meshes for which the version of the local HD map data does not match the version of the server HD map data, and which require updating of the local HD map data, as update-required meshes. a priority update mesh identification unit that compares the local HD map data of the update-requiring mesh with the server HD map data, and identifies, as a priority update mesh, an update-requiring mesh where a point where the local HD map data and the server HD map data differ is located on the planned driving route of the vehicle; and a map update processing unit that updates the local HD map data of the update-requiring mesh with the server HD map data, wherein, when the map update processing unit determines that updating the local HD map data of the update-requiring mesh that is the priority update mesh will not be in time if the local HD map data is updated in order starting with the update-requiring mesh closest to the vehicle, the map update processing unit prioritizes updating the local HD map data of the update-requiring mesh that is the priority update mesh over updating the local HD map data of the update-requiring mesh that is not the priority update mesh.

2. The map data update device according to claim 1, wherein the map update processing unit calculates an allowable time, which is the time it takes for the vehicle to reach an update completion 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 shorter than the required time, determines that updating of the local HD map data of the update-required mesh will not be completed in time.

3. The map data update device according to claim 1 or 2, wherein the map update processing unit determines that the update of the local HD map data of the mesh that needs to be updated, which is the priority update mesh, will not be completed in time even if the update of the local HD map data of the mesh that needs to be updated, which is the priority update mesh, is given priority over the update of the local HD map data of the mesh that needs to be updated but is not the priority update mesh, and if the automatic driving control device is performing the automatic driving control of the vehicle using the local HD map data, instructs the automatic driving control device to terminate the automatic driving control of the vehicle.

4. The map data update device according to any one of claims 1 to 3, wherein, when a mesh that needs to be updated is unable to be updated as a result of the map update processing unit giving priority to updating the local HD map data of the mesh that needs to be updated, the map update processing unit updates the local HD map data of the mesh that needs to be updated after the vehicle has passed through the mesh that needs to be updated.

5. A map data update method for updating local HD map data, which is HD map data (high precision map data) including road shape data for each lane, used in an automatic driving control device of a vehicle, wherein the local HD map data is stored in a local HD map database for each mesh obtained by dividing a map into meshes, a planned driving route acquisition unit of the map data update device acquires information on the planned driving route of the vehicle, an update-requiring mesh identification unit of the map data update device identifies, as update-requiring meshes, meshes corresponding to the planned driving route of the vehicle where the version of the local HD map data does not match the version of server HD map data, which is the latest HD map data distributed from a map distribution server, and for which the local HD map data needs to be updated, a server HD map data acquisition unit of the map data update device acquires the server HD map data of the meshes that need to be updated from the map distribution server, a map data update method in which a priority update mesh identification unit of the map data update device compares the local HD map data of the mesh that needs to be updated with the server HD map data, and identifies the mesh that needs to be updated as a priority update mesh if a point where the local HD map data and the server HD map data differ is located on the planned driving route of the vehicle; a map update processing unit of the map data update device updates the local HD map data of the mesh that needs to be updated with the server HD map data; and when the map update processing unit determines that updating the local HD map data of the mesh that needs to be updated, which is the priority update mesh, will not be in time if the local HD map data is updated in order starting with the mesh that is closest to the vehicle, the map update processing unit updates the local HD map data of the mesh that needs to be updated which is the priority update mesh, with priority over updating the local HD map data of the mesh that needs to be updated which is not the priority update mesh.

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