JP7686502B2 - Map information update device and map information update method - Google Patents

Description

The present invention relates to a map information update device and a map information update method for updating map information used in a vehicle.

A map information update system that updates map information has been known for some time (Patent Document 1). This map information update system includes an additional information generation unit, an additional information verification unit, and a map information update unit. The additional information generation unit is configured to generate additional information to be added to the map information according to input from the update requester. The additional information verification unit is configured to verify whether the additional information generated by the additional information generation unit is correct according to input from the verifier. The map information update unit is configured to generate an additional block including additional information verified to be correct by the additional information verification unit according to input from the update operator, and to update the map information by adding the added additional block to the map information.

JP 2021-33053 A

However, the above map information update system has the problem that it takes a long time to update the map information because a verifier must verify the additional information before updating the map information.

The problem that this invention aims to solve is to provide a map information update device and a map information update method that can shorten the time required to update map information.

The present invention solves the above problems by acquiring images of the vehicle's surroundings from an imaging device installed in the vehicle, acquiring vehicle position information, recognizing the roads around the vehicle from the surrounding images, determining whether the roads around the vehicle are unregistered in the map information based on the position information, and, if the vehicle travels on a surrounding road that is unregistered in the map information, updating the map information by generating new nodes and links representing the unregistered surrounding roads along which the vehicle has traveled.

The present invention can reduce the time required to update map information.

FIG. 1 is a block diagram showing an example of an in-vehicle system including a map updating device according to the present embodiment. FIG. 2 is an example of a functional block of the controller according to the present embodiment. FIG. 3 is an explanatory diagram for explaining a method of updating map information by the update unit. FIG. 4 is an explanatory diagram for explaining a method of updating map information by the update unit. FIG. 5 is an explanatory diagram for explaining a method of updating map information by the update unit. FIG. 6 is an explanatory diagram for explaining the processing contents of the controller according to the modified example.

Hereinafter, an embodiment of a map information updating device and a map information updating method according to the present invention will be described with reference to the drawings. As shown in FIG. 1, the map information updating device according to this embodiment is realized as a part of an in-vehicle system 1. FIG. 1 is a block diagram showing an example of the in-vehicle system 1 according to this embodiment. The in-vehicle system 1 is a system mounted on a vehicle, and is a system for performing various controls of the vehicle. The in-vehicle system 1 can be provided in a vehicle with an automatic driving function that drives the vehicle automatically without the driver's involvement in driving, a vehicle with a driving assistance function that assists the driver in driving the vehicle, or a vehicle that has neither an automatic driving function nor a driving assistance function.

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

The vehicle position detection device 20 is a device that detects the current location of a vehicle. The vehicle position detection device 20 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position detection device 20 detects radio waves transmitted from multiple satellite communications by the GPS unit, periodically acquires vehicle position information, and periodically detects the current vehicle position information based on the acquired vehicle position information, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor.

The surrounding environment sensor group 30 is a group of sensors for detecting objects present around the vehicle. Objects are features on the ground, such as road lane boundaries, centerlines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, pedestrian crossings, construction sites, accident sites, and speed limit signs. Objects also include automobiles other than the vehicle in which the in-vehicle system 1 is installed (other vehicles such as a preceding vehicle or an oncoming vehicle), motorcycles, bicycles, and pedestrians. Objects also include obstacles that may affect the vehicle's travel (such as parked or stopped vehicles on the road).

The surrounding environment sensor group 30 includes an imaging device 31 and a distance measuring device 32. For example, an object is detected by the imaging device 31 and the distance measuring device 32. The imaging device 31 is a device that recognizes objects around the vehicle using images, and is, for example, a camera equipped with an imaging element such as a CCD, an ultrasonic camera, an infrared camera, or other camera. Information about the object recognized by the imaging device 31 includes, for example, the type of object, the color of the object, the relative position of the object with respect to the vehicle, and the relative distance between the vehicle and the object. A plurality of imaging devices 31 can be provided on the vehicle, and can be arranged, for example, in the front grille of the vehicle, under the left and right door mirrors, and near the rear bumper. This can reduce blind spots when recognizing objects around the vehicle.

The ranging device 32 is a device for calculating the relative position of an object with respect to the vehicle, and the relative distance and relative speed between the vehicle and the object, and is, for example, a radar device or sonar such as a laser radar, millimeter wave radar (LRF, etc.), a LiDAR (Light detection and ranging) unit, or an ultrasonic radar. Similar to the imaging device 31, multiple ranging devices 32 can be provided on the vehicle, and can be placed, for example, in the front, right side, left side, and rear of the vehicle. This makes it possible to accurately calculate the relative position of objects around the vehicle with respect to the vehicle, and the relative distance and relative speed between the vehicle and the object.

