JP7724139B2 - Map information update system and its server device - Google Patents

Description

The present invention relates to a map information update system and its server device.

Autonomous driving systems and driver assistance systems are required to improve vehicle safety by updating and increasing the accuracy of map information based on external information (sensing information, etc.) obtained by recognizing the vehicle's surrounding environment. Patent Document 1, for example, is an example of technology for updating map information based on external information.

Patent Document 1 discloses a server device that acquires change-point candidate data generated by comparing peripheral information based on the output of a sensor unit with a partial map, and sensor accuracy-related information related to the accuracy of the target sensor at the time the change-point candidate data was acquired; assigns weights to each of the acquired change-point candidate data based on the sensor accuracy-related information; and updates a distribution map based on the weighted change-point candidate data.

JP 2016-156973 A

When updating map information based on external information, if the accuracy of the external information is low compared to the accuracy of the map information, updating the map information based on the external information may result in a decrease in the accuracy of the map information. The technology disclosed in Patent Document 1 estimates the accuracy of the sensor unit and updates the partial map when there is a discrepancy between the surrounding information based on the output of the sensor unit and the partial map, but does not take into account the accuracy of the partial map. With the technology disclosed in Patent Document 1, it is difficult to prevent erroneous updates to map information that could cause a decrease in accuracy, and there is a risk of the accuracy of the map information decreasing.

The present invention was made in consideration of the above, and aims to provide a map information update system and its server device that can improve the accuracy of map information by preventing erroneous updates to map information that could result in reduced accuracy.

To solve the above problem, the map information update system of the present invention includes a processing device that updates map information based on external environment information recognized from the vehicle's surrounding environment, and the processing device is characterized by having a first setting unit that sets the reliability of the external environment information, a second setting unit that sets the reliability of the map information, and an update unit that updates the map information based on the set reliability of the external environment information and the set reliability of the map information.

According to the present invention, it is possible to provide a map information update system and its server device that are capable of improving the accuracy of map information by preventing erroneous updates of map information that could cause a decrease in accuracy.
Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

FIG. 1 is a diagram showing the configuration of a map information updating system according to a first embodiment. 2 is a flowchart of a process performed by the map information update system shown in FIG. 1 . FIG. 10 is a diagram illustrating the reliability of external world information. FIG. 10 is a diagram illustrating the reliability of map information. 5 is a diagram illustrating a process of updating the reliability of the map information shown in FIG. 4 based on the reliability of the external world information shown in FIG. 3 . 10 is a flowchart of a process performed by a map information updating system according to a second embodiment. 11 is a flowchart of a process performed by a map information updating system according to a third embodiment. 10 is a flowchart of a process performed by a map information updating system according to a fourth embodiment. 13 is a flowchart of a process performed by a map information updating system according to a fifth embodiment. 13 is a flowchart of a process performed by a map information updating system according to a sixth embodiment.

Embodiments of the present invention will be described below with reference to the drawings. Note that components with the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise specified, and their description will be omitted.

[Embodiment 1]
A map information updating system 1 according to the first embodiment will be described with reference to FIGS.

Figure 1 is a diagram showing the configuration of the map information update system 1 of embodiment 1.

The map information update system 1 is a system that updates map information. Specifically, the map information update system 1 may be a system that updates highly detailed map information (Detailed Geometry Map) used in an autonomous driving system or a driving assistance system installed in a vehicle 2. In this embodiment, map information is not limited to image data that displays the arrangement of features in a two-dimensional or three-dimensional space. Map information also includes data that expresses the arrangement of features in the form of a sequence of points, such as latitude, longitude, and altitude, or data that expresses the arrangement of features in the form of a two-dimensional or three-dimensional point cloud.

The map information update system 1 includes an external environment recognition device 21 that recognizes the surrounding environment of the vehicle 2, a processing device 31 that performs update processing of map information around the vehicle 2, and a storage device 32 that stores map information, etc.

Figure 1 illustrates a map information update system 1 in which an external environment recognition device 21 is mounted on a vehicle 2, and a processing unit 31 and a storage device 32 are mounted on a server device 3 equipped with a communication device 33. The map information update system 1 shown in Figure 1 is configured such that the vehicle 2 and the server device 3 are connected wirelessly via a network. The map information update system 1 shown in Figure 1 may also include a terminal device 4. The terminal device 4 is connected wirelessly to the server device 3 via the network and is capable of reading, writing, and rewriting information stored in the storage device 32 mounted on the server device 3.

