Map update determination system

专利摘要:
MAP UPDATE DETERMINATION SYSTEM. The present invention relates to a map update determination system that includes a trip plan generation unit generating, based on a desired route of a vehicle established in advance and the map information, a vehicle trip plan including a desired control value for the vehicle according to a desired route position, a detection value acquisition unit obtaining, in association with the desired route position, a control result detection value resulting from the automatic control of direction for the vehicle performed based on a road environment in a neighborhood of the vehicle, on a trip situation of the vehicle, on a position of the vehicle, and on the trip plan, a valuation value calculation unit calculating a valuation value of the trip plan for each zone, and a map update determination unit determining a need for an update of map information for each zone.
公开号:BR102016025714B1
申请号:R102016025714-0
申请日:2016-11-03
公开日:2022-02-15
发明作者:Hiromitsu Urano；Koji Taguchi
申请人:Toyota Jidosha Kabushiki Kaisha；
IPC主号:

专利说明:

BACKGROUND OF THE INVENTION 1. Field of Invention
[001] The invention relates to a map update determination system that determines the need for a map information update. 2. Description of the Related Technique
[002] Japanese Patent Application Publication 2002-116689 (JP 2002116689 A) is known as technical literature relating to a device that determines a need to update map information. JP 2002-116689 A discloses a system providing map information for providing map information in response to a request from a vehicle. This system acquires trajectory data relating to a trajectory on which the vehicle travels in order to update the map information. In this system providing map information, the map information is updated with the trajectory data being considered as new road information when a road corresponding to the trajectory data is not established in the map information in a case where the trajectory data were obtained from the vehicle.
[003] In recent years, the development of an automatic steering control is underway to allow the vehicle to travel without a steering operation performed by a driver. Appropriate map information is required for automatic steering control to be performed. However, in the system providing map information according to the related technique described above nothing has been proposed regarding an update method for a case where the map information becomes outdated due to topographical changes (e.g. in lane width). and road curvature) attributable to construction work and the like. In a case where the map update is performed once every fixed time period based on a determination that the map information has become out of date, the map information maintenance costs will increase if this fixed time period is short. . In contrast, if this fixed time period is long, the map information can make outdated map information inappropriate for automatic steering control. In this regard, a technique that allows the need for map information update to be determined at an appropriate time during automatic steering control is necessary so that these possibilities are eliminated. SUMMARY OF THE INVENTION
[004] One aspect of the invention provides a map update determination system that is capable of performing an appropriate map information update need determination by utilizing automatic steering control for a vehicle.
[005] According to a first aspect of the invention, there is provided a map update determination system provided with a map database in which map information used for automatic steering control for a vehicle is stored and determining , for each pre-established zone, a need for an update of map information in the pre-established zone, the map update determination system including a trip plan generation unit generating, based on a pre-established desired route and the information map, a vehicle trip plan including a desired control value for the vehicle according to a position on the desired route, a detection value acquisition unit, obtaining, in association with the position on the desired route, a value of control result detection resulting from automatic steering control for the vehicle performed, based on an environment of road in a vehicle vicinity recognized by an external vehicle sensor being used, a vehicle travel state recognized by an internal vehicle sensor being used, a vehicle position measured by a vehicle position measurement unit, and the plane of travel, a valuation value calculation unit calculating a travel plan valuation value for the zone based on a result of a comparison between the desired control value and the control result detection value, and a map update determination determining the need to update map information in the zone based on the travel plan valuation value and a valuation threshold.
[006] In the map update determination system according to the aspect of the invention, the desired control value of the trip plan depending on the map information and the control result detection value resulting from the automatic direction control of according to an actual road environment differ from each other in a case where the map information is inconsistent with the actual road environment, and thus the need to update the map information in the zone can be determined based on the evaluation value of the plan travel for the zone calculated from the result of comparing the desired control value and the control result detection value and the evaluation threshold. Accordingly, according to the map update determination system, a determination of the need to update appropriate map information can be performed by the automatic steering control for the vehicle being used.
[007] According to a second aspect of the invention, there is provided a map update determination system provided with a server capable of communicating with a vehicle performing automatic steering control and a map database arranged on the server, the map information being stored in the map database, and determining the need for an update of the map information in a zone established in advance, the map update determining system including an information retrieval unit disposed in the server and obtaining information about a desired route of the vehicle, a simulated trip plan generation unit disposed on the server and generating, based on the desired route and map information from the map database, a simulated trip plan of the vehicle including a simulated desired control value for the vehicle according to a position on the desired route, a detection value acquisition unit arranged in the s erver and obtaining, in association with the position on the desired route, a control result detection value resulting from the automatic steering control for the vehicle performed, based on a road environment in a neighborhood of the vehicle recognized by an external sensor of the vehicle being used, a vehicle travel state recognized by an internal sensor of the vehicle being used, a vehicle position measured by a vehicle position measurement unit, and a vehicle trip plan generated from the desired route and of map information from an in-vehicle map database mounted on the vehicle, an appraisal value calculation unit arranged on the server and calculating a simulated travel plan appraisal value for the zone based on a result of a comparison between the simulated desired control value and the control result detection value, and a map update determination unit disposed on the server and detecting Ending The need to update map information from the map database in the zone based on the evaluation value of the simulated travel plan and an evaluation threshold.
[008] In the map update determination system according to the aspect of the invention, the simulated desired control value of the simulated trip plan depending on the map information and the control result detection value resulting from the automatic control according to a real road environment differ from each other in a case where the map information of the map database contains the server is inconsistent with the real road environment, and so the need to update map information in the zone can be determined based on the simulated travel plan evaluation value, for the zone calculated from the result of the comparison between the simulated desired control value and the control result detection value and the evaluation threshold. Accordingly, according to this map update determination system, a determination of the need to update appropriate map information can be performed by the automatic steering control for the vehicle being used.
[009] In the map update determination system according to the first aspect or the second aspect of the invention, the map update determination unit can establish the evaluation threshold for the zone based on a position of the zone in the information of map from the map database or a vehicle travel time in the zone. According to this map update determination system, an update need determination of appropriate map information according to the position of the zone can be performed by the evaluation threshold for the zone being established based on the position of the zone, where a higher level of map information accuracy is required for a zone in an urban area than for a suburban zone. Alternatively, in accordance with this map update determination system, a determination of the need to update appropriate map information according to travel time may be performed by the assessment threshold for the zone being established based on the travel time of the vehicle in the zone, where an accuracy of white line recognition using an image captured by a camera or the like decreases more at night than during the day and this affects the reliability of determining the need to update map information.
[010] According to the first or the second aspect of the invention, there can be provided map update determination system which is capable of performing appropriate map information update need determination by utilizing automatic direction control for the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[011] Aspects, advantages and the technical and industrial significance of illustrative embodiments of the invention will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and where: FIG. 1 is a block diagram illustrating an automatic steering system including a map update determination system in accordance with a first embodiment; FIG. 2 is a diagram for presenting an example of a zone as an object of a map information update determination; FIG. 3 is a diagram for presenting another example zone as the object of map information update determination; FIG. 4 is a plan view to present a situation where there is a difference between a desired lateral position of a travel plan and a control result lateral position resulting from an automatic steering control; FIG. 5A is a flowchart illustrating a trip plan generation processing; FIG. 5B is a flowchart illustrating automatic steering control; FIG. 6 is a flowchart illustrating a control result detection value acquisition processing; FIG. 7 is a flowchart illustrating a map update determination processing; FIG. 8 is a block diagram illustrating an automatic steering system according to the second embodiment; FIG. 9 is a block diagram illustrating a map update determination system according to the second embodiment; FIG. 10A is a flowchart illustrating a simulated trip plan generation processing of the update determination system according to the second embodiment; FIG. 10B is a flowchart illustrating a control result detection value acquisition processing of the map update determination system according to the second embodiment; FIG. 11 is a flowchart illustrating a map update determination processing of the map update determination system according to the second embodiment; FIG. 12A is a plan view illustrating a road before road work that causes a change in the travel direction of travel; FIG. 12B is a plan view illustrating the road after road work that causes the track's direction of travel to change; FIG. 13A is a plan view illustrating a road before a speed regulation information change; and FIG. 13B is a plan view illustrating the road after the speed regulation information has been changed. DETAILED DESCRIPTION OF THE ACHIEVEMENTS
[012] Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings; in the following description, the same reference numerals will be used to refer to the same components or to components that have the same functions so that the same description is not repeated.[First Embodiment]
[013] FIG. 1 is a block diagram illustrating an automatic steering system 100 that includes a map update determining system 200 in accordance with the first embodiment. An overview of the automatic steering system 100 will be described first, and then an overview of the map update determination system 200 will be described. Then, a configuration of the automatic steering system 100 including the mapping system 200 will be described, followed by the description of various types of processing in the automatic steering system 100.
[014] The automatic steering system 100 is a system that is mounted on a vehicle such as a passenger car in order to perform automatic steering control for the vehicle. In a case where an automatic steering control initiation operation is performed by a driver (e.g. by an automatic steering control initiation button being pressed by the driver), automatic steering system 100 initiates automatic control steering wheel for the vehicle.
[015] Automatic steering control is a vehicle control that allows the vehicle to automatically travel along a desired route established in advance. During automatic steering control, the vehicle travels automatically and the driver does not have to perform a steering operation. The desired route is a route on the map along which the vehicle travels during automatic steering control. Desired route configuration will be described in detail later.
[016] Automatic steering system 100 uses map information to perform automatic steering control. The map information includes road position information (position information by lane), road shape information (curves, types of linear parts, curve curvatures, and so on), road width information (width information lane), and vehicle speed limit information with respect to roads. The map information also includes position information with respect to intersection points and junctions, position information with respect to temporary stop lines, crosswalk position information, and traffic signal position information. The map information can also include road gradient information and road slope information.
[017] Additionally, the map information may include information regarding the positions and shapes of fixed obstacles such as curbs, telephone poles, poles, security fences, walls and buildings. The map information may include information concerning the positions and shapes of road surface markings such as characters and marks drawn on road surfaces. Road surface marks may include a culvert. Map information can also include information regarding road signs and information regarding roadside signs.
[018] Automatic steering system 100 generates a trip plan that is used for automatic steering control based on the desired route and map information. The trip plan is a plan for traveling the vehicle along the desired route from a current vehicle position to a destination tens of kilometers ahead of the current vehicle position. This trip plan is generated depending on map information.
[019] A desired control value for the vehicle that depends on the vehicle's position on the desired route is included in the trip plan. The position on the desired route is a position on the map in a direction in which the desired route extends. Positions on the desired route mean established longitudinal positions that are established at predetermined intervals (such as 1 m) in the direction in which the desired route extends.
[020] Desired control value is a desired vehicle control value in the trip plan. The desired control value is established in association with each of the longitudinal positions established in the desired route. The desired control value includes a desired lateral vehicle position and a desired vehicle speed of the vehicle.
[021] The desired lateral position is a desired lateral control position of the vehicle in the trip plan. The vehicle side position is the position of the vehicle in a road width direction (lane width direction) of the road on which the vehicle travels. The lane width direction is an orthogonal direction, on the road surface of the road, to a white line that forms the lane of the road. Additionally, the vehicle's position in a road-extending direction (direction orthogonal to the road-width direction) will be referred to as a vehicle's longitudinal position. The longitudinal position of the vehicle is the position of the vehicle in the direction in which the desired route extends. The desired vehicle speed is a desired control vehicle speed of the vehicle in the trip plan.
[022] The automatic steering system 100 recognizes a road environment in a vehicle vicinity based on an image captured by a camera inside the vehicle, a result of detection by the lidar inside the vehicle, a result of detection by a radar inside the vehicle. vehicle, etc. The road environment includes white line positions that form a lane on which the vehicle travels white line line types, road shapes (including road curvatures), width of roads, and position of fixed obstacles. Fixed obstacles are buildings, walls, security fences, telephone line transmission poles, and others. The road environment can include roadway slopes and roadway gradient.
[023] The automatic steering system 100 also recognizes a vehicle travel state based on the results of detection by a vehicle vehicle speed sensor and so on. The travel state includes the vehicle's vehicle speed, a vehicle acceleration, and a vehicle yaw rate. In addition, the automatic steering system 100 measures the vehicle's position based on a measurement result by a global positioning system (GPS) receiving unit (described later). The automatic steering system 100 can measure the vehicle's position by using the fixed obstacle position information included in the map information, the results of radar detection inside the vehicle and so on, and the simultaneous location and mapping (SLAM) technology. ).
[024] The automatic steering system 100 performs automatic steering control based on the road environment in the vicinity of the vehicle, the vehicle's travel state, the vehicle's position, and the trip plan. The automatic steering system 100 performs automatic steering control for the vehicle according to the trip plan in a case where the map information has no error and corresponds to the real road environment. Automatic vehicle steering control according to the trip plan is an automatic steering control to control the vehicle so that the vehicle's actual lateral position and the vehicle's actual vehicle speed in the longitudinal position established on the desired route correspond to the desired lateral position and at the desired vehicle speed in this established longitudinal position.
[025] In a case where the map information has an error and the map information is inconsistent with the real road environment, the automatic steering system 100 performs automatic steering control corresponding to the real road environment. Specifically, the automatic steering system 100 performs automatic steering control to stop the vehicle temporarily, with priority given to the actual road environment over the travel plan, when the temporary stop line in front is detected in the image captured by the camera inside. of the vehicle in a case where the trip plan has been generated in such a way that the vehicle travels at a constant speed.
[026] In a case where the trip plan has been generated such that the vehicle travels a specified distance at constant speed, the automatic steering system 100 performs an automatic steering control to make the vehicle travel in a preceding car traveling at a slower speed than the constant speed ahead of the vehicle, with priority given to the actual road environment over the travel plan, when the preceding car is present in front of the vehicle.
[027] Hereinafter, the overview of the map update determination system 200 according to the first embodiment will be described. The map update determination system 200 is a system that determines whether map information from a vehicle-mounted map database (the map information that is used for automatic steering control for the vehicle) needs to be updated. or not. As illustrated in FIG. 1, the map update determining system 200 according to the first embodiment forms a part of the automatic steering system 100. A specific configuration of the map update determining system 200 will be described later. The vehicle on which the automatic steering system 100 is mounted may also be a sounding car which is provided with various sensors for updating map information. In other words, the automatic steering system 100 according to this embodiment can be mounted on a drill car.
[028] The map update determination system 200 determines the need to update map information in a zone established in advance. The zone is established according to a storage format (conservation format) of map information in the map database. FIG. 2 is a diagram to present an example zone as an object of map information update determination. Zones A1 through A9, a vehicle M, a desired route R of vehicle M, and a destination E of the desired route R are illustrated in FIG. 2. In the case where a storage format in which the map information is stored in the map database with the map information is divided into blocks (square blocks, rectangular blocks, and so on) as illustrated in FIG. 2, zones A1 through A9 which are in the form of split blocks are the objects of map update need determination. In this case, the map update determination system 200 performs map information update need determination for each of the zones A1 through A9 with block format. Additionally, the map update determination system 200 performs the update of map information for each of the zones A1 through A9 in block format. The map update determination system 200 can also determine the need to update map information in any of zones A1 through A9 with block format individually.
[029] FIG. 3 is a diagram to present another example zone as the object of map information update determination. Zones B1 through B3 and points of intersection C1 through C4 are illustrated in FIG. 3. In the case of a storage format in which the road included in the map information in the map database is stored in the map database with the road divided based on the intersection points as illustrated in FIG. 3, zones B1 through B3, which are road sections divided based on intersection points C1 through C4, are objects of the determination of need to update map information. In this case, the map update determination system 200 performs map information update need determination for each of the zones B1 through B3. Additionally, the map update determination system 200 performs the update of map information for each of the zones B1 through B3. The update of map information across zones includes not only a case where the map information of the entire zone is updated, but also a case where only the position information of a part such as the telephone pole is updated. The map update determination system 200 can also determine the need to update map information in any of the zones B1 through B3 with block format individually.