The imaging device 31 and the distance measuring device 32 detect the surroundings of the vehicle at a predetermined time interval. The detection results of the imaging device 31 and the distance measuring device 32 may be integrated or synthesized by the controller 11 of the map information update device 10 described later to supplement the information of the object that is missing in the detection results. For example, the controller 11 may calculate the position information of the object based on the positioning information (self-position information) that is the current location of the vehicle output from the vehicle position detection device 20 and the relative position (distance and direction) of the object with respect to the vehicle detected by the imaging device 31 or the distance measuring device 32. In addition, if the vehicle has information on a high-precision map used for automatic driving control or driving assistance control, instead, the high-precision map information, the positioning information by odometry, and the relative position (distance and direction) of the vehicle and the object may be associated to calculate the position information of the object. The calculated position information of the object may be integrated by the controller 11 with multiple information such as the detection results of the imaging device 31 and the distance measuring device 32 and the high-precision map information to form the surrounding environment information of the vehicle.

The in-vehicle navigation system 40 guides the vehicle occupants by displaying a route from the vehicle's current location to the destination on a display based on the vehicle's position information detected by the vehicle position detection device 20. The in-vehicle navigation system 40 has map information 41. The in-vehicle navigation system 40 may store the map information 41 as a map database, or may have a storage device that stores the map information 41. Note that the in-vehicle navigation system 40 is not limited to having the map information 41, and for example, the map information 41 may be stored in a server provided outside the vehicle. In this case, the in-vehicle navigation system 40 receives the map information 41 from the server outside the vehicle via an in-vehicle communication device (not shown) having wireless capabilities.

Map information 41 includes a map for car navigation (hereinafter referred to as a car navigation map) for guiding the occupant along the planned driving route of the vehicle. The planned driving route of the vehicle is the route from the vehicle's current location to the destination. The car navigation map includes road network information indicating the road network, and feature information indicating various features around or on the road. The car navigation map is updated at a predetermined update period. For example, if the updated car navigation map is present on a server installed outside the vehicle, the in-vehicle navigation system 40 receives the updated car navigation map from the server via the in-vehicle communication device described above, and updates the map information 41.

Road network information is information about a road network represented by a combination of nodes and links. Nodes are set at specific points on roads on car navigation maps as intersections or link junctions. Nodes have location information represented by coordinates (latitude and longitude) on the car navigation map. Links are formed on the car navigation map by connecting adjacent nodes so as to correspond to the actual road shape. Links also have information such as road type (highway, toll road, national road, prefectural road, etc.), link length, link shape, etc. as attribute information of the link. Each node and link is assigned a unique number. The in-vehicle navigation system 40 can identify each road network represented on the car navigation map from the unique number that has been set or the location information of the node. This allows the in-vehicle navigation system 40 to search for a route from the vehicle's current location to the destination on the car navigation map.

The road network information is not limited to roads whose nodes and links are registered properly, but also includes information on planned roads whose nodes and links are provisionally registered. Planned roads are roads that are not yet completed and are being planned, and are not properly registered on the car navigation map. Nodes and links representing planned roads are provisionally registered on the car navigation map. In the road network information, nodes and links representing planned roads are distinguished from properly registered nodes and links in a manner that allows them to be identified. For example, nodes and links representing planned roads are assigned numbers and symbols according to rules that are different from the rules for unique numbers assigned to properly registered nodes and links. The method of identifying nodes and links representing planned roads is determined by the specifications of the in-vehicle navigation system 40. In the following, roads that are not properly registered in the map information 41, including planned roads, are referred to as "unregistered roads". In addition, in order to distinguish them from nodes and links that are properly registered in the map information 41, nodes and links representing planned roads are referred to as "provisional nodes" and "provisional links", respectively.

Feature information is information on features associated with nodes and/or links in road network information. Examples of features in map information 41 include structures such as bridges, overpasses, tunnels, railroad crossings, footbridges, toll booths, traffic lights, road signs, and road markings (including dividing lines and pedestrian crossings). Feature information is associated with properly registered nodes and/or links. There is no particular rule as to whether feature information is associated with provisional nodes and/or provisional links, and there are cases where feature information is associated with provisional nodes and/or provisional links at the incomplete road stage, and cases where it is not.

An example of a navigation function by the in-vehicle navigation system 40 will be described. The in-vehicle navigation system 40 has, for example, a map matching function, a search function, a guide function, etc. When a destination is set by a vehicle occupant via an in-vehicle user interface (in-vehicle input device) such as a touch panel, the in-vehicle navigation system 40 estimates the current location of the vehicle on the car navigation map based on the information of the current location of the vehicle detected by the vehicle position detection device 20 using the map matching function. The in-vehicle navigation system 40 also searches for the vehicle's destination on the car navigation map using the search function. In addition, the in-vehicle navigation system 40 searches for one or more routes from the current location of the vehicle to the destination using the search function. When multiple routes are obtained as a search result, the in-vehicle navigation system 40 displays each route on the in-vehicle display. When one of the multiple routes is selected by the vehicle occupant, the in-vehicle navigation system 40 sets the selected route as a guide route. The in-vehicle navigation system 40 uses a guide function to display the guide route on an in-vehicle display and output information about the guide route by voice via an in-vehicle output device such as a speaker. Note that in this embodiment, the function of the in-vehicle navigation system 40 is not particularly limited, and it is assumed that the in-vehicle navigation system 40 can be applied with navigation functions known at the time of filing of this application.