However, the map information update system 1 is not limited to the configuration shown in FIG. 1. For example, the processing unit 31 and storage device 32 may be installed in the same machine or device (e.g., vehicle 2) as the external environment recognition device 21. Alternatively, the external environment recognition device 21 may be installed in a vehicle other than vehicle 2, or in roadside equipment. In this embodiment, the map information update system 1 shown in FIG. 1 will be used as an example for explanation.

The external environment recognition device 21 acquires external environment information (sensing information) as a result of recognition of the environment surrounding the vehicle 2. Recognition targets of the external environment recognition device 21 include, for example, objects present in the environment surrounding the vehicle 2 (e.g., other vehicles, pedestrians, road facilities, obstacles, etc.), as well as the road on which the vehicle 2 travels (including the shape of the road, as well as the topography around the road, road signs, road markings, traffic lights, etc.). The external environment information includes information recognized about objects present in the environment surrounding the vehicle 2 (such as the type, position, and shape of the object) and information recognized about the road on which the vehicle 2 travels.

The external environment recognition device 21 is composed of a camera, laser, radar, and/or a V2X receiver. The V2X receiver acquires external environment information through communication between vehicles, communication between vehicles and roadside facilities, communication between vehicles and pedestrians, and/or communication between vehicles and network-connected devices. Furthermore, the external environment recognition device 21 is composed of a GNSS receiver and can acquire location information such as the latitude, longitude, altitude, and direction of the vehicle 2. Furthermore, the external environment recognition device 21 can acquire road environment information indicating at least one of traffic volume, time of day, and weather at the time the external environment information was acquired. Furthermore, the external environment recognition device 21 can acquire terrain change information indicating the presence or absence of at least one of construction and earthquakes occurring around the vehicle 2.

The information acquired by the external environment recognition device 21 is transmitted to the server device 3 by the communication device of the vehicle 2. The receiver 331 that constitutes the communication device 33 of the server device 3 receives information transmitted from the vehicle 2, including external environment information. The receiver 331 transmits the received external environment information, etc. to the arithmetic processing device 31.

The arithmetic processing device 31 includes a processor. The arithmetic processing device 31 stores information transmitted from the vehicle 2, including external world information, in the storage device 32. The arithmetic processing device 31 updates the map information stored in the storage device 32 based on the information transmitted from the vehicle 2, including external world information.

Specifically, the arithmetic processing device 31 has a first setting unit 311 that sets the reliability of the external world information acquired by the external world recognition device 21, a second setting unit 312 that sets the reliability of the map information, and an update unit 313 that updates the map information stored in the storage device 32 based on the reliability of the external world information set by the first setting unit 311 and the reliability of the map information set by the second setting unit 312.

The processing unit 31 stores the map information updated by the update unit 313 in the storage device 32 and transmits it to the transmission unit 332 that constitutes the communication device 33. The transmission unit 332 transmits the updated map information to the vehicle 2. The vehicle 2 receives the map information transmitted from the server device 3. The vehicle 2 can use the updated map information to safely operate the autonomous driving system or driving assistance system. The methods for setting the reliability of the external environment information and map information, as well as the method for updating the map information, will be described later using Figures 2 to 5.

The storage device 32 stores information transmitted from the vehicle 2, including external world information, map information, the reliability of the external world information, the reliability of the map information, etc. Furthermore, the storage device 32 can store information related to the time elapsed since the map information was last updated. Information related to the time elapsed since the map information was last updated includes information such as the value of a timer that measures the time elapsed since the map information was last updated, and the time of the last map information update. Note that in embodiments other than embodiment 4 described below, the storage device 32 does not need to store information related to the elapsed time.

Using Figures 2 to 5, we will explain how to set the reliability of external environment information and map information, as well as how to update map information. In the explanation of Figures 2 to 5, the object of recognition by the external environment recognition device 21 is the boundary line of a lane (hereinafter also referred to as "lane boundary line") existing near the vehicle 2, and we will explain an example of updating map information related to the lane boundary line.

Figure 2 is a flowchart of the processing performed by the map information update system 1 shown in Figure 1. Figure 3 is a diagram explaining the reliability of external world information. Figure 4 is a diagram explaining the reliability of map information. Figure 5 is a diagram explaining the processing for updating the reliability of the map information shown in Figure 4 based on the reliability of the external world information shown in Figure 3. The processing shown in Figure 2 is executed by the server device 3 every time a predetermined period elapses.

In step S101, the receiving unit 331 receives external environment information acquired by the external environment recognition device 21 and transmitted from the vehicle 2. The external environment information includes, for example, the distance to the recognition target and the angle of the direction toward the recognition target, based on the latitude, longitude, altitude, and heading direction of the vehicle 2 (i.e., the external environment recognition device 21) (hereinafter also referred to as "relative position information"). The relative position information is information that indicates the positional relationship between the recognition target of the external environment recognition device 21 and the external environment recognition device 21. Furthermore, the external environment information may include the reliability of the external environment information.