[030] The map database may have the map information stored in the map database as a hierarchical structure consisting of several layers. In this case, the map information is stored with the map information divided into, for example, a telephone pole layer that has telephone pole position information, a curb layer that has position information that says about of the road curb, and a white line layer that has information about the road's white line. Because this hierarchical structure is being adopted, the map update determination system 200 only needs to look for the telephone pole layer when looking for the telephone pole position information, and thus an increase in search efficiency can be achieved. Additionally, the adoption of this hierarchical structure allows the updating of information by layer, and thus a communication cost necessary for the update and among other things can be reduced as the layer that needs the update can be identified. The map database may also have the position information regarding the telephone pole, the curb, and the white line stored in the map database as map information forming a data group. Additionally, the map database can perform storage based on navigation and route definition file [RNDF].
[031] In a case where automatic steering control for vehicle M along the desired route R has been performed, the map update determination system 200 acquires a control result detection value with respect to vehicle M resulting in from automatic steering control. The update determination system 200 acquires the control result detection value in association with the established longitudinal position on the desired route R. The control result detection value is a detection value relating to a result of a control of the M vehicle based on automatic steering control. The control result detection value is obtained in association with each of the longitudinal positions established in the desired route R.
[032] Control result detection value includes a vehicle control result side position in a vehicle control result vehicle speed. Control result lateral position is the vehicle's lateral position as a result of automatic steering control control. The lateral position of the control result is the lateral position of the vehicle during automatic steering control which is detected in the established longitudinal position. Detection of the vehicle's lateral position will be described in detail later. Control result vehicle speed is the vehicle speed of the vehicle as a control result of the automatic steering control. The control result vehicle speed is the vehicle speed of the vehicle during automatic steering control which is detected in the established longitudinal position. The control result vehicle speed is detected by the vehicle speed sensor inside the vehicle.
[033] The map update determination system 200 calculates a trip plan evaluation value based on a result of a comparison between the desired trip plan control value and the resulting control result detection value from of automatic steering control. The map update determination system 200 compares the desired trip plan control value and the resulting control result detection value from automatic steering control with each other for each of the established longitudinal positions on the desired route. A. The trip plan evaluation value is calculated as a higher value when the desired trip plan control value and the resulting control result detection value from automatic steering control match each other.
[034] The calculation of the travel plan appraisal value will be described with reference to FIG. 4. FIG. 4 is a plan view to present a situation in which there is a difference between the desired side position of the travel plan and the side position of control result resulting from automatic steering control. A zone B4 which is the object of the map information update determination, a runway L of vehicle M, a real white line Wa and a real white line Wb of the runway L, and a previous white line WTa are illustrated in FIG. 4. Zone B4 is a zone that is stored from the map database in a storage format similar to that of zones B1 through B3 illustrated in FIG. 3. Also illustrated in FIG. 4 are established longitudinal positions G1 through G4, desired lateral positions Tw1 through Tw4 of the travel plan, control result lateral positions Pw1 through Pw4, and differences d2 through d4 between the desired lateral positions Tw2 through Tw4 and the result lateral positions of control Pw2 to Pw4. The established longitudinal positions G1 through G4 are established on the desired route R in this manner and at predetermined intervals.
[035] The desired lateral position Tw1 illustrated in FIG. 4 is the desired lateral position which corresponds to the established longitudinal position G1. The desired lateral position Tw2 is the desired lateral position which corresponds to the established longitudinal position G2. The desired lateral position Tw3 is the desired lateral position which corresponds to the established longitudinal position G3. The desired lateral position Tw4 is the desired lateral position which corresponds to the established longitudinal position G4. Likewise, the control result lateral position of Pw1 is the control result lateral position that corresponds to the established longitudinal position G1. The control result lateral position Pw2 is the control result lateral position that corresponds to the established longitudinal position G2. The Pw3 control side position is the control result side position that corresponds to the established longitudinal position G3. Result control lateral position Pw4 is the control result lateral position that corresponds to the established longitudinal position G4.
[036] The difference d2 illustrated in FIG. 4 is a distance between the desired side position Tw2 and the control result side position Pw2 in the track width direction. The difference d3 is a distance between the desired side position Tw3 and the control result side position Pw3 in the direction of the track width. The illustrated difference d4 is a distance between the desired side position Tw4 and the control result side position Pw4 in the direction of the track width. The desired lateral position Tw1 of the travel plan and the lateral position of the control result Pw1 are the same position, and thus have a difference of 0. The established longitudinal positions G1 through G4 are the only established longitudinal positions that are included in zone B4 .
[037] In FIG. 4, the lane width of the bearing lane L has been expanded and the white line WTa has been changed by the white line Wa due to road work. The white line WTa before road work is a linear white line that runs parallel to the white line Wb. The white line Wa after changes corresponding to the white lines WTa up to the established longitudinal position G1, but becomes a white line extending in an oblique direction to become progressively separate from the white line Wb as the white line Wa moves from the established longitudinal position G1 and the established longitudinal position G2. The white line Wa ahead of the established longitudinal position G2 is a linear white line that extends parallel to the white line Wb. In the map database, the map information still has to be updated and a combination of the white line WTa and the white line Wb before the road work is still stored as the white lines that form the lane L.
[038] The automatic steering system 100 generates the trip plan so that traveling at center positions of the L bearing lane on the map information is performed. Accordingly, the desired lateral positions Tw1 through Tw4 of the travel plan in FIG. 4 are established at positions at the same distance from the white line WTa and the white line Wb in the lane width direction.
[039] The automatic steering system 100 performs the automatic steering control, based on the real road environment recognized in the image captured by the camera inside the vehicle or among others, so that the M vehicle travels in the real central positions of the roadway L. Consequently, the control result side positions Pw1 through Pw4 resulting from the automatic steering control are detected as positions at the same distance from the white line Wa and the white line Wb in the direction of the width of the track.
[040] In the situation that is illustrated in FIG. 4, the map update determination system 200 calculates the trip plan evaluation value for zone B4 based on a result of a comparison between the desired side positions Tw1 through Tw4 of the trip plan generated in dependence on the map information. and the side positions of control result Pw1 through Pw4 resulting from the automatic steering control realizes based on the real road environment. The map update determination system 200 uses the differences d2 through d4 as the results of comparing the desired side positions Tw1 through Tw4 and the side positions of control results Pw1 through Pw4.
[041] The map update determination system 200 calculates the trip plan evaluation value for zone B4 as a value that decreases as an average value of the differences d2 through d4 between the desired lateral positions Tw1 through Tw4 and the control result side positions Pw1 through Pw4 increases. The map update determination system 200 may also calculate a reciprocal number of the average value of differences d2 through d4 as the travel plan evaluation value for zone B4.
[042] The map update determination system 200 may also use a median value, a total sum, a maximum value, or a minimum value of the differences d2 through d4 instead of the average value of the differences d2 through d4. Additionally, the map update determination system 200 can calculate the travel plan evaluation value by using a predetermined arithmetic expression into which the differences d2 through d4 are entered. The map update determination system 200 calculates the travel plan evaluation value for the zone as described above.
[043] The map update determination system 200 determines the need to update map information in the zone based on the calculated travel plan appraisal value and an appraisal threshold. The valuation threshold is a value that is established in advance. In a case where the travel plan evaluation value for the zone falls below the evaluation threshold, the map update determination system 200 determines that the map information in the zone needs to be updated.
[044] In a case where it is determined that the map information needs to be updated, the map update determination system 200 transmits information regarding the zone subject to the determination that the map information needs to be updated by communication with a server. in a map information management center. The map information management center is a facility to manage the map information of multiple vehicles connected by communication. In the map information management center, obtaining the latest map information is performed by the drill car being used, for the zone subject to the determination that the map information needs to be updated. The map update determination system 200 updates the map information from the in-vehicle map database by communicating with the map information management center and using the latest map information from the map information management center. map.<Configuration of Automatic Steering System (Map Update Determination System) According to First Embodiment>
[045] As illustrated in FIG. 1, the automatic steering system 100 according to the first embodiment is provided with an ECU 10 for realizing automatic steering control. ECU 10 is an electronic control unit that has a central processing unit [CPU], a read-only memory [ROM], a random access memory [RAM], a controller area network communication circuit [CAN] , and among others. Various functions are performed in ECU 10 by a program stored in ROM being loaded into RAM and the program loaded into RAM being executed by the CPU. Various electronic control units may also constitute the ECU 10. A GPS Receiver Unit 1, an external sensor 2, an internal sensor 3, a map database 4, a navigation system 5, an actuator 6, and a communication 7 are connected to ECU 10 via the CAN communication circuit.
[046] GPS Receiver Unit 1 is mounted on vehicle M and functions as a position measurement unit that measures the position of vehicle M. GPS Receiver Unit 1 measures the position of vehicle M (such as a latitude and longitude vehicle M) by receiving signals from three or more GPS satellites. GPS Receiver Unit 1 transmits information about the measured position of vehicle M to ECU 10.
[047] External sensor 2 is a detection instrument to detect an obstacle in the vicinity of vehicle M and others. External sensor 2 includes at least one of cameras, a radar, and a light and distance detection system [lidar]. External sensor 2 is also used to recognize the white line of the roadway on which vehicle M travels (described later). Additionally, the external sensor 2 can be used to measure the position of the vehicle M.
[048] The camera is an image generation instrument that represents in an image an external situation of the vehicle. The cameras are arranged on a rear side of an M vehicle windshield on a rear surface of the vehicle. The cameras can be arranged on the side, left and right surfaces of the M vehicle. The camera transmits imaging information to the ECU 10, the imaging information being obtained from spaces in front and behind the M vehicle being represented. The camera can be a monocular camera or a stereographic camera. The stereographic camera has two imaging units that are arranged to reproduce a binocular disparity. The imaging information of the stereographic camera includes information in the depth-direction.
[049] The radar detects the obstacle in the vicinity of vehicle M by using radio waves (such as millimeter waves). The radar detects the obstacle by transmitting the radio waves to the vicinity of the vehicle M and receiving the radio waves reflected by the obstacle. The radar transmits information about the detected obstacle to ECU 10. The obstacle includes a dynamic obstacle, such as a bicycle and another vehicle, as well as fixed objects described above.
[050] Lider detects the external object of vehicle M by using light. The lidar detects the obstacle by transmitting light to the vicinity of vehicle M, receiving the light reflected from the obstacle, and measuring a distance to a reflection point. The lidar transmits detected object information to the ECU 10. The lidar and radar do not necessarily need to be provided together with one another.
[051] Inner sensor 3 is a sensing instrument that detects the traveling state of vehicle M. Inner sensor 3 includes the vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of vehicle M. A vehicle wheel speed sensor is used as the vehicle speed sensor. The vehicle wheel speed sensor is arranged with respect to a vehicle wheel of the vehicle M, a drive shaft rotating integrally with the vehicle wheel, and so on, and detects a rotational speed of the vehicle wheel. The vehicle speed sensor transmits information about the detected vehicle speed to the ECU 10.
[052] The acceleration sensor is a detector that detects the acceleration of vehicle M. The acceleration sensor includes a longitudinal acceleration sensor that detects a longitudinal acceleration of the vehicle and a lateral acceleration sensor that detects a lateral acceleration of the vehicle M. The acceleration sensor transmits acceleration information concerning vehicle M to the ECU 10. The yaw rate sensor is a detector that detects the yaw rate (angular speed of rotation) around a vertical axis of the center of gravity of vehicle M. The gyro sensor can be used as the yaw rate sensor. The yaw rate sensor transmits information about the detected yaw rate from vehicle M to the ECU 10.
[053] Internal sensor 3 may include a steering angle sensor. The steering angle sensor is a sensor that detects a steering angle (actual steering angle) of vehicle M. The steering angle sensor is arranged with respect to a steering axis of vehicle M. The steering angle sensor transmits information about the detected steering angle to the ECU 10.
[054] Map Database 4 is a map information storage database. The map database 4 is formed on a hard disk drive [HDD] which is mounted inside the vehicle M. The map database 4 can be connected with the server in the map information management center by wireless communication. use of wires via the communication unit 7. The map database 4 updates the map information on a regular basis by using the latest map information stored on the server in the map information management center. The map database 4 has map information stored for each of the zones described above.
[055] The map database 4 constitutes the map update determination system 200 with a trip plan generation unit 14, a detection value acquisition unit 16, an evaluation value calculation unit 17 , and a map update determination unit 18 (described later). The map database 4 does not necessarily need to be mounted on vehicle M. The map database 4 can be arranged on, for example, a server that is capable of communicating with vehicle M.
[056] The navigation system 5 is mounted inside vehicle M and establishes the desired route R along which vehicle M travels as a result of automatic steering control. The navigation system 5 calculates the desired route R from the vehicle position M to the destination E based on the destination E established in advance, the vehicle position M measured by the GPS Receiver Unit 1, and the map information from the base of map data 4. Automatic steering control destination E is established by an occupant inside vehicle M operating an entry button (or touch panel) that is provided with the navigation system 5. Desired route R is established with the lanes that make up the divided road. The navigation system 5 may have a function to add to the desired route R at a time when the vehicle M is manually steered by the driver. The navigation system 5 outputs information concerning the desired route R from vehicle M to the ECU 10. Some functions of the navigation system 5 can be performed by a system at the facility, such as an information processing center which is capable of communicate with vehicle M. Some functions of navigation system 5 can also be performed on ECU 10.
[057] In this document, the desired route R includes a desired route that is automatically generated based on a past destination history and map information when no explicit destination configuration has been performed by a driver, examples of which include a travel route to the along a road in accordance with the “DRIVING SUPPORT DEVICE” disclosed in Japanese Patent 5382218 (WO2011/158347) or the “AUTOMATIC DRIVING DEVICE” disclosed in Japanese Patent Application Publication 2011-162132 (JP 2011-162132 A).
[058] Actuator 6 is a device that performs a travel control for vehicle M. Actuator 6 includes at least a throttle valve actuator, a brake actuator, a steering actuator. The throttle valve actuator controls the amount of air supplied to an engine (the degree of throttle valve opening) in response to a control signal from the ECU 10 to control a steering force from vehicle M. In a case where the throttle M vehicle is an electric car, the steering force is controlled with the control signal from the ECU being transmitted to an engine as a power source. The motors as the energy sources in this case constitute the actuator 6.
[059] The brake actuator controls a braking system in response to the control signal from the ECU 10 to control a braking force that is supplied to the vehicle wheel of vehicle M. A hydraulic braking system can be used as the braking system. The steering actuator controls, in response to the control signal from ECU 10, the drive of an auxiliary torque control motor of an electric power steering system. In this way, the steering actuator controls a steering torque of the vehicle M.
[060] Communication unit 7 is mounted inside vehicle M and performs wireless communication. The communication unit 7 performs wireless communication with the server at the map information management center or, among others, manages the map information. The communication unit 7 can perform vehicle-to-vehicle communication with another vehicle which is also capable of using vehicle-to-vehicle communication. Additionally, the communication unit 7 can perform road-to-vehicle communication with a roadside transceiver. which is laid out along the road.
[061] Hereafter, a functional configuration of ECU 10 will be described. The ECU 10 has a vehicle position recognition unit 11, a road environment recognition unit 12, a trip state recognition unit 13, a trip plan generation unit 14, a trip control unit 15, the detection value acquisition unit 16, the evaluation value calculation unit 17, and the map update determination unit 18. Some of the functions of the ECU 10 can be performed by the server which is able to communicate with the M vehicle.
[062] The vehicle position recognition unit 11 recognizes the position of the vehicle M on the map based on the position information from the GPS receiver unit 1 and the map information from the map database 4. The position recognition unit 11 recognizes the position of vehicle M as a combination of an x coordinate and a y coordinate in an orthogonal xy coordinate system in which the position of vehicle M at a time when automatic steering control starts is a reference. The vehicle position recognition unit 11 can also recognize the position of the vehicle M by using the position information regarding the fixed obstacle, such as the telephone pole, included in the map information of the map database 4, a result of detection by external sensor 2, and SLAM technology. In this case, the external sensor 2 works as the position measurement unit instead of the GPS receiver unit 1.
[063] A central position of vehicle M in a case where vehicle M is viewed in a vertical direction (in the case of a plan view) can be the reference for the position of vehicle M. The central position of vehicle M is a position at the center of vehicle M in a vehicle width direction and at the center of vehicle M in a longitudinal direction.
[064] The vehicle position recognition unit 11 also recognizes the longitudinal position of the vehicle M and the lateral position of the vehicle. In a case where the map information includes white line position information, the vehicle position recognition unit 11 recognizes the longitudinal position of vehicle M and the lateral position of vehicle M by using the position of vehicle M in the orthogonal xy coordinates and the position information with respect to the white line of the roadway on which vehicle M travels (coordinate information). The vehicle position recognition unit 11 calculates, using a known calculation processing technique, the longitudinal position of the vehicle in a direction in which the roadway extends and the lateral position of the vehicle M in the width direction of the runway.