Here, the relationship between the update frequency of the car navigation map and the information accuracy of the car navigation map will be explained. The car navigation map is updated at a relatively long update interval, for example, once every six months, so there may be a difference between the actual road network and the car navigation map, and the information accuracy of the car navigation map may decrease. For example, at a specified update time of the car navigation map, an incomplete road is not properly registered in the map information 41. However, if this road is completed before the next update time, even though a vehicle can actually pass through the completed road, it is still not properly registered in the map information 41 because the next update time has not yet come. In this case, even though the road is an existing road, the in-vehicle navigation system 40 cannot include the road in the search candidates when searching for a route, and the vehicle occupants cannot be guided to a route including the road. In response to this issue of there being periods when the accuracy of information decreases due to the update frequency of the car navigation map, the map information update device 10 according to this embodiment adds the unregistered road to the map information 41 when the vehicle travels on the unregistered road, even if the road is not registered in the map information 41, thereby preventing the information accuracy of the car navigation map from decreasing regardless of the update frequency.

Next, the map information updating device 10 will be described. As shown in FIG. 1, the map information updating device 10 includes a controller 11. The controller 11 is configured by a computer equipped with hardware and software, and includes a memory that stores programs and a CPU that executes the programs stored in the memory. Note that, as the operating circuit, an MPU, DSP, ASIC, FPGA, etc. can be used instead of or in addition to the CPU.

Figure 2 is an example of a functional block of the controller 11. As shown in Figure 2, the controller 11 has, as functional blocks, a map information acquisition unit 12, an image acquisition unit 13, a position information acquisition unit 14, a road recognition unit 15, a road information acquisition unit 16, a determination unit 17, an update unit 18, and a memory unit 19. The controller 11 realizes each function of the functional blocks by software stored in the memory.

The map information acquisition unit 12 acquires the car navigation map included in the map information 41 from the in-vehicle navigation system 40. For example, when the vehicle ignition switch is turned on by the occupant and a signal indicating that the ignition is turned on is detected, the map information acquisition unit 12 acquires the car navigation map from the in-vehicle navigation system 40. Note that the acquisition timing of the car navigation map is an example and is not intended to limit the acquisition timing.

The image acquisition unit 13 acquires captured images showing the surroundings of the vehicle from the imaging device 31. The image acquisition unit 13 acquires images of the surroundings of the vehicle from the imaging device 31 at a predetermined cycle. The images of the surroundings of the vehicle include captured images showing at least the front of the vehicle (forward images of the vehicle).

The position information acquisition unit 14 acquires current position information (information on the current location of the vehicle) of the vehicle detected by the vehicle position detection device 20 from the vehicle position detection device 20. The position information acquisition unit 14 acquires vehicle position information from the vehicle position detection device 20 at a predetermined cycle. The vehicle position information includes coordinate information indicating the current location of the vehicle and traveling direction information indicating the traveling direction of the vehicle.

The road recognition unit 15 recognizes surrounding roads around the vehicle from the image of the vehicle surroundings acquired by the image acquisition unit 13. The road recognition unit 15 performs image recognition processing on the image of the vehicle surroundings, and recognizes surrounding roads from the characteristic points of the roads around the vehicle. For example, the road recognition unit 15 extracts edges from the image in front of the vehicle, identifies lane markers from the edge image, and estimates lanes from the lane markers. If the road recognition unit 15 can estimate a lane from the image in front, it recognizes the road including the lane as a surrounding road. A lane marker is a lane boundary line located on both the left and right sides or one side of a lane. A lane boundary line is represented by a solid line or a dashed line, and is represented by a white or yellow color. In addition, if the lane marker is only partially recognized, such as when the lane marker is hidden by snow or a puddle, the road recognition unit 15 may perform a Hough transform process to detect a straight line shape from a straight line common to each candidate point, or an extended Hough transform process to detect a curved line shape from multiple circles centered on each candidate point. The road recognition unit 15 can apply image recognition technology known at the time of filing of this application. The road recognition unit 15 recognizes roads located in the direction of travel of the vehicle from the image in front of the vehicle as surrounding roads, recognizes roads located on the left side of the vehicle's direction of travel from the left side image showing the left side of the vehicle's direction of travel as surrounding roads, and recognizes roads located on the right side of the vehicle's direction of travel as surrounding roads from the right side image showing the right side of the vehicle's direction of travel. The surrounding roads include at least the road on which the vehicle is traveling (the road along the direction of travel of the vehicle).