In step S102, the first setting unit 311 sets the reliability of the external world information for the external world information received in step S101. The first setting unit 311 sets the reliability of the external world information based on the characteristics of the external world recognition device 21 that acquires the external world information. Elements that determine the characteristics of the external world recognition device 21 include, for example, variables determined in the internal processing logic of the external world recognition device 21. An example of a variable determined in the internal processing logic of the external world recognition device 21 may be the existence probability of a recognized object output by an AI that recognizes a recognized object using camera images. The existence probability of the recognized object can be considered the reliability of the external world information. The external world recognition device 21 can include the existence probability of the recognized object in the external world information as the reliability of the external world information and transmit the information from the communication device of the vehicle 2 to the server device 3. The first setting unit 311 can set the existence probability of the recognized object as the reliability of the external world information.

For example, suppose the external environment recognition device 21 recognizes lane boundary lines L1 to L3 as shown in the diagram on the left side of Figure 3 and acquires external environment information including relative position information and respective existence probabilities of lane boundary lines L1 to L3. In this case, the first setting unit 311 may set the respective existence probabilities of lane boundary lines L1 to L3 as the reliability of the external environment information for each of the lane boundary lines L1 to L3, as shown in table 321 on the right side of Figure 3. The "#" in table 321 of Figure 3 indicates the identification information of lane boundary lines L1 to L3.

Furthermore, when multiple existence probabilities for the same recognition target are transmitted, the first setting unit 311 may, for example, set the average value of the multiple existence probabilities as the reliability of the recognition target in the external world information. Note that the multiple existence probabilities for the same recognition target may be acquired by each of the external world recognition devices 21 mounted on multiple vehicles 2, by each of the external world recognition devices 21 mounted on a single vehicle 2, or by each of the external world recognition devices 21 mounted on a single vehicle 2 at multiple times, and then transmitted to the server device 3.

In step S103, the second setting unit 312 sets the reliability of the map information around the vehicle 2. In the map information, the position information of a feature may be expressed as a sequence of points of latitude, longitude, and altitude. If the feature in the map information is a lane boundary line, the position information of the lane boundary line in the map information may be expressed as a sequence of points of latitude, longitude, and altitude.

For example, assume that the lane boundary lines in the map information are composed of lane boundary lines La to Le, as shown in the diagram on the left side of Figure 4. In this case, the second setting unit 312 may set the reliability of the map information for each of the lane boundary lines La to Le, as shown in table 322 on the right side of Figure 4. The reliability of the map information, like the reliability of the external world information, is expressed as a numerical value ranging from 0 to 100, with a larger numerical value indicating a higher reliability. The second setting unit 312 may set 0 as the initial value of the reliability of the map information. If the reliability of the map information has been updated in the past in step S104, which will be described later, the second setting unit 312 sets the value unchanged. Table 322 on the right side of Figure 4 shows an example in which the reliability of previously updated map information is carried over. Note that the "#" in table 322 of Figure 4 indicates the identification information of the lane boundary lines La to Le.

In step S104, the update unit 313 updates the map information based on the reliability of the external world information set in step S102 and the reliability of the map information set in step S103.

First, the update unit 313 performs a process of determining which feature in the map information corresponds to the recognition target indicated by the external world information received in step S101. For example, assume that the reliability of the external world information is expressed as in table 321 shown in FIG. 3, and the reliability of the map information is expressed as in table 322 shown in FIG. 4. In this case, the update unit 313 determines which of the lane boundaries La to Le shown in table 322 each corresponds to with lane boundary lines L1 to L3 shown in table 321. Specifically, the update unit 313 extracts the point with the shortest distance (hereinafter also referred to as the "minimum distance point") from the sequence of latitude, longitude, and altitude points of lane boundary line La for each point whose latitude, longitude, and altitude of lane boundary line L1 has been calculated. The update unit 313 then calculates the sum of the distances between each point on lane boundary line L1 and the extracted minimum distance point on lane boundary line La. Similarly, the update unit 313 calculates the sum of the distances between each point on the lane boundary line L1 and each of the minimum distance points on the extracted lane boundary lines Lb to Le. The update unit 313 then identifies the lane boundary line with the smallest sum among the calculated sums of the lane boundary lines La to Le. If there are multiple lane boundary lines with the smallest sum, the update unit 313 may, for example, identify the lane boundary line whose sum was calculated most recently as the newer information. The update unit 313 then determines that the identified lane boundary line is the lane boundary line in the map information that corresponds to the recognition target indicated by the external world information. The update unit 313 also performs this determination process on lane boundary lines L2 and L3. This allows the update unit 313 to determine the feature in the map information that corresponds to the recognition target indicated by the external world information.