[065] The vehicle position recognition unit 11 can recognize the lateral position of vehicle M by using a known image processing technique and based on an image of the space in front of the vehicle (white line image) captured by the camera inside. of the vehicle. The camera inside the vehicle has a predetermined mounting position on the vehicle M, and an image range of the camera from this mounting position is also determined in advance. A position relationship (position relationship in a plan view) between the camera mounting position and the central position of the vehicle M is also determined in advance. Consequently, the vehicle position recognition unit 11 is able to obtain the position center of vehicle M (side position of vehicle M) in the direction of the width of the lane from the positions of the two white lines, right and left, in the image captured by the camera. Additionally, the vehicle position recognition unit 11 can recognize the lateral position of the vehicle M as the amount of a deviation (a deviation amount) from the central position of the vehicle M with respect to a center of the lane (position at the same distance from from the two white lines, right and left).
[066] Vehicle position recognition unit 11 can also recognize the lateral position of vehicle M by utilizing white line detection, not by the camera, but by the lidar. The lidar also has a predetermined mounting position within the M vehicle, and a lidar detection range from this mounting position is also determined in advance. A position relationship (position relationship in a plan view) between the mounting position of the lidar and the central position of the vehicle M is also determined in advance. Consequently, the vehicle position recognition unit 11 is able to obtain the position side of vehicle M from the positions of two white lines, left and right, detected by the lidar.
[067] The reference of vehicle M position can be a vehicle M center of gravity position (M vehicle M center of gravity position at a design time) in a case where M vehicle is viewed in the vertical direction instead of the central position of the vehicle M. Due to a predetermined position relationship between the center of gravity position of the vehicle M at the time of design and the central position of the vehicle M described above, the vehicle position recognition unit 11 is able to recognize the lateral position of vehicle M with respect to the center of gravity position of vehicle M as the reference as is the case with the central position of vehicle M.
[068] The road environment recognition unit 12 recognizes the road environment in the vicinity of the vehicle M based on the result of detection by the external sensor 2. The road environment recognition unit 12 recognizes the road environment in the vicinity of the vehicle M by using a known technique and, based on the image captured by the camera, the obstacle information from the radar, or the obstacle information from the lidar. The environment recognition unit 12 recognizes the position of the white line on the roadway on which vehicle M travels based on image information from the camera or obstacle information from the lidar. The road environment recognition unit 12 can also recognize the linetype of the white line and a curvature of the white line. The road environment recognition unit 12 recognizes the fixed obstacle around the vehicle M based on the image information from the camera, the obstacle information from the lidar, or the obstacle information from the radar.
[069] The travel state recognition unit 13 recognizes the travel state of the vehicle M, in which the vehicle speed and a direction of the vehicle M, based on a result of detection by the internal sensor 3. Specifically, the trip state recognition 13 recognizes the vehicle speed of vehicle M based on vehicle information from the vehicle speed sensor. The 13's travel state recognition unit recognizes the direction of vehicle M based on yaw rate information from the yaw rate sensor.
[070] The trip plan generation unit 14 generates the trip plan of the vehicle M based on the desired route R established by the navigation system 5 and the map information from the map database 4. In a case where the operation When the automatic steering control initiation is performed by the driver, the trip plan generation unit 14 starts generating the trip plan. This trip plan is a trip plan that continues until vehicle M reaches destination E established in advance from the current position of vehicle M. This trip plan is generated depending on the map information.
[071] The trip plan generation unit 14 generates the trip plan by establishing the longitudinal positions established on the desired route R at predetermined intervals (such as 1 m) and establishing the desired control value (such as the position desired lateral and desired vehicle speed) for each of the established longitudinal positions. In other words, the trip plan includes the desired control values depending on the longitudinal positions established in the desired route R. The established longitudinal position and the desired lateral position can be established as a single positional coordinate together with each other. The established longitudinal position and the desired lateral position mean longitudinal position information and lateral position information which are set as targets in the travel plan.
[072] The generation of the trip plan will be described in detail with reference to FIG. 4. In a case where the automatic steering control initiation operation is performed by the driver in a situation in which vehicle M is positioned at a predetermined distance (hundreds of meters or several kilometers) ahead of the established longitudinal position G1 illustrated in FIG. 4, the trip plan generation unit 14 generates, based on the map information, the trip plan including the desired control values depending on the set longitudinal positions G1 through G4. The trip plan generation unit 14 generates the trip plan for traveling from the center position of the bearing track L in the direction of the width of the track. Since the map information of the map database 4 has yet to be updated, the trip plan generation unit 14 generates the trip plan based on outdated map information (map information on which the white line WTa and the white line WTb before the road line are stored). In other words, the trip plan generation unit 14 generates the trip plan for the trip of vehicle M at the desired lateral positions Tw1 to Tw4, which are positions at the same distance from the white line WTa and the white line WTb .
[073] Additionally, the trip plan generation unit 14 generates a short-term trip plan responding to the actual road environment separately from the trip plan depending on the map information. The short-term trip plan is generated as a plan for the trip of vehicle M within a detection range of external sensor 2 (such as a range of 150 m or less in front of vehicle M).
[074] The short-term trip plan has a desired short-term control value depending on the longitudinal position established on the desired R route as is the case with the trip plan. The desired short-term control value is a desired control value for vehicle M in the short-term trip plan. The desired short-term control value is established in association with each of the longitudinal positions established in the desired route R. The desired short-term control value includes a desired short-term lateral position of vehicle M and a desired short-term vehicle speed of vehicle M. The desired short-term lateral position is a desired lateral control position of vehicle M. in the short-term travel plan. The desired short-term vehicle speed is a desired short-term control vehicle speed of vehicle M in the short-term travel plan.
[075] The trip plan generation unit 14 generates the short-term trip plan based on the road environment in the vicinity of the vehicle M recognized by the road environment recognition unit 12, the travel state of the vehicle M recognized by the trip state recognition unit 13, the vehicle position M recognized by the vehicle position recognition unit 11, and trip plan (the trip plan continuing to destination E from the current position of vehicle M).
[076] In a case where the map information has an error, the trip plan generation unit 14 can adopt the desired control value for the trip plan as the desired short-term control value for the route plan short-term gem. In a case where vehicle M is traveling in a lateral position deviating from the trip plan (side position deviating from the center position of the lane), the trip plan generation unit 14 generates the trip plan of short term so that vehicle M returns to the center position of the track from the current position of vehicle M. The generation of the short term trip plan described above can be performed with reference to Japanese Patent Application Publication 2009-281450 (JP 2009-29140 A).
[077] The generation of the short-term travel plan will be described in detail with reference to FIG. 4. In a case where the established longitudinal positions G1 through G4 are included in the detection range of external sensor 2 with vehicle M traveling, the trip plan generation unit 14 generates the short-term trip plan including the values of desired short-term control depending on the established longitudinal positions G1 to G4. The trip plan generation unit 14 generates the short-term trip plan for traveling in the center position of the bearing lane L in the lane width direction. The trip plan generation unit 14 generates based on the road environment in the vicinity of vehicle M the short-term trip plan for the trip of vehicle M at the position at the same distance from the actual white line Wa and the actual white line Wb. In this case, the desired short-term lateral positions of the short-term travel plan that correspond to the established longitudinal positions G1 through G4 are established in the same positions as the control result lateral positions Pw1 through Pw4, respectively.
[078] As illustrated in FIG. 1, the trip plan generation unit 14 constitutes the map update determination system 200 with the map database 4, the detection value acquisition unit 16, the evaluation value calculation unit 17, and the map update determination unit 18.
[079] Trip control unit 15 performs automatic steering control for vehicle M based on the short-term trip plan generated by trip plan generation unit 14. In other words, trip control unit 15 performs automatic steering control over the road environment in the vicinity of the vehicle M, the travel state of the vehicle M, the position of the vehicle M and the short-term trip plan generated from the trip plan.
[080] The trip control unit 15 calculates a command control value based on the short-term trip plan so that the lateral position of vehicle M and the vehicle speed of vehicle M become the desired lateral position and the desired vehicle speed from the short-term trip plan in the established longitudinal position. Trip control unit 15 outputs the calculated command control value to actuator 6. Trip control unit 15 performs automatic steering control for vehicle M by controlling an output of actuator 6 (such as drive force , braking force, and steering torque) with the command control value. Trip control unit 15 performs automatic steering control in response to the actual road environment based on the short-term trip plan.
[081] Specifically, the trip control unit 15 performs automatic steering control so that the vehicle passes through the control result side positions Pw1 through Pw4 on the carriageway illustrated in FIG. 4 based on short-term travel plan.
[082] In a case where steering control for vehicle M is being performed, the detection value acquisition unit 16 acquires the control result detection value with respect to vehicle M resulting from the automatic control of direction. The detection value acquisition unit 16 acquires the control result detection value in association with the established longitudinal position in the desired route R. As described above, the control result detection value includes the control result vehicle speed and the control result side position.
[083] The detection value acquisition unit 16 calculates the vehicle speed of the vehicle M which is associated with the longitudinal position of the vehicle M based on the longitudinal position of the vehicle M recognized by the vehicle position recognition unit 11 and the information speed sensor from vehicle speed sensor. The detection value acquisition unit 16 obtains the vehicle speed of the vehicle control result M which is associated with each of the longitudinal positions based on the vehicle speed of the vehicle M which is associated with the longitudinal position of the vehicle M. control result vehicle speed of vehicle M that is associated with the established longitudinal position need not be the vehicle speed at a time when the longitudinal position of vehicle M corresponds to the established longitudinal position. The detection value acquisition unit 16 can acquire the vehicle speed at a time when the longitudinal position of the vehicle M is closest to the longitudinal position established as the control result speed of the vehicle M associated with this established longitudinal position. from the vehicle speeds of vehicle M periodically detected by the vehicle speed sensor.
[084] Likewise, the detection value acquisition unit 16 obtains the lateral position of the control result of the vehicle M which is associated with each of the longitudinal positions established in the longitudinal position of the vehicle M and the lateral position of the vehicle M recognized by the vehicle position recognition unit 11. The control result lateral position of vehicle M that is associated with the established longitudinal position need not be the lateral position of vehicle M at a time when the longitudinal position of vehicle M corresponds to the established longitudinal position. The detection value obtaining unit 16 can obtain the lateral position at a time when the longitudinal position of the vehicle M is closest to the longitudinal position established as the lateral position of the control result of the vehicle M associated with this longitudinal position established among the lateral positions of the vehicle M periodically recognized by the vehicle position recognition unit 11.
[085] Specifically, the detection value acquisition unit 16 obtains the control result side positions Pw1 through Pw4 through which vehicle M actually traveled on the roadway L illustrated in FIG. 4 for each of the established longitudinal positions G1 through G4. The control result side positions Pw1 through Pw4 are obtained as data that can be compared with the desired side positions Tw1 through Tw4 in the travel plan. The control result side positions Pw1 through Pw4 associated with the established longitudinal positions G1 through G4 are acquired as coordinate values in the orthogonal xy coordinate system described above.
[086] Appraisal value calculation unit 17 calculates the travel plan appraisal value for zone which is the object in determining map information update. Block-shaped zones such as zones B1 through B3 which are illustrated in FIG. 3 can be adopted as the zones. The evaluation value calculation unit 17 calculates the trip plan evaluation value for the zone based on the result of the comparison between the desired control value of the trip plan generated by the trip plan generation unit 14 and the detection value of control result obtained by the detection value obtaining unit 16. The evaluation value calculation unit 17 compares the desired control value and the control result detection value that are associated with the same established longitudinal position one with the other. The assessment value calculation unit 17 performs the comparison between the desired control value and the control result detection value for each of the established longitudinal positions that are present in the zone and calculates the trip plan assessment value for zone based on the results of the comparison.
[087] The evaluation value calculation unit 17 can perform a comparison between the desired vehicle speed and the control result vehicle speed as the comparison between the desired control value and the detection result value of control. In a case where a temporary stop line which is not included in the map information which is stored in the map database 4 is present in front of vehicle M, vehicle M decelerates once the temporary stop line is detected. and so the desired vehicle speed of the trip plan depending on the map information and the control result vehicle speed resulting from the automatic steering control responding to the actual road environment take on a different value from each other. The evaluation value calculation unit 17 uses the difference between the desired vehicle speed and the control result vehicle speed as a result of the comparison between the desired vehicle speed and the control result vehicle speed. The evaluation value calculation unit 17 calculates the differences (absolute value) between the desired vehicle speed and the control result vehicle speed for each of the established longitudinal positions included in the zone. Appraisal value calculation unit 17 calculates the travel plan appraisal value for zone as a value that decreases as an average value of the differences in the respective established longitudinal positions included in the zone increases. The appraisal value calculation unit 17 can also calculate a reciprocal number of the average value of the differences in the respective established longitudinal positions included in the zone as the travel plan appraisal value for each zone. The valuation value calculation unit 17 can also use a median value, a total sum, a maximum value, or a minimum value of the differences instead of the average value of the differences. The evaluation value calculation unit 17 calculates the trip plan evaluation value related to the calculated vehicle speed from the result of the comparison between the desired vehicle speed and the control result vehicle speed.
[088] The evaluation value calculation unit 17 can perform a comparison between the desired lateral position and the control result lateral position as the comparison between the desired control value and the control result detection value. Comparison between the desired side position and the side position of the control result with reference to FIG. 4 is as described above, and so the description thereof will be omitted in this document. The evaluation value calculation unit 17 calculates the trip plan evaluation value related to the calculated lateral position from a result of the comparison between the desired lateral position and the control result lateral position.
[089] The map update determination unit 18 sets the evaluation threshold for the zone which is used for map information update determination based on a position of the zone in the map information. The map update determination unit 18 recognizes the zone through which the desired route R passes based on the map information and the desired route R.
[090] Update determination unit 18 determines whether the zone is in a zone in an urban area or a suburban zone based on the position of the zone in the map information. The map information includes data by zone indicating whether the zone is the zone in the urban area or the suburban zone. The map update determination unit 18 establishes that the assessment threshold for the zone in the urban area is greater than the assessment threshold for the suburban zone in which the zone in the urban area by the fact that a higher level of accuracy map information in relation to automatic steering control than the suburban area.
[091] Additionally, the map update determination unit 18 can determine whether the zone is a zone on a general road or a zone on a road with limited access based on the position of the zone in the map information and the desired route R. The map information includes data by road, indicating whether the road is the limited access road or not. In this document, the road that is not the limited access road will be referred to as the general road. The map update determination unit 18 sets the assessment threshold for the zone on the general road to be greater than the assessment threshold for the zone on the road with limited access thereon due to the fact that the main road requires a higher level of map information accuracy in relation to automatic steering control than in relation to the road with limited access.
[092] Additionally, the map update determination unit 18 can determine whether the zone is a zone on a private road or not. In this case, the map information includes data by road, indicating whether the road is the private road or not. The map update determination unit 18 sets the assessment limit for the zone on the private road to be greater than the assessment limit for the zone on the general road due to the fact that the private road, which is smaller in width of road than the general road in many cases requires a higher level of map information accuracy in relation to automatic steering control than the general road.
[093] In addition, the map update determination unit 18 sets each of an evaluation threshold with respect to vehicle speed and an evaluation threshold with respect to the lateral position based on the position of the zone in the vehicle speed information. map.
[094] Map update determination unit 18 determines the need to update map information in the zone based on the travel plan appraisal value calculated by appraisal value calculation unit 17 and the appraisal threshold. The map update determination unit 18 determines whether or not the trip plan evaluation value for the zone does not fall below the evaluation threshold for the zone. In a case where the trip plan evaluation value for the zone does not reach the evaluation threshold for the zone, the map update determination unit 18 determines that the map information update is necessary within the zone.
[095] Map update determination unit 18 determines that the travel plan appraisal value for the zone does not reach the appraisal threshold in a case where the travel plan appraisal value for the zone related to the vehicle speed or in a case where the trip plan assessment value for the side related zone does not reach the assessment limit for the side related zone. The map determining unit 18 can also determine that the update of map information is necessary in the zone, only in a case where the trip plan evaluation value for the zone related to vehicle speed does not reach the evaluation limit. for the vehicle speed related zone and the trip plan evaluation value for the lateral position related zone does not reach the evaluation limit for the lateral position related zone.