The road information acquisition unit 16 acquires road information about the surrounding roads recognized by the road recognition unit 15 from the surrounding image of the vehicle acquired by the image acquisition unit 13. The road information includes at least one of the following: road signs on the road, the number of lanes included in the road, the width of the lanes, the travel direction of the lanes, and the speed limit of the road. For example, the road information acquisition unit 16 detects a straight or curved shape from the surrounding image by the above-mentioned Hough transform process or extended Hough transform process, and performs pattern matching process on the detected shape to identify road signs and road markings depicting the travel direction. For example, the road information acquisition unit 16 identifies an adjacent lane adjacent to the lane on which the vehicle is traveling from an image of an edge detected from the surrounding image. For example, the road information acquisition unit 16 identifies the travel direction of the vehicle from the surrounding image, and identifies the travel direction of the lane from the identified travel direction of the vehicle. It is assumed that image recognition technology known at the time of filing the present application can be applied to the road information acquisition unit 16. For example, the road information acquisition unit 16 may perform vehicle-to-vehicle communication via the above-mentioned in-vehicle communication device (not shown) and identify the travel direction of the lane based on information from a preceding vehicle or an oncoming vehicle, without being limited to an image of the surroundings of the vehicle. Also, for example, the road information acquisition unit 16 may perform road-to-vehicle communication via the in-vehicle communication device and acquire road information (infrastructure information) of the surrounding roads from roadside units or the like installed around the road.

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

When the vehicle travels on a surrounding road that is determined by the determination unit 17 to be unregistered in the map information 41, the update unit 18 updates the map information 41 by adding the unregistered surrounding road on which the vehicle has traveled to the map information 41. When the road information acquisition unit 16 acquires road information on an unregistered surrounding road, the update unit 18 adds the road information on the unregistered surrounding road to the map information 41. When the vehicle travels on an unregistered surrounding road, the driver of the vehicle is not particularly limited, and the vehicle may travel on an unregistered surrounding road by driving the driver, or the vehicle may travel on an unregistered surrounding road by a driving assistance function.

The specific method of updating the map information 41 by the update unit 18 will be described with reference to Figs. 3 to 5. Figs. 3 to 5 are explanatory diagrams for explaining the method of updating the map information 41 by the update unit 18.

3 is an example of a captured image P showing the traveling direction of the vehicle V (forward of the vehicle V). The captured image P is an example of a captured image captured by an imaging device 31 provided in front of the vehicle V. The captured image P is an image of the intersection captured when the vehicle V stops at the stop line before the intersection. The captured image P shows that there is a peripheral road R1 as a route when the vehicle V goes straight through the intersection, that there is a peripheral road R2 as a route when the vehicle V turns left at the intersection, and that there is a peripheral road R3 as a route when the vehicle V turns right at the intersection. In the scene shown in FIG. 3, a scene in which the vehicle V goes straight through the intersection and travels on the peripheral road R1 will be described as an example. Note that in the map information 41, the peripheral road R1 is a road that is not registered properly, and the peripheral roads R2 and R3 are registered properly. The road recognition unit 15 recognizes the surrounding roads R1 to R3 as the surrounding roads of the vehicle V, and the determination unit 17 determines that the surrounding road R1 is an unregistered surrounding road in the map information 41.

Figure 4 is an explanatory diagram for explaining a method for adding surrounding road R1 to map information 41 when surrounding road R1 is provisionally registered in map information 41 as a planned road. In Figures 4(A) and 4(B), circular shapes indicate nodes, lines connecting nodes indicate links, black nodes and solid links indicate nodes and links properly registered in map information 41, respectively, and white dotted nodes and dotted links indicate provisional nodes and provisional links provisionally registered in map information 41, respectively. Furthermore, the symbol V indicates the current location of vehicle V detected by vehicle position detection device 20.

As shown in FIG. 4(A), when vehicle V reaches the intersection, temporary nodes UN1 to UN3 and temporary links UL1 and UL2 representing surrounding road R1 are temporarily registered in map information 41. When the traffic light at the intersection changes from a no-signal (red light) to a OK-signal (green light), vehicle V proceeds straight through the intersection and starts traveling on surrounding road R1.

Figure 4(B) shows a scene after a predetermined time has elapsed from the scene in Figure 4(A). As shown in Figure 4(B), consider the case where the vehicle V passes through the road section represented by the tentative link UL1 (see Figure 4(A)) and travels through the road section represented by the tentative link UL2. In this case, first, the update unit 18 determines that the vehicle V has passed through the road section represented by the tentative link UL1 based on the map information 41 and the current location of the vehicle V. Next, the update unit 18 activates the tentative node UN1 and tentative link UL1 representing the road section passed by the vehicle V. Activation means that the tentative node and tentative link are temporarily regarded as nodes and links properly registered in the map information 41, and does not mean that the tentative node and tentative link are properly registered in the map information 41. In Figure 4(B), the activated tentative node UN1 is shown as node EN1, and the activated tentative link UL1 is shown as link EL1. In the scene of FIG. 4(B), the update unit 18 adds node EN1 and link EL1 to the map information 41, and the map information 41 is updated.

Furthermore, if a predetermined time has passed since the scene in FIG. 4(B) and vehicle V has passed the road section represented by tentative link UL2 and is traveling on the road section represented by tentative link UL3, first, based on the map information 41 and the current location of vehicle V, the update unit 18 determines that vehicle V has passed the road section represented by tentative link UL2. Next, the update unit 18 activates tentative node UN2 and tentative link UL2, which represent the road section passed by vehicle V. Thereafter, the update unit 18 repeatedly activates the tentative nodes and tentative links according to the road section traveled by vehicle V, until vehicle V reaches a road properly registered in map information 41.