Next, the update unit 313 performs a process to update features in the map information that are determined to correspond to the recognition targets indicated by the external world information. For example, suppose that, in the above determination process, it is determined that lane boundary lines L1 to L3 shown in Table 321 correspond to lane boundary lines Lb to Ld shown in Table 322, respectively. In this case, the update unit 313 extracts the point of lane boundary line Lb that is the shortest distance from each of the points on lane boundary line L1. The update unit 313 then identifies a line segment connecting each of the points on lane boundary line L1 with the shortest distance point on lane boundary line Lb. The update unit 313 then identifies a point obtained by dividing the identified line segment by the ratio between the reliability of the external world information for lane boundary line L1 shown in Table 321 and the reliability of the map information for lane boundary line Lb shown in Table 322. The update unit 313 then sets the identified internal division point as the updated lane boundary line Lb. The update unit 313 also performs this update process on lane boundary lines Lc and Ld. This allows the update unit 313 to update features in the map information that are determined to correspond to the recognition target indicated by the external world information.

Next, the update unit 313 performs a process of updating the reliability of the map information based on the reliability of the external world information. If the reliability of the external world information is X and the reliability of the map information before the update is Y, the update unit 313 can calculate the reliability Z of the updated map information using the following formula (1).
Z=100-{(100-X)(100-Y)}/100...(1)

Equation (1) means that if the reliability X of the external world information is the "probability (%) that the external world information is correct" and the reliability Y of the map information before the update is the "probability (%) that the map information is correct," then the reliability Z of the updated map information can be calculated as the "probability (%) that at least one of the external world information and the map information is correct."

Tables 321 and 322 on the left side of Figure 5 are identical to table 321 shown in Figure 3 and table 322 shown in Figure 4, respectively. Table 323 on the right side of Figure 5 shows the results of updating table 322 shown in Figure 4 based on table 321 shown in Figure 3. In table 323, the reliability of lane boundary line Lb, "97," is calculated as follows using equation (1). That is, when the reliability of lane boundary line L1 in table 321, "90," is substituted for X in equation (1) and the reliability of lane boundary line Lb in table 322, "70," is substituted for Y in equation (1), the reliability Z of lane boundary line Lb in table 323 is calculated as follows.
Z=100-{(100-90)(100-70)}/100=97

The update unit 313 also performs this process of updating the reliability of the map information for lane boundary lines Lc and Ld. Furthermore, the update unit 313 may retain the reliability of lane boundary lines La and Le that were not determined to correspond to the recognition target indicated by the external world information at the reliability level before the update.

By repeating the process of updating the reliability of the map information, the reliability of the map information is updated, and the map information approaches the true value. This allows the update unit 313 to update the map information to more accurate information according to the reliability of the external world information and the map information.

As described above, the map information update system 1 of embodiment 1 includes a processing device 31 that updates map information based on external world information recognized from the surrounding environment of the vehicle 2. The processing device 31 includes a first setting unit 311 that sets the reliability of the external world information, a second setting unit 312 that sets the reliability of the map information, and an update unit 313 that updates the map information based on the reliability of the external world information and the reliability of the map information.

As a result, the map information update system 1 of embodiment 1 can update the map information to highly accurate information by taking into account not only the reliability of the external world information but also the reliability of the map information. Therefore, the map information update system 1 of embodiment 1 can prevent erroneous updates to map information that could cause a decrease in accuracy. Therefore, embodiment 1 can provide a map information update system 1 and its server device 3 that can improve the accuracy of map information.

Furthermore, the server device 3 of embodiment 1 is communicatively connected to a vehicle 2 equipped with an external environment recognition device 21 that recognizes the vehicle 2's surrounding environment, and is a server device of a map information update system 1 that updates map information based on external environment information acquired by the external environment recognition device 21. The server device 3 includes a receiving unit 331 that receives external environment information transmitted from the vehicle 2, a first setting unit 311 that sets the reliability of the received external environment information, a second setting unit 312 that sets the reliability of the map information, an updating unit 313 that updates the map information based on the reliability of the external environment information and the reliability of the map information, and a transmitting unit 332 that transmits the updated map information to the vehicle 2.

As a result, the server device 3 of embodiment 1 can update the map information to highly accurate information by taking into account not only the reliability of the external world information but also the reliability of the map information. Moreover, because the server device 3 of embodiment 1 is equipped with the first setting unit 311, the second setting unit 312, and the update unit 313, the processing to realize these functions can be performed more quickly than when these functions are equipped in the vehicle 2 with limited resources. Furthermore, the server device 3 of embodiment 1 can accumulate multiple pieces of external world information and their reliability. And because the server device 3 of embodiment 1 can update the map information based on the reliability of multiple pieces of external world information, the accuracy of the map information can be further improved. Therefore, according to embodiment 1, it is possible to provide a map information update system 1 and its server device 3 that can further improve the accuracy of the map information.