[096] The map update determination unit 18 may not determine the need for map information update in a case where dynamic obstacle affecting automatic steering control is present around vehicle M. In this case, the dynamic obstacle is a bicycle, a pedestrian, an animal, another vehicle, or among others. The map update determination unit 18 determines based on the road environment in the vicinity of the vehicle M recognized by the environment recognition unit 12, whether or not a dynamic obstacle is present within a predetermined distance (e.g. within a distance of 1 m) from a desired vehicle path M in the plane of travel (path passing through an identified position from the established longitudinal position and the desired lateral position associated with each other). In a case where it is determined that the dynamic obstacle is present within the predetermined distance from the desired trajectory of the vehicle M, the map update determination unit 18 can exclude the zone where the determination is performed from the object of the determination of need to update map information. The map update determination unit 18 can also exclude the zone where the determination is performed from the map information update need determination object in a case where the dynamic object is determined to be present in front of the vehicle M .<Automatic Steering System Trip Plan Generation Processing According to First Embodiment>
[097] Hereinafter, a trip plan generation processing of the automatic steering system 100 according to the first embodiment will be described with reference to FIG. 5. The flowchart that is illustrated in FIG. 5A is performed in a case where the automatic steering control initiation operation is performed by the driver.
[098] As illustrated in FIG. 5A, the automatic steering system 100 recognizes the position of vehicle M at S10 by using the vehicle position recognition unit 11. The vehicle position recognition unit 11 recognizes the position of vehicle M on the map based on the position information from the GPS receiver unit 1 and the map information from the map database 4. The vehicle position recognition unit 11 can also recognize the vehicle's position by using the result of detection by the external sensor 2 and SLAM technology.
[099] Then, at S11, the automatic steering system 100 generates the trip plan by using the trip plan generation unit 14. The trip plan generation unit 14 generates the trip plan to make the trip plan vehicle M travels along the desired route R based on the position of vehicle M recognized by the vehicle position recognition unit 11 and the desired route R established in advance by the navigation system 5. The trip plan generation unit 14 generates the plan of travel continuing to destination E from the current position of vehicle M.
[0100] In a case where the trip plan was generated on the map information, the automatic steering system 100 completes the current trip plan generation processing. Then, the automatic steering system 100 starts the trip plan generation processing again in a case where the driver changes the desired route R.<Automatic Steering Control of the Automatic Steering System According to First Realization>
[0101] Hereinafter, the automatic steering control of the automatic steering system 100 according to the first embodiment will be described with reference to FIG. 5B. FIG. 5B is a flowchart illustrating automatic steering control. The flowchart that is illustrated in FIG. 5B is performed in a case where the trip plan was generated with the automatic steering control initiation operation performed by the driver.
[0102] As illustrated in FIG. 5B, the automatic steering system 100 recognizes the position of vehicle M at S20 by using the vehicle position recognition unit 11. The vehicle position recognition unit 11 recognizes the position of vehicle M based on the position information from the Unit GPS receiver 1 and the map information in the map database 4. The vehicle position recognition unit 11 can recognize the vehicle's position by also using SLAM technology. Additionally, the vehicle position recognition unit 11 can estimate the vehicle's position from a history of a change in vehicle speed of vehicle M and a history of a change in direction of vehicle M based on vehicle speed information. from the vehicle speed sensor and the yaw rate information from the yaw rate sensor.
[0103] At S20, the automatic steering system 100 recognizes the road environment in the vicinity of vehicle M by using the road environment recognition unit 12. The road environment recognition unit 12 recognizes the position of the white line of the lane and road environment in the vicinity of vehicle M based on the result of detection by external sensor 2. Additionally, the automatic steering system 100 recognizes the traveling state of vehicle M in the S20 by utilizing the state of travel recognition unit. trip 13. The trip state recognition unit 13 recognizes the vehicle speed of the vehicle M based on the vehicle speed information from the vehicle speed sensor and recognizes the direction of the vehicle M based on the yaw rate information from the vehicle speed sensor. yaw rate.
[0104] Then, at S21, the automatic steering system 100 generates the short-term trip plan by using the trip plan generation unit 14. The trip plan generation unit 14 generates the short-term trip plan timeframe based on the position of vehicle M, the road environment in the vicinity of vehicle M, the travel state of vehicle M, and the travel plan. The trip plan generation unit 14 generates the short-term trip plan responding to the real road environment. The trip plan generation unit 14 generates the short-term trip plan as a plan for the trip of vehicle M within the detection range of external sensor 2.
[0105] Then, at S22, automatic steering system 100 performs automatic steering control for vehicle M by utilizing trip control unit 15. Trip control unit 15 performs automatic steering control to make the M vehicle travels according to the real road environment based on the short-term travel plan. The trip control unit 15 performs automatic steering control for vehicle M by controlling the output of actuator 5 with the command control value.
[0106] Then, automatic steering system 100 repeats processing starting from S20 in a case where automatic steering control for vehicle M is in progress. In a case where automatic steering control has been terminated or discontinued, the automatic steering system 100 terminates automatic steering control processing even if automatic steering control processing is in progress. Control Result of Map Update Determination System According to First Realization>
[0107] Hereinafter, a control result detection value acquisition processing of the map update determination system 200 according to the first embodiment will be described. FIG. 6 is a flowchart illustrating the control result detection value acquisition processing. The flowchart that is illustrated in FIG. 6 is performed in a case where automatic steering control for vehicle M is initiated.
[0108] As illustrated in FIG. 6, the map update determination system 200 acquires the control result detection value at S30 by using the detection value acquisition unit 16. The acquisition unit 16 obtains the detection value from the control result value in association with the established longitudinal position in association with the desired route R. The detection value acquisition unit 16 obtains the vehicle speed from the control result of the vehicle M associated with each of the established longitudinal positions based on the longitudinal positions of the vehicle M recognized by the vehicle position recognition unit 11 and in the speed information of the vehicle speed sensor. The detection value acquisition unit 16 obtains the vehicle control result lateral position M associated with each of the established longitudinal positions based on the vehicle longitudinal position M and the vehicle lateral position M recognized by the vehicle position recognition unit. vehicle 11.
[0109] The detection value acquisition unit 16 obtains the control result detection value in a case where the longitudinal position of the vehicle M has reached the established longitudinal position. The detection value obtaining unit 16 can also collectively obtain the detection value of the control result by the longitudinal position established from data concerning the anterior position (longitudinal position and lateral position) of the vehicle M and data concerning at a previous vehicle speed of vehicle M (data concerning vehicle speed associated with the longitudinal position). The detection value acquisition unit 16 terminates the current acquisition processing in a case where the control result detection values associated with all established longitudinal positions through which vehicle M passed during automatic steering control have been obtained.
[0110] Sense value acquisition unit 16 does not necessarily need to perform acquisition processing during automatic steering control for vehicle M. In a case where control result detection value is acquired based on previous data that pertain to vehicle M, the detection value acquisition unit 16 can start the acquisition processing when the vehicle M is in a steady state or in a parked state. Then, get processing can be performed when there is space for a calculation processing capability of ECU 10. Sense value get unit 16 can collectively perform get processing for control result detection values during a predetermined period of time (such as one day).<Map Update Determination Processing of Map Update Determination System According to First Embodiment>
[0111] Hereinafter, a map update determination processing of the map update determination system 200 according to the first embodiment will be described. FIG. 7 is a flowchart illustrating map update determination processing. The flowchart that is illustrated in FIG. 7 is initiated in a case where the control result desired value obtaining processing that is illustrated in FIG. 6 is terminated in the zone.
[0112] As illustrated in FIG. 7, the map update determination system 200 calculates the travel plan appraisal value for zone in S40 by using appraisal value calculation unit 17. Appraisal value calculation unit 17 calculates the appraisal value of the trip plan for the zone based on the result of the comparison between the desired control value for the trip plan generated by the trip plan generation unit 14 and the detection value of the control result obtained by the value acquisition unit of detection 16. The evaluation value calculation unit 17 calculates the evaluation value for the trip plan for each zone based on the difference between the desired control value and the control result detection value by the longitudinal position.
[0113] Then, at S41, the map update determination system 200 sets the evaluation threshold for the zone by using the map update determination unit 18. The map update determination unit 18 sets the limit of evaluation for the zone based on the position of the zone in the map information. The order of S40 and S41 can be reversed. The S40 and S41 can also run at the same time.
[0114] Then, at S42, the map update determination system 200 determines whether or not the travel plan evaluation value for falls below the evaluation threshold by using map update determination unit 18. The unit map update determination 18 determines whether or not the travel plan appraisal value for the zone falls below the appraisal threshold for the zone based on the travel plan appraisal value calculated by appraisal value calculation unit 17 and within the established assessment limit. The map update determination unit 18 performs the determination described above with respect to all zones where the travel plan evaluation value has been calculated. The map update determination system 200 allows processing to proceed to S44 in a case where the travel plan evaluation value for the zone is determined to fall below the evaluation threshold for the zone. The map update determination system 200 allows processing to proceed to S43 in a case where it is determined that the travel plan evaluation value for the zone does not fall below the evaluation threshold for the zone.
[0115] At S43, the map update determination system 200 determines that the map information update is unnecessary in this zone. At S44, the map update determination system 200 determines that map information update is required for this zone. After S43 and S44 have processed, the map update determination system 200 completes the current map update determination processing. The map update determination system 200 repeats processing to S40 in a case where the new desired control result value has been obtained.<Effect of Map Update Determination System According to First Embodiment>
[0116] The map update determination system 200 according to the first embodiment that has been described which has been described above is capable of determining the need for updating the map information in the zone based on the trip plan evaluation value for the zone calculated from the result of the comparison between the desired control value and the control result detection value and the evaluation threshold where the desired control value of the trip plan depending on the map information and the detection value control result resulting from automatic steering control that responds to the actual road environment differ from each other in a case where the map information is inconsistent with the actual road environment. Accordingly, with this map update determination system 200, the need for map information update can be appropriately determined by using automatic steering control for the vehicle.
[0117] According to this map update determination system 200, it can be determined that the map information needs to be updated in a case where the map information has an error that causes a sufficient difference to arise between the value control of the trip plan and the resulting control result detection value from automatic steering control, and thus the cost of maintaining map information can be significantly reduced compared to a case where map information is updated by transmitting the sounder car whenever temporal information is obtained with respect to a change in the road environment attributable to road work or the like. Additionally, in a case where sufficient differences do not arise between the desired control value of the trip plan and the control result detection value resulting from automatic steering control, this map update determination system 200 determines that the map information does not need to be updated even if the map information has an error. As a result, performing a map information update that is not required for automatic steering control can be avoided.
[0118] Once the map update determination system sets the evaluation threshold for the zone based on the position of the zone in the map information of the map database 4, an appropriate map information update need determination according to the position of the zone can be performed. Specifically, the map update determination system 200 may be made more likely to determine that the map needs to be updated by establishing that the evaluation threshold for the zone in the urban area is greater than the evaluation threshold for the suburban zone by the fact that the zone in the urban area needs a higher level of accuracy of map information with respect to automatic steering control than the suburban zone, and thus is able to maintain map information accurate enough with respect to the zone in the urban area . [Second Realization]
[0119] An automatic steering system 300 and a map update determination system 400 according to a second embodiment will be described. The second embodiment differs significantly from the first embodiment in that a separate server from the vehicle M constitutes the map update determination system 400 and the second embodiment determines a need for an update of map information in a database of maps. server-side map instead of the in-vehicle map database. The same reference numerals will be used to refer to configurations that are common to the first and second embodiments or equivalent to those of the first embodiment, and the detailed description thereof will be omitted in this document.<Configuration of the Automatic Steering System in accordance with the Second Realization>
[0120] First, a configuration of the automatic steering system 300 will be described with reference to FIG. 8. FIG. 8 is a block diagram illustrating automatic steering system 300 according to the second embodiment. As illustrated in FIG. 8, the automatic steering system 300 is provided with an ECU 30 to perform automatic steering control for vehicle M. The GPS receiver unit 1, the external sensor 2, the internal sensor 3, the navigation system 5, the actuator 6, communication unit 7, and a map database within the vehicle 31 are connected to the ECU 30. The map database within the vehicle 31 is a map database which is mounted on the vehicle M. Map information similar to that of the map database 4 according to the first embodiment is stored in the map database within the vehicle 31.
[0121] The ECU 30 has the vehicle position recognition unit 11, the road environment recognition unit 12, the trip state recognition unit 13, the trip plan generation unit 14, and the 15. The functions of these configurations are similar to those according to the first embodiment.
[0122] The trip plan generation unit 14 according to the second embodiment generates the trip plan of the vehicle M along with the desired route R of the navigation system 5 based on the map information from the map database inside the vehicle 31. The trip plan generation unit 14 generates the short-term trip plan based on the position of the vehicle M recognized by the vehicle position recognition unit 11, in the road environment in the vicinity of the vehicle M recognized by the recognition unit. of road environment 12, in the travel state of the vehicle M recognized by the travel state recognition unit 13, and in the generated trip plan. The trip plan generation unit 14 according to the second embodiment does not constitute the map update determination system 400.
[0123] Trip control unit 15 performs automatic steering control for vehicle M based on short-term trip plan generated by trip plan generation unit 14 and by controlling actuator output 6. In one case where automatic steering control for vehicle M is initiated, the automatic steering system 300 transmits information regarding the desired route R to the map update determination system 400 via the communication unit 7. In a case where automatic steering control for vehicle M is terminated, automatic steering system 300 transmits information regarding the position of vehicle M as related to automatic steering control and information regarding vehicle speed of vehicle M if related to automatic direction control for map update determination system 400 via communication unit 7.<Map update determination system configuration According to the Second Embodiment>
[0124] Hereinafter, the map update determination system 400 will be described with reference to FIG. 9. FIG. 9 is a block diagram illustrating the map update determination system 400 according to the second embodiment. As illustrated in FIG. 9, the map update determination system 400 is configured within a server 40. The server 40 is a server which is arranged within a map information management center facility. Server 40 is a computer that includes a CPU and a storage unit. An HDD and the like constitute the storage unit. Multiple computers can also make up the server 40.
[0125] A communication unit 50 to perform wireless communication with the vehicle M (automatic steering system 300) is connected with the server 40. The communication unit 50 performs wireless communication with the communication 7 of the M vehicle via an antenna which is installed in a map information management center facility. Server 40 performs information transmission and reception based on wireless communication with various vehicles, including vehicle M, via communication unit 50. A prevalent wireless communication network, such as a communication network mobile phone, it can be used for transmitting and receiving information.
[0126] The map update determination system 400 has a map database 41, an information gathering unit 42, a simulated trip plan generation unit 43, a detection value acquisition unit 44, a valuation value calculation unit 45, and a map update determination unit 46.
[0127] The map database 41 is a database which is arranged in the storage unit of the server 40. Map information similar to that of the map database 4 according to the first embodiment is stored in the base of map data 41. In the map information management center, the map information that is stored in the map database 41 is managed to become more recent information by the information collected by the probe car being reflected. The map information from the map database within the vehicle 31 is updated by the map information that is stored in the map database 41 being transmitted to the vehicle M. The map information from the map database 41 is used for updating the in-vehicle map databases of various vehicles including vehicle M. The map information that is stored in the map database 41 and the map information of the map database within the vehicle 31 are not necessarily need to correspond with each other.
[0128] The information acquisition unit 42 is arranged on the server 40 and acquires information from the vehicle M via the communication unit 50. In a case where automatic steering control for the vehicle M is initiated, the acquisition unit The information acquisition unit 42 acquires information regarding the desired route R for automatic steering control from the vehicle M. The information acquisition unit 42 can collectively obtain information regarding the desired route R relating to the automatic control direction for a predetermined period of time (such as one day).
[0129] The simulated trip plan generation unit 43 generates a simulated trip plan based on the desired route R of the vehicle M acquired by the information acquisition unit 42 and the map information from the map database 41. The plan The simulated trip plan is a plan that is generated as a simulation and is not used for the actual automatic steering control for the M vehicle. The simulated trip plan differs from the trip plan of the automatic steering system 300 generated based on the database within the vehicle 31 and is generated based on the map information from the map database 41 of the server 40.
[0130] The simulated trip plan includes a simulated desired control value for vehicle M that depends on the longitudinal position established on the desired route R of vehicle M. The simulated desired control value is a simulated desired control value for vehicle M in the simulated travel plan. The simulated desired control value is set in association with each of the longitudinal positions established on the desired route R. The simulated desired control value includes a simulated desired lateral position of vehicle M and a simulated desired vehicle speed of vehicle M. simulated desired lateral is a simulated desired control lateral position of the vehicle in the simulated trip plan. The simulated target vehicle speed is a simulated target control vehicle speed of the vehicle in the simulated trip plan.
[0131] The simulated trip plan generation unit 43 generates the simulated trip plan by establishing the established longitudinal positions on the desired route R at predetermined intervals (such as 1 m) and sets the simulated desired control value for each one. of the established longitudinal positions. The simulated trip plan generation method is similar to the method by which the trip plan is generated by the trip plan generation unit 14 of the automatic steering system 300, and thus, the detailed description thereof will be omitted in this document. The simulated trip plan generation method does not have to be completely identical to the method by which the trip plan is generated by the trip plan generating unit 14 of the automatic steering system 300. There may be a minute difference, such as a version difference between the simulated trip plan generation method and the trip plan generation method.