In addition, if information on a feature is associated with a temporary node and/or a temporary link, the update unit 18 activates the temporary node and temporary link, and also activates the information on the feature associated with the temporary link and/or the temporary link. Like the activated temporary node and temporary link, the information on the activated feature is information on a feature that is temporarily considered to have been properly registered in the map information 41, but is not information on a feature that has been properly registered in the map information 41.

Figure 5 is an explanatory diagram for explaining a method for adding a surrounding road R1 to the map information 41 when the surrounding road R1 is not provisionally registered in the map information 41 as a planned road. In Figures 5(A) and 5(B), circular shapes indicate nodes, lines connecting the nodes indicate links, and black nodes and solid links indicate nodes and links that are properly registered in the map information 41, respectively. The symbol V indicates the current location of the vehicle V detected by the vehicle position detection device 20. The scene in Figure 5(A) corresponds to the scene in Figure 4(A), and the scene in Figure 5(B) corresponds to the scene in Figure 4(B).

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

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

Furthermore, if a predetermined time has passed since the scene in FIG. 5(B) and the vehicle V is traveling on the surrounding road R1, the update unit 18 generates new nodes and links representing the road sections traveled by the vehicle V each time the vehicle V travels a predetermined distance on the surrounding road R1. The update unit 18 repeatedly creates new nodes and links according to the road sections traveled by the vehicle V until the vehicle V reaches a road properly registered in the map information 41.

In addition, when the road information of the surrounding road R1 is acquired by the road information acquisition unit 16 while the vehicle V is traveling on the surrounding road R1, the update unit 18 adds the road information regarding the surrounding road R1 to the map information 41. Specifically, the update unit 18 adds the road information regarding the surrounding road R1, including at least one of the road signs on the surrounding road R1, the number of lanes included in the surrounding road R1, the width of the lanes, the traveling direction of the lanes, and the speed limit of the surrounding road R1, to the map information 41. Note that the added road information, like the generated nodes and links, is road information that is temporarily considered to have been properly registered in the map information 41, but is not road information that has been properly registered in the map information 41.

Returning to FIG. 2, the storage unit 19 stores the map information 41 updated by the update unit 18 in a storage device. The storage device in which the storage unit 19 stores the updated map information 41 is not particularly limited. For example, if the in-vehicle navigation system 40 includes a storage device that stores the map information 41, the storage unit 19 stores the updated map information 41 in the storage device included in the in-vehicle navigation system 40. This allows the in-vehicle navigation system 40 to search for a route including an unregistered road using the updated map information 41 before the time to update the map information 41 arrives. Also, for example, if the in-vehicle system 1 includes a storage device in addition to the storage device included in the in-vehicle navigation system 40, the storage unit 19 stores the updated map information 41 in a storage device separate from the in-vehicle navigation system 40. This allows, for example, a vehicle control device (not shown) to perform automatic driving control or driving assistance control to drive a route including an unregistered road using the updated map information 41.

As described above, the map information update device 10 according to the present embodiment updates the map information 41 used by the vehicle. The map information update device 10 includes an image acquisition unit 13 that acquires an image of the surroundings of the vehicle from an imaging device 31 provided in the vehicle, a position information acquisition unit 14 that acquires the position information of the vehicle, a road recognition unit 15 that recognizes the surrounding roads of the vehicle from the surrounding image, a determination unit 17 that determines whether the surrounding roads are unregistered in the map information 41 based on the position information of the vehicle, and an update unit 18 that updates the map information 41 by adding the unregistered surrounding road on which the vehicle has traveled to the map information 41 when the vehicle has traveled on a surrounding road that is unregistered in the map information 41. The update unit 18 adds the unregistered surrounding road to the map information 41 by newly generating nodes and links representing the unregistered surrounding road on which the vehicle has traveled. When the vehicle has traveled on a road that is unregistered in the map information, the map information 41 is updated, so that the time required for updating the map information 41 can be shortened. In addition, since the difference between the actual road network and the map information 41 can be eliminated, the accuracy of the map information 41 can be prevented from decreasing regardless of the update frequency of the map information 41. In addition, even if information on a planned road does not exist in the map information 41, the map information 41 can be updated with newly created nodes and links.

In addition, in this embodiment, when an unregistered surrounding road on which the vehicle has traveled is provisionally registered as a planned road in the map information 41, the update unit 18 adds the unregistered surrounding road to the map information 41 by activating a provisional node and a provisional link that represent the planned road. Even though the map information 41 is a provisional node and a provisional link, the map information 41 can be updated simply by performing a process to activate existing information. This makes it easier to update the map information 41 than when new nodes and links are generated, and reduces the computational load on the controller 11.

In addition, in this embodiment, the update unit 18 adds the feature information to the map information 41 by activating the feature information associated with the provisional node or provisional link. Although the feature information is at the planned road stage, the map information 41 can be updated simply by performing a process to activate the existing information. This makes it easier to update the map information 41 compared to acquiring new feature information, and reduces the computational load on the controller 11.

In addition, in this embodiment, the update unit 18 generates new nodes and links each time the vehicle travels a predetermined distance on an unregistered surrounding road. Nodes and links representing unregistered surrounding roads can be added to the map information 41 in accordance with the intervals between nodes or the lengths of links that are properly registered in the map information 41.