[Embodiment 2]
A map information updating system 1 according to the second embodiment will be described with reference to Fig. 6. In the map information updating system 1 according to the second embodiment, the description of the same configuration and operation as those according to the first embodiment will be omitted.

As described above, the external world information acquired by the external world recognition device 21 may include relative position information indicating the positional relationship between the recognition target of the external world recognition device 21 and the external world recognition device 21. In the map information update system 1 of embodiment 2, the first setting unit 311 estimates the reliability of the external world information based on the relative position information indicating the positional relationship between the recognition target of the external world recognition device 21 and the external world recognition device 21, and sets the reliability of the estimated external world information.

Figure 6 is a flowchart of the processing performed by the map information update system 1 of embodiment 2. Figure 6 corresponds to Figure 2. The processing shown in Figure 6 is executed by the server device 3 every time a predetermined period elapses.

In step S201, the receiving unit 331 receives external environment information acquired by the external environment recognition device 21 and transmitted from the vehicle 2. This external environment information includes relative position information indicating the positional relationship between the recognition target of the external environment recognition device 21 and the external environment recognition device 21. The relative position information may be the minimum distance between the lane boundary line, which is the recognition target, and the external environment recognition device 21.

In step S202, the first setting unit 311 sets the reliability of the external world information for the external world information received in step S201. At this time, the first setting unit 311 sets the reliability of the external world information based on the relative position information included in the external world information. For example, assume that the vehicle 2 is equipped with an external world recognition device 21 in which the reliability f of the acquired external world information is determined by a function f(R) = 100 - 10R, which depends on the minimum distance R [m] from the recognition target. Furthermore, assume that the external world information acquired by the external world recognition device 21 includes the minimum distance R [m] from the recognition target as relative position information. In this case, the first setting unit 311 can estimate the reliability f by calculating the function f(R) based on the minimum distance R [m]. The first setting unit 311 can set the estimated reliability f as the reliability of the external world information.

In step S203, the second setting unit 312 sets the reliability of the map information, similar to step S103 shown in FIG. 2.

In step S204, the update unit 313 updates the map information based on the reliability of the external world information set in step S202 and the reliability of the map information set in step S203, similar to step S104 shown in FIG. 2.

In this way, the first setting unit 311 of embodiment 2 estimates the reliability of the external world information based on relative position information indicating the positional relationship between the recognition target of the external world recognition device 21 and the external world recognition device 21, and sets the reliability of the estimated external world information.

As a result, the map information update system 1 of embodiment 2 can set the reliability of the external world information and update the map information while taking into account the influence of the positional relationship with the external world recognition device 21, even if that influence affects the reliability of the external world information. Therefore, embodiment 2 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of map information.

[Embodiment 3]
A map information updating system 1 according to the third embodiment will be described with reference to Fig. 7. In the map information updating system 1 according to the third embodiment, the description of the same configuration and operation as those according to the first embodiment will be omitted.

In the map information update system 1 of embodiment 3, the first setting unit 311 estimates the reliability of the external environment information based on road environment information indicating at least one of traffic volume, time of day, and weather at the time the external environment information was acquired, and sets the reliability of the estimated external environment information.

Figure 7 is a flowchart of the processing performed by the map information update system 1 of embodiment 3. Figure 7 corresponds to Figure 2. The processing shown in Figure 7 is executed by the server device 3 every time a predetermined period elapses.

In step S301, the receiving unit 331 receives external environment information and road environment information acquired by the external environment recognition device 21 and transmitted from the vehicle 2. Traffic volume information, which is one type of road environment information, may be, for example, the number of other vehicles recognized by the external environment recognition device 21. Time zone information, which is one type of road environment information, may be, for example, time information or headlight ON/OFF information. Weather information, which is one type of road environment information, may be, for example, wiper ON/OFF information.

In step S302, the first setting unit 311 sets the reliability of the external environment information for the external environment information received in step S301. At this time, the first setting unit 311 sets the reliability of the external environment information based on the road environment information received in step S301. For example, assume that the vehicle 2 is equipped with an external environment recognition device 21 such that the reliability g of the acquired external environment information is determined by a function g(N) = 100 - 10N, which depends on the number N of other vehicles recognized by the external environment recognition device 21. Then, assume that the received road environment information indicates the number N of recognized other vehicles. In this case, the first setting unit 311 can estimate the reliability g by calculating the function g(N) based on the number N of recognized other vehicles. The first setting unit 311 can set the estimated reliability g as the reliability of the external environment information.