[0132] The information acquisition unit 42 can acquire the desired control value for the vehicle M generated by the trip plan generation unit 14 instead of the information regarding the desired route R. In this case, the generation unit Trip planner 43 can generate the simulated trip plan based on the desired control value and the map information even without the information regarding the desired route R.
[0133] The detection value acquisition unit 44 is arranged in the server 40 and acquires the resulting control result detection value from the automatic steering control for vehicle M. The detection value acquisition unit 44 acquires , via the communication unit 50, the information concerning the position of the vehicle M (information concerning the longitudinal position and the lateral position) concerning the automatic steering control and the information concerning the vehicle speed of the M vehicle as it relates to automatic steering control. Information regarding the vehicle speed of vehicle M is acquired in association with information regarding the longitudinal position of vehicle M. Information regarding the lateral position of vehicle M is also acquired in association with information with respect to the longitudinal position of the vehicle M.
[0134] The detection value acquisition unit 44 identifies the vehicle speed (control result vehicle speed) by the established longitudinal position and the lateral position (control result lateral position) by the established longitudinal position based on the longitudinal positions set on the desired route R established by the simulated trip plan generation unit 43. In this way, the detection value acquisition unit 44 acquires the desired control result value (control result vehicle speed and result side position control) resulting from the automatic steering control in association with the established longitudinal position on the desired route R. The control result vehicle speed that is associated with the established longitudinal position may be the vehicle speed at a time when the longitudinal position of vehicle M is the closest to the longitudinal position established among the vehicle speeds of vehicle M periodically detected by the vehicle speed sensor. The control result lateral position that is associated with the established longitudinal position may be the lateral position at a time when the longitudinal position of vehicle M is closest to the longitudinal position established among the lateral positions of vehicle M periodically recognized by the control unit. vehicle position recognition 11. Sense value acquisition unit 44 may collectively acquire desired control result values resulting from automatic steering control over a predetermined period of time (such as one day).
[0135] Appraisal value calculation unit 45 calculates the appraisal value of the simulated travel plan for the zone that is the object of the map information update determination. A zone similar to that according to the first embodiment can be adopted as the zone.
[0136] Appraisal value calculation unit 45 calculates the appraisal value of the simulated travel plan for the zone based on a result of a comparison between the simulated desired control value of the simulated travel plan generated by the appraisal unit. simulated trip plan generation 43 and the control result detection value acquired by the detection value acquisition unit 44. The evaluation value calculation unit 45 performs the comparison between the simulated desired control value and the value of control result detection associated with the same established longitudinal position. The assessment value calculation unit 45 performs the comparison between the simulated desired control value and the control result detection value for each of the established longitudinal positions that are present in the zone and calculates the trip plan assessment value. simulated for the zone based on the comparison results. The evaluation value calculation unit 45 calculates the simulated trip plan evaluation value for the zone based on the difference between the simulated desired control value and the control result detection value by the established longitudinal position. The comparison between the simulated desired control value and the control result detection value can be performed by a method that is similar to the method for comparing the desired control value and the control result detection value in accordance with the first embodiment. Additionally, the calculation of the valuation value of the simulated travel plan can be performed by a method that is similar to the method for calculating the valuation value of the travel plan according to the first embodiment. Appraisal value calculation unit 45 calculates each of the simulated trip plan appraisal values relating to vehicle speed and the simulated travel plan appraisal value relating to lateral position.
[0137] Map update determination unit 46 sets the evaluation threshold for zone which is used for map information update determination based on the position of the zone in the map information of the map database 41. The unit The map update determination unit 46 recognizes the zone through which the desired route R passes based on the position of the zone in the map information and the desired route R. The map update determination unit 46 sets each of the evaluation thresholds. relating to vehicle speed and the rating limit relating to lateral position. The map update determining unit 46 can set the evaluation boundary for zone by a method similar to this according to the first embodiment. Likewise, the same value as the evaluation threshold according to the first embodiment can be used as the evaluation threshold.
[0138] Map update determination unit 46 determines the need to update map information in the zone based on the assessment value of the simulated travel plan calculated by the assessment value calculation unit 45 and the assessment threshold. The map update determination unit 46 determines whether or not the evaluation value of the simulated travel plan for the zone falls below the evaluation threshold. In a case where it is determined that the evaluation value of the simulated travel plan for the zone falls below the evaluation threshold, the map update determination unit 46 determines that the update of map information is necessary in the zone. The map update determination unit 46 determines that the simulated trip plan assessment value for zone falls below the assessment threshold for zone in a case where the simulated trip plan assessment value for zone relates to speed of vehicle falls below the assessment limit for the zone relating to vehicle speed or in a case where the assessment value of the simulated trip plan for the zone relating to the lateral position falls below the assessment limit for the zone if relating to the lateral position. The map update determination unit 46 may also determine that the map information update is required in the zone only in a case where the simulated trip plan evaluation value for the zone relating to vehicle speed falls below the assessment threshold for the zone relating to vehicle speed and the simulated trip plan assessment value for the zone relating to the lateral position falls below the assessment limit for the zone relating to the lateral position.<Processing Map Update Determination System Simulated Trip Plan Generation System According to the Second Embodiment>
[0139] Hereinafter, a simulated trip plan generation processing of the map update determination system 400 according to the second embodiment will be described with reference to FIG. 10A. FIG. 10A is a flowchart illustrating the simulated trip plan generation processing of the map update determination system 400 in accordance with the second embodiment. The flowchart that is illustrated in FIG.10A is initiated by information relating to the desired route R of the automatic steering control being received from vehicle M.
[0140] As illustrated in FIG. 10A, the map update determination system 400 obtains information regarding the desired route R of the vehicle M at S50 by using the information acquisition unit 42. The information acquisition unit 42 obtains the information regarding the route desired R of the vehicle M by wireless communication via the communication unit 50.
[0141] Then, at S51, the map update determination system 400 generates the simulated trip plan by using the simulated trip plan generation unit 43. The simulated trip plan generation unit 43 generates the simulated trip plan. trip simulated as a simulation in which vehicle M travels along the desired route R as a result of automatic steering control based on map information stored in the map database 41 of the server 40 and the desired route R. The determination system Update Map 400 ends the current simulated travel plan generation processing in a case where the simulated travel plan was generated.
[0142] Map update determination system 400 can start simulated trip plan generation processing after acquiring the desired control result value resulting from automatic steering control for vehicle M. Automatic steering control by the automatic steering system 300 is similar to this according to the first embodiment, and thus the description thereof will be omitted in this document.<Acquisition Value Processing Control Result Detection of the Agreement Map Update Determination System with the Second Embodiment>
[0143] Hereinafter, a control result detection value acquisition processing of the map update determination system 400 according to the second embodiment will be described. FIG. 10B is a flowchart illustrating the control result detection value acquisition processing of map update determination system 400 according to the second embodiment. The flowchart that is illustrated in FIG. 10B is performed in a case where information regarding vehicle position M relating to automatic steering control or vehicle speed information from vehicle M relating to automatic steering control is received from vehicle M.
[0144] As illustrated in FIG. 10B, the map update determination system 400 obtains the desired control result value resulting from the automatic steering control at S60 by utilizing the detection value obtaining unit 44. The detection value obtaining unit 44 obtains the desired control result value resulting from the automatic steering control in association with the longitudinal position established on the desired route R based on information regarding the position of vehicle M and with respect to vehicle speed information of vehicle M if relating to automatic steering control. The detection value acquisition unit 44 terminates the current acquisition processing in a case where the control result detection values associated with all established longitudinal positions through which vehicle M passed during automatic steering control have been obtained. In the second embodiment, the trip plan generation processing and the control result detection value processing can be performed at the same time.<Map Update Determination Processing of the Map Update Determination System According to Second Concretization>
[0145] Hereinafter, the map update determination processing of the map update determination system 400 according to the second embodiment will be described. FIG. 11 is a flowchart illustrating the map update determination processing of the map update determination system 400 in accordance with the second embodiment. The flowchart that is illustrated in FIG. 11 is performed in a case where the simulated trip plan generation processing and the desired control result value acquisition processing are finished.
[0146] As illustrated in FIG. 11, the map update determination system 400 calculates the simulated travel plan appraisal value for the zone at S70 by using appraisal value calculation unit 45. Appraisal value calculation unit 45 calculates the value of the simulated trip plan evaluation for the zone based on the result of the comparison between the simulated desired control value of the simulated trip plan generated by the simulated trip plan generation unit 43 and the control result detection value obtained by the unit sensing value acquisition value 44. The evaluation value calculation unit 45 calculates the simulated travel plan evaluation value for the zone based on the difference between the simulated target control value and the control result detection value. by the established longitudinal position.
[0147] Then, at S71, the map update determination system 400 sets the evaluation threshold for zone by using the map update determination unit 46. The map update determination unit 46 sets the evaluation threshold for zone based on the position of the zone in the map information. The order in S70 and S71 can be reversed. S70 and S71 can run at the same time.
[0148] Then, at S72, the map update determination system 400 determines, by using the map update determination unit 46, the presence or absence of a zone where the simulated travel plan evaluation value for the zone is below the evaluation threshold for the zone. The map update determination system 400 allows processing to proceed to S74 in a case where the simulated travel plan evaluation value for the zone is determined to fall below the evaluation threshold for the zone. The map update determination system 400 allows processing to proceed to S73 in a case where it is determined that the simulated travel plan evaluation value for the zone does not fall below the evaluation threshold for the zone.
[0149] At S73, the map update determination system 400 determines that the map information update is unnecessary in this zone. At S74, the map update determination system 400 determines that map information update is needed in this zone. After processing at S73 or S74, the map update determination system 400 finishes the current map update determination processing.<Effect of Map Update Determination System According to Second Embodiment>
[0150] The map update determination system 400 according to the second embodiment that has been described above is capable of determining the need to update the map information in the map database 41 based on the travel plan evaluation value simulated calculated from the result of the comparison between the simulated desired control value and the control result detection value and in the evaluation limit by the fact that the simulated desired control value of the simulated trip plan depending on the map information and of the control result value resulting from automatic steering control that responds to the actual road environment differ from each other in a case where the map information in the map database 41 of the server 40 is inconsistent with the road environment real. Accordingly, with this map update determination system 400, the need for map information update can be properly determined in the map database 41 of the server 40 by using automatic steering control for the vehicle. Additionally, this map update determination system 400 determines that the map information does not have to be updated, even if the map information in the map database 41 has an error, in a case where sufficient differences do not arise between the simulated desired control value from the simulated trip plan and the control result detection value resulting from the automatic steering control. As a result, performing a map information update that is not required for automatic steering control can be avoided.
[0151] According to this map update determination system 400, it can be determined that the map information from the map database 41 needs to be updated in a case where the map information has an error causing that a sufficient difference arises between the desired control value and the desired control result value of the simulated trip plan and the control result detection value resulting from the automatic steering control, and thus, the maintenance costs of map information can significantly reduce compared to a case where map information is updated by the sounder car transmission every time information is obtained with respect to a change in the road environment attributable to road work or the like. Additionally, this map update determination system 400 establishes the evaluation threshold for the zone based on the position of the zone in the map information of the map database 41, and thus, an appropriate determination of the need for map information update. according to the position of the zone can be performed.
[0152] The invention is not limited to the embodiments of the invention that have been described above. The invention may be implemented in various ways with various modifications and improvements added to the embodiments described above based on the knowledge of those skilled in the art. [Examples of Desired Control Value Modifications (Simulated Desired Control Value) AND Desired Control Result Value]
[0153] The desired control value of the trip plan does not necessarily have to include both the lateral control position and the desired vehicle speed. The trip plan generating unit 14 according to the first embodiment can generate a trip plan that only includes any one of the desired lateral position and the desired vehicle speed. In this case, the detection value obtaining unit 16 can only obtain the desired control result value, i.e., the control result side position or the control result speed, corresponding to the desired side position or the control result. desired vehicle speed that is included in the trip plan.
[0154] The trip plan generation unit 14 can use a desired steering angle of vehicle M instead of the desired lateral position of vehicle M. The desired steering angle is a desired steering angle value for vehicle M in the automatic steering control. Additionally, steering torque, a yaw angle, or yaw rate can be used instead of the steering angle. Additionally, the trip plan generation unit 14 may use a desired vehicle acceleration instead of the desired vehicle speed of vehicle M. The desired acceleration is a desired acceleration value for vehicle M in automatic steering control.
[0155] In this case, detection value acquisition unit 16 obtains a control result steering angle as the control result detection value corresponding to the desired steering angle. Control result steering angle is the steering angle of vehicle M during automatic steering control which is detected at the established longitudinal position. The control result steering angle is detected by the vehicle steering angle sensor M. Additionally, the detection value obtaining unit 16 acquires a control result acceleration as the control result detection value corresponding to the desired acceleration . Control result acceleration is the acceleration (deceleration) of vehicle M during automatic steering control that is detected at the established longitudinal position. The control result acceleration is detected by the vehicle acceleration sensor M.
[0156] Likewise, the simulated trip plan generation unit 43 according to the second embodiment can generate a simulated trip plan that includes only any one of the simulated desired lateral position and simulated desired vehicle speed. In this case, the detection value obtaining unit 44 can only obtain the desired control result value, which is the control result lateral position or control result vehicle speed, corresponding to the simulated desired lateral position or the control result. simulated target vehicle speed that is included in the simulated trip plan.
[0157] The simulated trip plan generation unit 43 can use a simulated desired steering angle of vehicle M instead of the simulated desired lateral position of vehicle M. The simulated desired steering angle is a simulated steering angle of vehicle M which is a control value in the simulated trip plan. Steering torque, yaw angle, or yaw rate can be used instead of steering angle. The simulated trip plan generation unit 43 may use a simulated desired acceleration of vehicle M instead of the simulated desired vehicle speed of vehicle M. The simulated desired acceleration is a simulated acceleration of vehicle M which is a control value in the plane. of simulated travel. In this case, the detection value obtaining unit 44 obtains the control result steering angle as the control result detection value corresponding to the simulated desired steering angle. Additionally, the detection value acquisition unit 44 obtains the control result acceleration as the control result detection value corresponding to the simulated desired acceleration. Simulated Desired Control) AND Control Result Detection Value]
[0158] The evaluation value calculation unit 17 according to the first embodiment does not necessarily have to use the difference between the desired control value and the control result detection value as the result of comparing the control value of the trip plan and the resulting control result detection value from the automatic steering control. Appraisal value calculation unit 17 can instead use a ratio between the desired control value and the control result detection value as the result of comparing the desired control value of the trip plan and the value of Control result detection resulting from automatic steering control. The comparison result can become a dimensionless quantity by the ratio between the desired control value and the control result detection value being used as described above. In this case the appraisal value can become a dimensionless quantity by the ratio between the desired control value and the control result detection value being adopted as the travel plan appraisal value. In other words, the evaluation value as a dimensionless quantity can be calculated for each of the vehicle speed and lateral position which have different units. Then, the evaluation limit that is used by the map update determination unit 18 can also become a dimensionless quantity, and the same evaluation limit can be adopted instead of establishing each of the evaluation limits relating to each other. com to the vehicle speed (unit: km / m) and the rating limit relating to the lateral position (unit: m). Likewise, in the evaluation value calculation unit 45 according to the second embodiment, a ratio between the simulated desired control value and the control result detection value can be used as the result of comparing the value of simulated desired control of the simulated trip plan and the resulting control result detection value from the automatic steering control.[Example of Modification of Travel Plan Evaluation Value Calculation (Simulated Trip Plan)]