In this embodiment, the map information update device 10 also includes a road information acquisition unit 16 that acquires road information including at least one of the following from the image of the vehicle's surroundings: road signs on the road, the number of lanes on the road, the width of the lanes, the direction of travel of the lanes, and the speed limit of the road. The update unit 18 adds road information about unregistered surrounding roads on which the vehicle has traveled to the map information 41. By adding road information that is not properly registered to the map information 41, the difference between the information on the actual roads and the map information 41 can be reduced, and the information accuracy of the map information 41 can be prevented from decreasing regardless of the update frequency of the map information 41.

The map information update device 10 according to this embodiment also includes a storage unit 19 that stores the updated map information 41 in a storage device. This allows, for example, the in-vehicle navigation system 40 to search for a route that includes unregistered roads using the updated map information 41 before it is time to update the map information 41.

(Modification)
Modifications of the above-described embodiment will be described below. Note that the same reference numerals are used to designate the same components as those in the above-described embodiment, and the description thereof will be used as appropriate.

As a first modified example, the controller 11 includes a functional block including an inquiry unit that inquires of a vehicle occupant whether to add an unregistered surrounding road to the map information 41 and inputs the vehicle occupant's response to the inquiry. For example, in the scene of FIG. 4(B), the inquiry unit inquires of the vehicle occupant via an in-vehicle display or an in-vehicle speaker whether to activate a temporary node UN1 and a temporary link UL1 representing a road section traveled by the vehicle V and add a node EN1 and a link EL1 to the map information 41. Also, for example, in the scene of FIG. 5(B), the inquiry unit inquires of the vehicle occupant via an in-vehicle display or an in-vehicle speaker whether to add a newly generated node NN1 and a link NL1 to the map information 41 as a node and a link representing a road section traveled by the vehicle V. The occupants to be inquired include the driver, the passenger in the front passenger seat, and the passenger in the rear seat. Examples of methods for making inquiries to the occupant include displaying the inquiry on an in-vehicle display or outputting the inquiry information by voice via an in-vehicle speaker. Examples of methods for the occupant to respond include the occupant operating a touch panel-type in-vehicle display to input a response or the occupant responding by voice via an in-vehicle microphone.

In the first modified example, if the inquiry unit receives an occupant's response to add the unregistered surrounding roads to the map information 41, the update unit 18 adds the unregistered surrounding roads on which the vehicle has traveled to the map information 41. For example, in the example of FIG. 4(B), if the inquiry unit receives an occupant's response allowing the activation of the temporary node UN1 and the temporary link UL1, the update unit 18 activates the temporary node UN1 and the temporary link UL1. For example, in the example of FIG. 5(B), if the inquiry unit receives an occupant's response allowing the addition of the newly generated node NN1 and link NL1, the update unit 18 adds the node NN1 and the link NL1 to the map information 41.

On the other hand, if the inquiry unit receives an occupant's response that the unregistered surrounding roads should not be added to the map information 41, the update unit 18 does not add the unregistered surrounding roads on which the vehicle has traveled to the map information 41. For example, in the example of FIG. 4(B), if the inquiry unit receives an occupant's response refusing to activate the temporary node UN1 and the temporary link UL1, the update unit 18 does not activate the temporary node UN1 and the temporary link UL1. Also, in the example of FIG. 5(B), if the inquiry unit receives an occupant's response refusing to add the newly generated node NN1 and link NL1, the update unit 18 does not add the node NN1 and the link NL1 to the map information 41.

In this way, in the first modified example, the vehicle occupant can decide whether or not to update the map information 41, and the map information 41 can be changed according to the occupant's preferences. For example, if the vehicle frequently travels on surrounding roads that are not registered in the map information 41 and the occupant feels that traveling on those roads is convenient (such as shortening travel time), the occupant can input a response to update the map information 41 to the inquiry unit. On the other hand, if the vehicle frequently travels on surrounding roads that are not registered in the map information 41 and the occupant feels that traveling on those roads is not very convenient, the occupant can input a response to not update the map information 41 to the inquiry unit.

As a second variant, the controller 11 has a functional block that includes an intersection recognition unit that recognizes intersections located ahead of the vehicle from an image of the vehicle's surroundings. The intersection recognition unit executes image recognition processing on the image of the vehicle's surroundings to recognize intersections that exist ahead of the vehicle. For example, the intersection recognition unit extracts edges from a forward image that shows the vehicle's traveling direction, identifies feature points of the intersection from the edge image, and recognizes the intersection from the feature points.

In the second modified example, the road recognition unit 15 recognizes, as a cross road, a road that crosses an unregistered surrounding road on which the vehicle is traveling at an intersection recognized by the intersection recognition unit. The road recognition unit 15 executes image recognition processing on an image of the surroundings of the vehicle, and recognizes roads that cross the road on which the vehicle is traveling at the intersection. For example, the road recognition unit 15 extracts edges from an image in front of the vehicle, an image on the left side of the vehicle, or an image on the right side of the vehicle, identifies lane markers of the crossing roads from the edge image, and recognizes the cross roads from the lane markers.