Furthermore, if the reliability of the external environment information decreases at night due to the characteristics of the external environment recognition device 21, the first setting unit 311 sets the reliability of the external environment information based on time of day information, which is one type of road environment information. For example, when the time of day information, which is one type of road environment information, includes time information indicating nighttime or headlight ON/OFF information indicating ON, the first setting unit 311 can set a lower reliability of the external environment information, such as by multiplying it by 0.8. Note that the reliability of the original external environment information multiplied by 0.8 can be set by the first setting unit 311, similar to step S102 shown in FIG. 2.

In step S303, the second setting unit 312 sets the reliability of the map information, similar to step S103 shown in FIG. 2.

In step S304, the update unit 313 updates the map information based on the reliability of the external world information set in step S302 and the reliability of the map information set in step S303, similar to step S104 shown in FIG. 2.

In this way, the first setting unit 311 of embodiment 3 estimates the reliability of the external environment information based on road environment information indicating at least one of traffic volume, time of day, and weather at the time the external environment information was acquired, and sets the reliability of the estimated external environment information.

As a result, the map information update system 1 of embodiment 3 can set the reliability of the outside world information and update the map information while taking into account at least one of traffic volume, time of day, and weather when the outside world information is acquired, even if that influence affects the reliability of the outside world information. Therefore, embodiment 3 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of map information.

[Embodiment 4]
A map information updating system 1 according to the fourth embodiment will be described with reference to Fig. 8. In the map information updating system 1 according to the fourth embodiment, the description of the same configuration and operation as those of the first embodiment will be omitted.

In the map information update system 1 of embodiment 4, the second setting unit 312 estimates the reliability of the map information based on the time elapsed since the map information was last updated, and sets the estimated reliability of the map information.

Figure 8 is a flowchart of the processing performed by the map information update system 1 of embodiment 4. Figure 8 corresponds to Figure 2. The processing shown in Figure 8 is executed by the server device 3 every time a predetermined period elapses.

In step S401, the receiving unit 331 receives external environment information acquired by the external environment recognition device 21 and transmitted from the vehicle 2, similar to step S101 shown in FIG. 2.

In step S402, the first setting unit 311 sets the reliability of the outside world information for the outside world information received in step S401, similar to step S102 shown in FIG. 2.

In step S403, the second setting unit 312 sets the reliability of the map information. At this time, the second setting unit 312 sets the reliability of the map information based on the time elapsed since the map information was last updated. The time elapsed since the map information was last updated can be determined from the value of a timer that measures the time elapsed since the map information was last updated. This timer can measure the elapsed time by being reset and started the last time the map information is updated. Alternatively, the time elapsed since the map information was last updated can be determined from the difference between the time of the last map information update stored in the storage device 32 and the current time. For example, the reliability h of the map information is determined by a function h(T) = 100 - 0.1T, which depends on the time T [seconds] elapsed since the map information was last updated. In this case, the second setting unit 312 can estimate the reliability h by calculating the function h(T) based on the elapsed time T. The second setting unit 312 can set the estimated reliability h as the reliability of the map information. Note that if the time elapsed since the map information was last updated cannot be obtained, for example, because the map information has never been updated, the second setting unit 312 may set the reliability of the map information in the same manner as in step S103 shown in FIG. 2, for example.

In step S404, the update unit 313 updates the map information based on the reliability of the external world information set in step S402 and the reliability of the map information set in step S403, similar to step S104 shown in FIG. 2.

In step S405, the update unit 313 resets the time that has elapsed since the map information was last updated. Specifically, the update unit 313 resets and starts the timer that measures the time that has elapsed since the map information was last updated, and replaces the time of the previous map information update stored in the storage device 32 with the current time.

In this way, the second setting unit 312 of embodiment 4 estimates the reliability of the map information based on the elapsed time since the map information was last updated, and sets the estimated reliability of the map information.

As a result, the map information update system 1 of embodiment 4 can set the reliability of the map information and update the map information based on the probability that changes to the map information due to, for example, redrawing lane boundary lines or changes in terrain will occur after updating the map information. Therefore, embodiment 4 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of the map information.

[Embodiment 5]
A map information updating system 1 according to the fifth embodiment will be described with reference to Fig. 9. In the map information updating system 1 according to the fifth embodiment, the same configuration and operation as those of the first embodiment will not be described.

In the map information update system 1 of embodiment 5, the second setting unit 312 estimates the reliability of the map information based on terrain change information indicating the occurrence of at least one of construction work and earthquakes in the vicinity of the vehicle 2, and sets the reliability of the estimated map information.