[0159] Appraisal value calculation unit 17 according to the first embodiment can calculate the trip plan appraisal value for the zone based on the number of driver intervention operations or a frequency of driver intervention operation with respect to the automatic direction control in the zone as well as the result of the comparison between the desired control value and the control result detection value. Intervention operation is an operation whereby automatic steering control for vehicle M is discontinued and drive of vehicle M is switched to manual steering by the driver by a steering wheel, a brake pedal, or the like being operated by the driver. during automatic steering control of vehicle M. The automatic steering system 100 determines that the driver intervention operation has been performed, discontinues automatic steering control, and switches vehicle steering to manual steering in a case where an angle steering wheel, an amount of depressing the brake pedal, or an amount of depressing the accelerator pedal exceeds an intervention threshold established in advance because of the driver during automatic steering control for vehicle M. A technique for discontinuing the automatic steering control in response to driver intervention operation is known, and thus, the detailed description of the same a will be omitted in this document.
[0160] Intervention operation frequency refers to the number of intervention operations per predetermined distance (such as 1 km) or per predetermined period of time (such as 10 minutes). Intervention operation frequency is the number of times of repetition of manual steering change resulting from driver intervention operation, automatic steering control initiation, and manual steering change resulting from operation of driver intervention during the vehicle's journey through the predetermined distance or during the predetermined period of time.
[0161] Appraisal value calculation unit 17 calculates the trip plan appraisal value for zone as a value that decreases as the numbers of intervention operations in the driver's zone increase (or the frequency of the intervention operation increases). This is due to the possibility that the map information is erroneous and the automatic steering control is contradictory to the driver's intention to increase as the number of driver intervention operations in the zone increases (or the frequency of the intervention operation increases).
[0162] Hereinafter, a case where driver intervention operation is performed because of map information error will be described with reference to FIGS. 12A and 12B. FIG. 12A is a plan view illustrating a road before construction work that causes a change in the lane's direction of travel. FIG. 12B is a plan view illustrating the road after construction work that causes the track's direction of travel to change. Lanes L1 to L3 and white lines W1 to W4, which are boundary lines of lanes L1 to L3, are illustrated in FIGS. 12A and 12B. Lane L1 is a right end road lane when viewed from vehicle M. Lane L3 is a left end lane of road when viewed from vehicle M. Lane L2 is a center lane between lane L1 and the L2 lane. White line W1 is a boundary line on the right side of runway L1. White line L2 is a boundary line between runway L1 and runway L2. White line W3 is a boundary line between runway L2 and runway L3. White line W4 is a boundary line on the right side of runway L3. In FIG. 12A, the direction of travel of lane L2 corresponds to the direction in which vehicle M travels. In this case, the white line W2 becomes the lane boundary line and the white line W3 becomes the center line. In FIG. 12B, which shows the road after construction work, the direction of travel of lane L2 is opposite the direction in which vehicle M travels. In this case, the white line W2 becomes a center line and the white line W3 becomes the lane boundary line.
[0163] In this document, it is assumed that the road situation before the construction work that is illustrated in FIG. 12A is stored as the map information in the map database 4. In this case, the automatic steering system 100 generates a trip plan for traveling on the lane L2 based on the map information from the map database 4. The system automatic steering 100 performs automatic steering control to travel on lane L2 according to the trip plan in a case where the automatic steering system 100 is not provided with a function, for example, to distinguish the lane boundary line center line based on the white line line type and cannot recognize that lane L2 is actually an opposite lane. At this time, the driver recognizes the road situation after the construction work which is illustrated in FIG. 12B and performs the intervention operation so that vehicle M does not travel in the opposite lane.
[0164] The following is a case where the driver intervention operation is performed due to a map information error which will be described with reference to FIGS. 13A and 13B. FIG. 13A is a plan view illustrating a road before a change in speed regulation information. FIG. 13B is a plan view illustrating the road after the speed regulation information has been changed. A speed plate Ha which indicates a maximum allowable speed of 60 km/h is illustrated in FIG. 13A. An Hb speed plate indicating a maximum permitted speed of 50 km/h is illustrated in FIG. 13B. FIG. 13A presents a case where the maximum permissible speed of the L1 lane on which the vehicle travels is 60 km/h without exception. FIG. 13B presents a case where a lane in which the maximum permissible speed is 50 km/h is present, on lane L1, ahead of a lane in which the maximum permissible speed is 60 km/h.
[0165] In this document, it is assumed that the data before the change in speed regulation information that is illustrated in FIG. 13A are stored as the map information in the map database 4. In this case, the automatic steering system 100 generates the trip plan based on the map information from the map database 4 so that vehicle M has a maximum speed of 60 km/h or less. The automatic steering system 100 performs automatic steering control for the M vehicle traveling at a speed of 60 km/h. At this time, the driver recognizes the speed plate Hb which indicates the maximum permitted speed of 50 km/h, and performs the intervention operation so that vehicle M does not travel at 60 km/h.
[0166] As described above, an inappropriate automatic steering control that is attributable to the map information error can be performed in the zone where the number of driver intervention operations is higher or in the zone where the frequency of driver intervention operations is higher. high. In this regard, the map update determination system 200 calculates the trip plan evaluation value based on the number of driver intervention operations or the frequency of driver intervention operation as well as the result of the comparison between the desired control value and the control result detection value. Accordingly, the map update determining system 200 can determine that map information needs to be updated even in cases such as those illustrated in FIGS. 12A, 12B, 13A, 13B, and thus a more appropriate map information update determination can be performed.
[0167] Additionally, the appraisal value calculation unit 17 can calculate the travel plan appraisal value for the zone based on the number of automatic steering control interruptions by the automatic steering system 100 or a frequency of the interruption. The frequency of interruption of automatic steering control by automatic steering system 100 refers to the number of interruptions per predetermined distance (such as 1 km) or per predetermined period of time (such as 10 minutes). The interruption of automatic steering control by the automatic steering system 100 is a known technique and therefore a detailed description of the same will be omitted from this document.
[0168] Appraisal value calculation unit 17 calculates the trip plan appraisal value for zone as a value that decreases as the number of automatic steering control interruptions in the zone increases (or as the frequency of automatic steering control interruption increases).
[0169] Automatic steering system 100 stops automatic steering control based on real road environment. In a case where the actual white line of the road is blurred and cannot be recognized, the automatic steering system 100 stops the automatic steering control.
[0170] In a case where the road situation before construction work which is illustrated in FIG. 12A is stored as map information in the map database 4, the automatic steering system 100 generates the trip plan based on the map information so that vehicle M travels on lane L2. In a case where the direction of travel of the lane can be determined from the white line type, the automatic steering system 100 determines that vehicle M is traveling in the opposite lane based on the white line line types W2 (center line) and the white line W3 (lane boundary line) in the road situation after the construction work which is illustrated in FIG. 12B and stops automatic steering control.
[0171] The map information may be erroneous in a case where the automatic steering control interruption is repeated by the automatic steering system 100. In other words, the map information and the actual road environment may differ from each other, due to interruption of the automatic steering control based on the real road environment, even though the automatic steering control has started with the trip plan depending on the map information generated in the automatic steering system 100. In this regard, the determination system Map update function 200 calculates the trip plan evaluation value based on the number of automatic steering control interruptions by the automatic steering system or the frequency of interruption as well as the result of comparing the desired control value and the value of control result detection. Accordingly, the map update determination system 200 may determine that the map information needs to be updated even in a case where the actual white line of the road is blurred, and thus, a more appropriate map information update determination may be performed. The map update determination system 200 can also calculate the trip plan evaluation value based on both the number of driver intervention operations (or the frequency of intervention operation) and the number of automatic control interruptions. steering by automatic steering system 100 (or on the frequency of interruption).
[0172] Likewise, the appraisal value calculation unit 45 according to the second embodiment can calculate the appraisal value of the simulated trip plan by using the number of driver intervention operations (or the frequency of the intervention) and/or the number of automatic steering control interruptions by the automatic steering system 300 (or the frequency of interruption). In this case, the map update determination system 400 acquires information relating to the driver's intervention operation and information relating to the interruption of automatic steering control by the automatic steering system 300 of vehicle M via the communication unit 50. [Example of Modification of Travel Plan Generation (Simulated Travel Plan)]
[0173] The map information may also include information relating to the lane centerline, which is an imaginary line connecting the center positions equidistant from the white, right and left lane lines in the direction of the lane width one with the other. In this case, the trip plan generation unit 14 according to the first embodiment can generate the trip plan based on the information relating to the center line of the track included in the map information such as the vehicle M traveling in the track center line. Due to the information concerning relating to the center of the runway, which is an imaginary line, being prepared in advance as described above, the trip plan generation unit 14 does not have to calculate the center position of the runway from the position information. concerning the white line or the curb, in the map information, and thus a computational load can be reduced. Additionally, the map information can include information relating to a previous travel path of vehicle M. In this case, the trip plan generation unit 14 can generate the trip plan based on the information relating to the travel path. vehicle M that is included in the map information. Likewise, the simulated trip plan generation unit 43 according to the second embodiment can generate the trip plan based on the information relating to the centerline of the track that is included in the map information or the information relating to the previous travel path of vehicle M that is included in the map information.
[0174] [Evaluation Boundary Establishment Modification Example]The map update determination unit 18 according to the first embodiment can establish the evaluation boundary per zone, not based on the position of the zone in the base map information map data 4, but based on the travel time of vehicle M in the zone. In this case, the vehicle position recognition unit 11 recognizes the position of vehicle M and the travel time of vehicle M in association with each other from a result of measurement by the GPS receiving unit 1. The determining unit The map updater 18 recognizes the travel time of vehicle M in the zone based on the position of vehicle M, the travel time of vehicle M, and the map information. The map update determination unit 18 sets the evaluation threshold for the zone based on the travel time of vehicle M in the zone.
[0175] Vehicle M travel time in the zone refers to an intermediate time between a time when vehicle M in automatic steering control enters the zone and a time when vehicle M leaves the zone. The time when vehicle M enters the zone or the time when vehicle M leaves the zone can also be used as the travel time of vehicle M in the zone.
[0176] The map update determination unit 18 determines based on the travel time of vehicle M in the zone, whether the travel time is during the night or during the day. The map update determining unit 18 sets the judgment threshold for the zone where the travel time is determined to be overnight to be less than the judgment threshold for the zone where the judgment threshold is determined to be during the day due to the fact that the white line recognition by using the image captured by the camera or the like has a lower level of accuracy and the determination of the need to update map information has a lower level of reliability at night than during the day. In a case where the travel time is during sunset, the map update determination unit 18 may set the evaluation threshold for the zone where the travel time is determined to be at sunset to be less than that the assessment threshold for the zone where the travel time is determined to be overnight by the fact that the accuracy of white line recognition or the like can be significantly reduced by sunset in this case.
[0177] In a case where, for example, vehicle M focuses more on a detection result by a radar sensor than on the image captured by the camera in terms of specification, the map update determination unit 18 may establish that the evaluation threshold for the zone where the travel time is determined to be during the day is less than the evaluation threshold for the zone where the travel time is determined to be during the night by the fact that detection by the sensor radar may have a reduced level of accuracy due to daylight sunlight. The map update determination unit 18 can set the evaluation threshold per zone based on both the position of the zone in the map information of the map database 4 and the travel time of vehicle M in the zone. Additionally, the map update determination unit 18 does not necessarily have to establish the assessment threshold for each of the zones and instead may adopt a constant assessment threshold value independent of the zone.[Examples of Value Calculation Modifications Travel Plan Assessment (Simulated Travel Plan) and Determination of Need to Update Map Information
[0178] In the first embodiment, the appraisal value calculation unit 17 does not necessarily have to calculate the travel plan appraisal value as a value greater than when the travel plan's desired control value and the detection value result of control result from automatic steering control correspond to each other. Instead, the appraisal value calculation unit 17 can also calculate the travel plan appraisal value to a lower value than when the desired control value and the control result detection value match each other. In this case, the map information update determination unit 18 determines that the map information needs to be updated with respect to the zone where the travel plan evaluation value is equal to or greater than the evaluation threshold. Likewise, in the second embodiment, the appraisal value calculation unit 45 can calculate the appraisal value of the simulated travel plan as a lower value than when the simulated desired control value of the simulated travel plan and the Control result detection value from the automatic direction control correspond to each other. In this case, the map update determination unit 46 determines that the map information needs to be updated with respect to the zone where the evaluation value of the simulated travel plan is equal to or greater than the evaluation threshold.[Example Map Information Update Needs Determination Modification
[0179] Appraisal value calculation unit 17 according to the first embodiment can perform weighting (multiplication by a predetermined weighting factor) with respect to one or both of the trip plan value relating to vehicle speed in the zone and the travel plan appraisal value relating to the lateral position in the zone and calculate a total of these as the travel plan appraisal value for the zone. The appraisal value calculation unit 17 can perform normalization (division by a predetermined normalization coefficient) in relation to one or both of the travel plan appraisal value relating to the vehicle speed in the zone and the appraisal value of the trip plan relating to the lateral position in the zone and calculate a total of these as the trip plan evaluation value for the zone.[Example of Modification of Automatic Steering Control]
[0180] The automatic steering control according to the invention does not necessarily have to be a trip plan based control that is performed with respect to both the vehicle speed and the lateral position of the vehicle M. The automatic steering control can also be a control in which an adaptive autopilot [AAC] and an automatic lateral position adjustment for vehicle M that is based on the trip plan are combined with each other. ACC refers to a control in which a constant speed control for traveling at constant speed of vehicle M at an established speed that is established in advance is performed in a case where no preceding car is present in front of vehicle M and a control tracking is performed, so that the vehicle speed of vehicle M is adjusted according to a distance between vehicles of the preceding car, in a case where the preceding car is present in front of vehicle M. In a case where the ACC is used, the trip plan (trip plan dependent on map information) relating to the vehicle speed (or acceleration) of vehicle M is not generated. Automatic lateral position adjustment is a control to adjust the lateral position of vehicle M based on the trip plan which includes the lateral position (desired lateral position) of vehicle M which is established for each of the longitudinal positions established in the desired route R In this case, the map update determination system 200 according to the first embodiment determines the need to update map information in the zone based on a result of a comparison between the desired lateral position of the trip plan and the lateral position control result from the control detection result. Additionally, the map update determination system 400 according to the second embodiment determines the need for updating map information in the zone based on a result of a comparison between the simulated desired lateral position of the simulated travel plan and the lateral position. control result from the control detection result.
[0181] Additionally, automatic steering control can be a control in which a steering support depends on a sensor result of an automatic vehicle speed adjustment for vehicle M which is based on the trip plan are combined one with the other. Steering support refers to a lane-keeping support control preventing deviation from the travel lane by adjusting the lateral position of vehicle M. In a case where steering support is used, the trip plan (trip plan depending on map information) relating to vehicle lateral position M (or steering angle or the like) is not generated. Automatic Vehicle Speed Adjustment is a control for adjusting the vehicle speed of vehicle M based on the trip plan which includes the vehicle speed (desired vehicle speed) of vehicle M which is set for each of the longitudinal positions established in the desired route R. In this case, the map update determination system 200 according to the first embodiment determines the need to update map information in the zone based on a result of a comparison between the desired vehicle speed of the trip plan and the control result vehicle speed of the control detection result. Additionally, the map update determining system 400 according to the second embodiment determines the need for updating the map information in the zone based on a result of a comparison between the simulated desired vehicle speed of the simulated trip plan and the speed control result vehicle of control detection result.[Reference Example Using Short-Term Desired Control Value of Short-Term Travel Plan]
[0182] The map update determination system 200 according to the first embodiment can calculate the travel plan evaluation value by using the short-term desired control value of the short-term travel plan instead of the value of desired control result resulting from automatic steering control. In this case, the appraisal value calculation unit 17 calculates the appraisal value of the travel plan based on a result of a comparison between the desired control value of the travel plan which depends on the map information and the desired control value. short-term travel plan that responds to the real road environment. Appraisal value calculation unit 17 calculates the travel plan appraisal value as a value that is greater when the travel plan target control value and the short term travel plan target control value match each other. The result of comparing the trip plan's desired control value and the short-term trip plan's desired control value can be a difference between the trip plan's desired control value and the desired control value. short-term control value of the short-term travel plan or a ratio between the desired control value of the trip plan and the desired control value of the short-term control of the short-term travel plan can be a difference between the control desired value of the travel plan and the short-term control target value of the short-term travel plan or a term.
[0183] In a case where the road on the map information is inconsistent with the actual road environment, the map update determination system 200 can determine the need for map information update by using the evaluation value of the map plan. trip calculated from the result of the comparison between the desired control value and the short-term desired control value due, in this case, to the desired control value of the trip plan that depends on the map information and the desired control value of short-term travel plan that responds to the actual road environment differ from each other.