In the second variant, the update unit 18 adds the intersecting roads recognized by the road recognition unit 15 to the map information 41.

Figure 6 is an explanatory diagram for explaining the processing contents of the controller 11 according to the second modified example. The explanation given using Figures 5(A) and 5(B) is used for the explanation of the nodes and links and the symbol V shown in Figures 6(A) and 6(B). Symbol C indicates a figure that imitates the imaging range of the imaging device 31. Note that Figure 6(A) shows a scene after a predetermined time has passed since the scene in Figure 5(B).

As shown in FIG. 6(A), when vehicle V passes through the road section represented by link NL1 and is traveling just before a specific intersection on peripheral road R1, the intersection recognition unit recognizes the intersection located ahead of vehicle V from the peripheral image of vehicle V. From the peripheral image of vehicle V, road recognition unit 15 recognizes a road that intersects with peripheral road R1 at the intersection recognized by the intersection recognition unit as a cross road. Information on the intersection recognized by the intersection recognition unit and the cross road recognized by road recognition unit 15 is not properly registered in map information 41.

Figure 6 (B) shows a scene after a predetermined time has elapsed from the scene in Figure 6 (A). As shown in Figure 6 (B), consider the case where the vehicle V goes straight through the intersection recognized by the intersection recognition unit. In this case, as in the explanation using Figure 5 (B), first, the update unit 18 determines that the vehicle V has traveled a predetermined distance on the surrounding road R1 based on the coordinates of the node NN1 and the current location of the vehicle. Next, the update unit 18 newly generates a node and a link representing the road section on which the vehicle V has traveled as node NL2 and link NL2. Furthermore, the update unit 18 newly generates a node and a link representing the road section of the intersecting road as nodes NN3 and NN4 and links NL3 and NL4. In the scene in Figure 6 (B), the update unit 18 adds nodes NN2 to NN4 and links NL2 to NL4 to the map information 41, and the map information 41 is updated. Note that NN3 and NN4 are located within the imaging range C of the imaging device 31. The update unit 18 generates new nodes and links for the intersecting roads that are located within the imaging range of the imaging device 31.

In this way, in the second variant, not only roads on which the vehicle has traveled but also intersecting roads on which the vehicle has not traveled can be added to the map information 41, so that the location of an intersection can be added to the map information 41 even if there is no information about features or road information indicating the intersection.

As a third variant, the controller 11 includes in its functional block a leading vehicle recognition unit that recognizes a leading vehicle traveling ahead of the vehicle. The leading vehicle recognition unit executes image recognition processing on an image of the vehicle's surroundings to recognize a leading vehicle traveling ahead of the vehicle. For example, the leading vehicle recognition unit extracts edges from an image in front of the vehicle, identifies feature points of the leading vehicle from the edge image, and recognizes the leading vehicle from the feature points. There is no particular limit to the number of leading vehicles, and there may be one leading vehicle or multiple leading vehicles.

In the third modified example, when a preceding vehicle recognized by the preceding vehicle recognition unit travels on an unregistered peripheral road, the update unit 18 adds the unregistered peripheral road on which the preceding vehicle traveled to the map information 41. For example, in the example of FIG. 4, when a preceding vehicle of vehicle V travels on peripheral road R1, the update unit 18 activates a tentative node UN1 and a tentative link UL1 that represent the road section on which the preceding vehicle traveled. Also, for example, in the example of FIG. 5, when a preceding vehicle of vehicle V travels on peripheral road R1, the update unit 18 newly generates a node and a link that represent the road section on which the preceding vehicle traveled as node NN1 and link NL1.

In this way, in the third variant, if a preceding vehicle traveling ahead of the vehicle travels on an unregistered surrounding road, the map information 41 can be updated, and the timing of updating the map information 41 can be made earlier.

As a fourth variant, the controller 11 has a functional block including a transmission unit that transmits the map information 41 updated by the update unit 18 to a server provided outside the vehicle. The transmission unit transmits the updated map information 41 to the server via the above-mentioned in-vehicle communication device (not shown). For example, if the server provided outside the vehicle can communicate with other vehicles, the updated map information 41 can be shared with the other vehicles. This allows, for example, the in-vehicle navigation system 40 to search for a route that includes unregistered surrounding roads that have been traveled by other vehicles before it is time to update the map information 41.