Figure 9 is a flowchart of the processing performed by the map information update system 1 of embodiment 5. Figure 9 corresponds to Figure 2. The processing shown in Figure 9 is executed by the server device 3 every time a predetermined period elapses.

In step S501, the receiving unit 331 receives external environment information and terrain change information acquired by the external environment recognition device 21 and transmitted from the vehicle 2. Information indicating whether construction work is occurring, which is one type of terrain change information, may be, for example, information on construction restrictions included in traffic information. Information indicating whether an earthquake has occurred, which is one type of terrain change information, may be, for example, earthquake early warning and seismic intensity information included in weather information.

In step S502, the first setting unit 311 sets the reliability of the outside world information received in step S501, similar to step S102 shown in FIG. 2.

In step S503, the second setting unit 312 sets the reliability of the map information. At this time, the second setting unit 312 sets the reliability of the map information based on the terrain change information received in step S501. For example, when the terrain change information indicates that at least one of construction and an earthquake has occurred, the second setting unit 312 can set a low reliability of the map information, such as by multiplying it by 0.8. Note that the reliability of the original map information that is multiplied by 0.8 can be set by the second setting unit 312, similar to step S103 shown in FIG. 2.

In step S504, the update unit 313 updates the map information based on the reliability of the external world information set in step S502 and the reliability of the map information set in step S503, similar to step S104 shown in FIG. 2.

In this way, the second setting unit 312 in embodiment 5 estimates the reliability of the map information based on terrain change information indicating the occurrence of at least one of construction work and earthquakes in the vicinity of the vehicle 2, and sets the reliability of the estimated map information.

As a result, the map information update system 1 of embodiment 5 can set the reliability of map information and update the map information based on the probability that changes to the map information will occur due to at least one of construction work and earthquakes. Therefore, embodiment 5 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of map information.

[Embodiment 6]
A map information updating system 1 according to the sixth embodiment will be described with reference to Fig. 10. In the map information updating system 1 according to the sixth embodiment, the description of the same configuration and operation as those of the first embodiment will be omitted.

In the map information update system 1 of embodiment 6, the receiving unit 331 receives multiple pieces of outside world information, and the updating unit 313 updates the map information based on the multiple pieces of outside world information. In addition, in the map information update system 1 of embodiment 6, the transmitting unit 332 transmits the updated map information to another vehicle different from the sender of the outside world information.

Figure 10 is a flowchart of the processing performed by the map information update system 1 of embodiment 6. Figure 10 corresponds to Figure 2. The processing shown in Figure 10 is executed by the server device 3 every time a predetermined period elapses.

In step S601, the receiving unit 331 receives multiple pieces of external environment information. The multiple pieces of external environment information are external environment information acquired by each of the external environment recognition devices 21 mounted on multiple vehicles 2, external environment information acquired by each of multiple external environment recognition devices 21 mounted on a single vehicle 2, or external environment information acquired at each of multiple times by the external environment recognition device 21 mounted on a single vehicle 2. In addition to the external environment information, the receiving unit 331 may also receive position information, road environment information, and terrain change information for each vehicle 2.

In step S602, the first setting unit 311 sets the reliability of the external world information for each piece of external world information received in step S601. When external world information is acquired by each of multiple external world recognition devices 21, the first setting unit 311 sets the reliability of the external world information based on the characteristics of each external world recognition device 21. For example, the first setting unit 311 may set the reliability of the external world information based on the characteristics of each external world recognition device 21, such as the installation position, installation angle, and performance.

In step S603, the second setting unit 312 sets the reliability of the map information, similar to step S103 shown in FIG. 2.

In step S604, the update unit 313 updates the map information based on the reliability of the external world information set in step S602 and the reliability of the map information set in step S603, similar to step S104 shown in FIG. 2.

In step S605, the transmission unit 332 transmits the map information updated in step S604 to the vehicle 2. At this time, the transmission unit 332 not only transmits the updated map information to one or more vehicles 2 that are the source of the external world information, but can also transmit the updated map information to other vehicles different from the source of the external world information. Furthermore, the transmission unit 332 may transmit the updated map information in a format such as a navigation map or a high-resolution map. Each vehicle can use the updated map information to safely operate its autonomous driving system or driver assistance system.

In this way, the receiving unit 331 of embodiment 6 receives multiple pieces of outside world information, and the updating unit 313 of embodiment 6 updates the map information based on the multiple pieces of outside world information.