权利要求:
Claims (8)
[0001]
1. Map update determination system (200) provided with a map database (4) in which map information used by an automatic steering control for a vehicle is stored and configured to determine a need for an update of map information in a zone established in advance, the map update determination system (200) CHARACTERIZED in that it comprises: an electronic control unit (ECU) programmed to: generate, based on a desired route of the vehicle established in advance and in the map information, a vehicle trip plan including a desired control value for the vehicle according to a position on the desired route; acquiring, in association with the position on the desired route, a resulting control result detection value automatic steering control for the vehicle performed, based on a road environment in a neighborhood of the vehicle recognized by an external sensor of the vehicle being used, in a vehicle travel state recognized by an internal sensor of the vehicle being used, a vehicle position measured by a vehicle position measurement unit, and in the trip plan; calculate, an evaluation value of the travel plan trip to the zone based on a result of a comparison between the desired control value and the control result detection value; edetermine the need to update map information in the zone based on the travel plan valuation value and a valuation threshold.
[0002]
2. Map update determination system (200), according to claim 1, CHARACTERIZED by the fact that the electronic control unit (ECU) is additionally programmed to establish the evaluation limit for the zone based on a position of the zone in the map information of the map database (4) or in a vehicle travel time in the zone.
[0003]
3. Map update determination system (200), according to claim 1, CHARACTERIZED by the fact that, as a result of the travel plan appraisal value being less than the appraisal limit, it determines that the map update map information is required.
[0004]
4. Map update determination system (200), according to claim 1, CHARACTERIZED by the fact that, as a result of the travel plan appraisal value being greater than the appraisal limit, it determines that the map update map information is not required.
[0005]
5. Map update determination system (400), provided with a server (40) capable of communicating with a vehicle performing automatic steering control and with a map database (41) arranged on the server (40) , the map information being stored in the map database (41) and determining a need for an update of the map information in a zone established in advance, the map update determination system (400) FEATURED in that it comprises: an electronic control unit (ECU) disposed on the server (40) programmed to: acquire information on a desired route of the vehicle; generate, based on the desired route and the map information from the map database (41), a plan of the vehicle's simulated trip including a simulated desired control value for the vehicle according to a position on the desired route; acquiring, in association with the position on the desired route, a control result detection value resulting from the con automatic steering trolley for the vehicle performed, based on a road environment in a vehicle vicinity recognized by an external sensor of the vehicle being used, in a travel state of the vehicle recognized by an internal sensor of the vehicle being used, a vehicle position measured by a vehicle position measurement unit, and in a vehicle trip plan generated from the desired route and map information from a map database (41) within the vehicle (31) mounted on the vehicle; calculate a simulated trip plan assessment value for the zone based on a result of a comparison between the simulated desired control value and the control result detection value; edetermining the need to update the map information from the map database (41) in the zone based on the evaluation value of the simulated travel plan and an evaluation threshold.
[0006]
6. Map update determination system (400), according to claim 5, CHARACTERIZED by the fact that the electronic control unit (ECU) is additionally programmed to establish the evaluation limit for the zone based on a position of the zone in the map information of the map database (41) or in a vehicle travel time in the zone.
[0007]
7. Map update determination system (400), according to claim 5, CHARACTERIZED by the fact that, as a result of the travel plan appraisal value being less than the appraisal limit, it determines that the map update map information is required.
[0008]
8. Map update determination system (400), according to claim 5, CHARACTERIZED by the fact that, as a result of the travel plan appraisal value being greater than the appraisal limit, it determines that the map update map information is not required.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR102016025714B1|2022-02-15|Map update determination system