The above-described embodiments and variations are described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, each element disclosed in the above embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

REFERENCE SIGNS LIST 1... In-vehicle system 2... In-vehicle network 10... Map information update device 11... Controller 12... Map information acquisition unit 13... Image acquisition unit 14... Position information acquisition unit 15... Road recognition unit 16... Road information acquisition unit 17... Determination unit 18... Update unit 19... Memory unit 20... Vehicle position detection device 30... Surrounding environment sensor group 31... Imaging device 32... Distance measurement device 40... In-vehicle navigation system 41... Map information

Claims (11)

A map information updating device for updating map information used in a vehicle, comprising:
an image acquisition unit that acquires an image of the surroundings of the vehicle from an imaging device provided in the vehicle;
a location information acquisition unit that acquires location information of the vehicle;
a road recognition unit that recognizes surrounding roads of the vehicle from the surrounding image;
a determination unit that determines whether the peripheral road is not registered in the map information based on the location information;
an update unit that updates the map information by adding, to the map information, the unregistered peripheral road on which the vehicle has traveled, when the vehicle has traveled on the unregistered peripheral road in the map information;
an intersection recognition unit that recognizes an intersection located in front of the vehicle from the surrounding image ,
the road recognition unit recognizes a cross road that crosses the unregistered peripheral road on which the vehicle is traveling at the intersection,
The update unit is
adding the unregistered peripheral roads to the map information by newly generating nodes and links representing the unregistered peripheral roads along which the vehicle has traveled;
A map information updating device that adds the cross road to the map information . A map information updating device for updating map information used in a vehicle, comprising:
an image acquisition unit that acquires an image of the surroundings of the vehicle from an imaging device provided in the vehicle;
a location information acquisition unit that acquires location information of the vehicle;
a road recognition unit that recognizes surrounding roads of the vehicle from the surrounding image;
a determination unit that determines whether the peripheral road is not registered in the map information based on the location information;
an update unit that updates the map information by adding, to the map information, the unregistered peripheral road on which the vehicle has traveled, when the vehicle has traveled on the unregistered peripheral road in the map information;
a preceding vehicle recognition unit that recognizes a preceding vehicle traveling in front of the vehicle from the surrounding image ,
The update unit is a map information update device that, when the preceding vehicle travels on the unregistered surrounding road, adds the unregistered surrounding road along which the preceding vehicle has traveled to the map information by newly generating nodes and links representing the unregistered surrounding road along which the preceding vehicle has traveled . 3. A map information updating device according to claim 1 , further comprising:
The update unit is a map information update device that adds the unregistered surrounding road to the map information by enabling a temporary node and a temporary link representing the planned road when the unregistered surrounding road on which the vehicle has traveled is provisionally registered as a planned road in the map information. 4. A map information updating device according to claim 3 ,
The update unit is a map information updating device that adds information about a feature associated with the temporary node or the temporary link to the map information by validating the information about the feature. 3. A map information updating device according to claim 1 , further comprising:
The update unit generates new nodes and new links each time the vehicle travels a predetermined distance on the unregistered peripheral roads. A map information updating device according to any one of claims 1 to 5 ,
a road information acquisition unit that acquires road information including at least one of a road sign provided on a road, a number of lanes included in the road, a width of the lane, a traveling direction of the lane, and a speed limit of the road from the peripheral image;
The update unit is a map information update device that adds the road information regarding the unregistered peripheral roads to the map information. A map information updating device according to any one of claims 1 to 6 ,
an inquiry unit for inquiring of an occupant of the vehicle as to whether or not the unregistered surrounding road should be added to the map information, and inputting a response of the occupant to the inquiry;
The update unit is
When the driver inputs a response to add the unregistered surrounding road to the map information, the unregistered surrounding road is added to the map information;
a map information updating device that does not add the unregistered peripheral road to the map information when the occupant's answer not to add the unregistered peripheral road to the map information is inputted. A map information updating device according to any one of claims 1 to 7 ,
A map information updating device comprising a storage unit for storing the updated map information in a storage device. A map information updating device according to any one of claims 1 to 8 ,
A map information updating device comprising a transmitting unit that transmits the updated map information to a server. A map information updating method in which a controller updates map information used in a vehicle, the method comprising:
Acquire an image of the surroundings of the vehicle from an imaging device provided in the vehicle;
Acquire location information of the vehicle;
Recognizing surrounding roads of the vehicle from the surrounding image;
determining whether the peripheral road is not registered in the map information based on the location information;
When the vehicle travels on a peripheral road that is not registered in the map information, the map information is updated by adding the peripheral road that the vehicle traveled on to the map information;
Recognizing an intersection located in front of the vehicle from the surrounding image;
Recognizing a cross road that crosses the unregistered peripheral road on which the vehicle is traveling at the intersection;
In updating the map information, a node and a link representing the unregistered peripheral road along which the vehicle has traveled are newly generated, thereby adding the unregistered peripheral road to the map information;
The map information updating method further comprises: adding the intersecting road to the map information in updating the map information. A map information updating method in which a controller updates map information used in a vehicle, the method comprising:
Acquire an image of the surroundings of the vehicle from an imaging device provided in the vehicle;
Acquire location information of the vehicle;
Recognizing surrounding roads of the vehicle from the surrounding image;
determining whether the peripheral road is not registered in the map information based on the location information;
When the vehicle travels on a peripheral road that is not registered in the map information, the map information is updated by adding the peripheral road that the vehicle traveled on to the map information;
Recognizing a preceding vehicle traveling ahead of the vehicle from the surrounding image;
A map information updating method for adding, to the map information, the unregistered surrounding road on which the preceding vehicle has traveled, by generating new nodes and links representing the unregistered surrounding road on which the preceding vehicle has traveled , when the preceding vehicle has traveled on the unregistered surrounding road in updating the map information.

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