As a result, the map information update system 1 of embodiment 6 can set the reliability of external world information based on a wide range of external world information that is difficult to obtain with just one external world recognition device 21, or can set the reliability of external world information based on multiple pieces of external world information even when accurate reliability cannot be obtained with just one piece of external world information. Therefore, the map information update system 1 of embodiment 6 can update map information to information with even higher accuracy. Therefore, embodiment 6 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of map information.

In addition, the transmitter 332 in embodiment 6 transmits the updated map information to other vehicles that are different from the source of the external environment information.

As a result, the map information update system 1 of embodiment 6 allows a large number of vehicles to share map information updated based on a wide range of external environment information that would be difficult to obtain using only the external environment recognition device 21 installed in a specific vehicle, and further update the map information in each of the large number of vehicles. Therefore, the map information update system 1 of embodiment 6 can update the map information to information with even higher accuracy. Therefore, embodiment 6 can provide a map information update system 1 and its server device 3 that can further improve the accuracy of map information.

[others]
The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

Furthermore, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole by hardware, for example by designing them as integrated circuits. Furthermore, the above-mentioned configurations, functions, etc. may be realized by software, in which a processor interprets and executes a program that realizes each function. Information such as the programs, tapes, and files that realize each function can be stored in memory, a recording device such as a hard disk or SSD (solid state drive), or a recording medium such as an IC card, SD card, or DVD.

Furthermore, the control and information lines shown are those deemed necessary for explanation, and do not necessarily represent all control and information lines on the product. In reality, it is safe to assume that almost all components are interconnected.

1...Map information update system, 2...Vehicle, 21...External environment recognition device, 3...Server device, 311...First setting unit, 312...Second setting unit, 313...Update unit, 331...Receiver, 332...Transmitter

Claims (8)

a processing unit that updates map information based on external environment information acquired by an external environment recognition device that recognizes the vehicle's surrounding environment;
The arithmetic processing device
A first setting unit that sets the reliability of the external environment information for each recognition target of the external environment recognition device ;
a second setting unit that sets the reliability of the map information for each feature included in the map information ;
an update unit that updates the map information based on the set reliability of the external environment information and the set reliability of the map information ,
The update unit
determining the feature in the map information corresponding to the recognition target based on position information of the recognition target included in the external world information and position information of the feature included in the map information;
updating the map information for the feature corresponding to the recognition target based on a ratio between the reliability set for the recognition target and the reliability set for the feature corresponding to the recognition target;
The reliability set for the feature corresponding to the recognition target is updated based on the reliability set for the recognition target and the reliability set for the feature corresponding to the recognition target.
A map information updating system characterized by: The first setting unit estimates the reliability of the external world information based on relative position information indicating a positional relationship between the recognition target of the external world recognition device and the external world recognition device, and sets the reliability of the estimated external world information. The map information update system according to claim 1, 2. The map information update system according to claim 1, wherein the first setting unit estimates the reliability of the external environment information based on road environment information indicating at least one of traffic volume, time of day, and weather at the time the external environment information is acquired, and sets the reliability of the estimated external environment information. 2. The map information updating system according to claim 1, wherein the second setting unit estimates the reliability of the map information based on an elapsed time since the map information was last updated, and sets the estimated reliability of the map information. 2. The map information updating system according to claim 1, wherein the second setting unit estimates the reliability of the map information based on topographical change information indicating whether or not at least one of construction work and an earthquake has occurred around the vehicle, and sets the estimated reliability of the map information. A server device of a map information update system that is communicably connected to a vehicle equipped with an external environment recognition device that recognizes the vehicle's surrounding environment, and that updates map information based on external environment information acquired by the external environment recognition device,
a receiving unit that receives the external environment information transmitted from the vehicle;
A first setting unit that sets the reliability of the received external environment information for each recognition target of the external environment recognition device ;
a second setting unit that sets the reliability of the map information for each feature included in the map information ;
an update unit that updates the map information based on the set reliability of the external environment information and the set reliability of the map information;
a transmitter that transmits the updated map information to the vehicle ,
The update unit
determining the feature in the map information corresponding to the recognition target based on position information of the recognition target included in the external world information and position information of the feature included in the map information;
updating the map information for the feature corresponding to the recognition target based on a ratio between the reliability set for the recognition target and the reliability set for the feature corresponding to the recognition target;
The reliability set for the feature corresponding to the recognition target is updated based on the reliability set for the recognition target and the reliability set for the feature corresponding to the recognition target.
1. A server device for a map information updating system comprising: the receiving unit receives a plurality of pieces of outside world information;
The server device of the map information updating system according to claim 6 , wherein the update unit updates the map information based on the plurality of pieces of outside world information. 7. The server device of the map information updating system according to claim 6, wherein the transmission unit transmits the updated map information to another vehicle different from a source of the outside world information.