---

JP6815724B2|2021-01-20|Autonomous driving system

---

US7463974B2|2008-12-09|Systems, methods, and programs for determining whether a vehicle is on-road or off-road

---

US10048699B2|2018-08-14|Vehicle control apparatus

---

JP6642334B2|2020-02-05|Vehicle control device

---

US10095227B2|2018-10-09|Automatic driving system

---

RU2737874C1|2020-12-04|Method of storing information of vehicle, method of controlling movement of vehicle and device for storing information of vehicle

---

US10006779B2|2018-06-26|Transmission necessity determination apparatus and route planning system

---

KR102021709B1|2019-09-16|Driving control method and driving control device

---

JP2020038361A|2020-03-12|Map generation system, server, vehicle-side device, method, and storage medium

---

EP3663802A1|2020-06-10|Local window-based 2d occupancy grids for localization of autonomous vehicles

---

WO2020045323A1|2020-03-05|Map generation system, server, vehicle-side device, method, and storage medium

---

JP2020042007A|2020-03-19|System and method for correcting longitudinal position of vehicle using landmark on map

---

KR20200071792A|2020-06-22|Autonomous Driving Method and System Using a Road View or a Aerial View from a Map Server

---

JP2020038359A|2020-03-12|Map system, vehicle-side device, method, and storage medium

---

JP2020038362A|2020-03-12|Vehicle-side device, server, method, and storage medium

---

WO2020045317A1|2020-03-05|Map system, method, and storage medium

---

JP2020038360A|2020-03-12|Vehicle-side device, method, and storage medium

---

JP6870475B2|2021-05-12|Lane information output method and lane information output device

---

JP6790951B2|2020-11-25|Map information learning method and map information learning device

---

JP2020175893A|2020-10-29|Automated driving system, automated driving apparatus, and automated driving method

---

WO2020045318A1|2020-03-05|Vehicle-side device, server, method, and storage medium

---

WO2020045324A1|2020-03-05|Vehicle-side device, method and storage medium

---

WO2020045319A1|2020-03-05|Vehicle control device, method and storage medium

---

JP2020038200A|2020-03-12|Vehicle control device, method, and storage medium

同族专利:

---

公开号 | 公开日

---

EP3165879A1|2017-05-10|

---

US20170122749A1|2017-05-04|

---

US10215572B2|2019-02-26|

---

CN106996793B|2020-11-03|

---

KR101901024B1|2018-09-20|

---

RU2642547C1|2018-01-25|

---

CN106996793A|2017-08-01|

---

BR102016025714A2|2017-05-23|

---

KR20170052488A|2017-05-12|

---

JP2017090548A|2017-05-25|

---

JP6798779B2|2020-12-09|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

JPH09304101A|1996-05-14|1997-11-28|Matsushita Electric Ind Co Ltd|Navigator|

---

JP2002116689A|2000-07-06|2002-04-19|Pioneer Electronic Corp|Updating method of road information in map information providing system, its updating server, server program and recording medium recorded with the program|

---

JP2002054934A|2000-08-11|2002-02-20|Denso Corp|Road map information updating system|

---

JP2002243469A|2001-02-19|2002-08-28|Alpine Electronics Inc|Navigation device and map database updating system|

---

JP4705259B2|2001-03-27|2011-06-22|クラリオン株式会社|Road information processing apparatus, method, road information processing software, navigation system and method, and road information database creation method|

---

JP4297626B2|2001-03-29|2009-07-15|富士通株式会社|Map data correction method and map data correction program|

---

EP1387145A1|2002-08-02|2004-02-04|ComRoad AG|Differential dynamic navigation system for off-board car navigation|

---

DE10236221C1|2002-08-07|2003-11-20|Siemens Ag|Navigation information display method for vehicle with onboard navigation aid, has virtual representation of pilot vehicle superimposed on image of vehicle surrounding area|

---

US20060212195A1|2005-03-15|2006-09-21|Veith Gregory W|Vehicle data recorder and telematic device|

---

RU2375756C2|2005-06-06|2009-12-10|Томтом Интернэшнл Б.В.|Navigation device with information received from camera|

---

WO2007094371A1|2006-02-16|2007-08-23|Pioneer Corporation|Data update device, data update method, data update program and recording medium|

---

DE102008012661A1|2007-08-25|2009-02-26|Continental Teves Ag & Co. Ohg|Update unit and method for updating a digital map|

---

JP4466717B2|2007-11-01|2010-05-26|トヨタ自動車株式会社|Traveling locus generation method and traveling locus generation device|

---

JP5227065B2|2008-01-25|2013-07-03|株式会社岩根研究所|3D machine map, 3D machine map generation device, navigation device and automatic driving device|

---

WO2009101163A2|2008-02-15|2009-08-20|Continental Teves Ag & Co. Ohg|Vehicle system for navigation and/or driver assistance|

---

DE102009017731A1|2008-04-30|2009-11-05|Continental Teves Ag & Co. Ohg|Self-learning map based on environmental sensors|

---

JP5215740B2|2008-06-09|2013-06-19|株式会社日立製作所|Mobile robot system|

---

JP2011162132A|2010-02-12|2011-08-25|Toyota Motor Corp|Automatic driving device|

---

JP5511060B2|2010-03-23|2014-06-04|アイシン・エィ・ダブリュ株式会社|Map update data supply device and map update data supply program|

---

WO2011158347A1|2010-06-16|2011-12-22|トヨタ自動車株式会社|Driving assistance device|

---

US20130152003A1|2011-11-16|2013-06-13|Flextronics Ap, Llc|Configurable dash display|

---

US9123152B1|2012-05-07|2015-09-01|Google Inc.|Map reports from vehicles in the field|

---

US8527199B1|2012-05-17|2013-09-03|Google Inc.|Automatic collection of quality control statistics for maps used in autonomous driving|

---

JP6020224B2|2013-02-07|2016-11-02|トヨタ自動車株式会社|Target travel locus generator|

---

US9891057B2|2015-03-23|2018-02-13|Kabushiki Kaisha Toyota Chuo Kenkyusho|Information processing device, computer readable storage medium, and map data updating system|

---

JP6815724B2|2015-11-04|2021-01-20|トヨタ自動車株式会社|Autonomous driving system|JP6082415B2|2015-03-03|2017-02-15|富士重工業株式会社|Vehicle travel control device|

---

US9958865B2|2015-12-18|2018-05-01|GM Global Technology Operations LLC|Systems and methods to enable or disable autonomous driving|

---

DE112016003567T5|2016-02-25|2018-04-19|Hitachi, Ltd.|Control method for a moving body, moving body, and a moving body control system|

---

JP6642333B2|2016-08-23|2020-02-05|株式会社デンソー|Driving support control device|

---

US20180347993A1|2017-05-31|2018-12-06|GM Global Technology Operations LLC|Systems and methods for verifying road curvature map data|

---

JP6704876B2|2017-06-02|2020-06-03|本田技研工業株式会社|Automatic driving control system|

---

JPWO2018225596A1|2017-06-07|2020-03-19|パイオニア株式会社|Information processing device|

---

JP6996882B2|2017-06-29|2022-01-17|株式会社ゼンリン|Map data structure of data for autonomous driving support system, autonomous driving support method, and autonomous driving|

---

JP2019040176A|2017-08-28|2019-03-14|パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ|Information processing apparatus, vehicle, information processing method, travel control method, and map update method|

---

EP3460406A1|2017-08-28|2019-03-27|Panasonic Intellectual Property Corporation of America|Information processing apparatus, vehicle, information processing method, running control method, and map updating method|

---

US10768011B2|2017-08-31|2020-09-08|Wipro Limited|Method and system for positioning an autonomous vehicle on a navigation map|

---

JP6922582B2|2017-09-15|2021-08-18|トヨタ自動車株式会社|Travel control device, travel control system, and travel control method|

---

KR20190047199A|2017-10-27|2019-05-08|현대자동차주식회사|Apparatus for providing a map information for deciding driving situation of vehicle, system having the same and method thereof|

---

WO2019090417A1|2017-11-10|2019-05-16|Clearpath Robotics Inc.|Systems and methods for updating an electronic map|

---

JP6828668B2|2017-12-04|2021-02-10|株式会社デンソー|Lane network data generator, lane network data generator and storage medium|

---

US11269352B2|2017-12-15|2022-03-08|Baidu Usa Llc|System for building a vehicle-to-cloud real-time traffic map for autonomous driving vehicles |

---

WO2019131355A1|2017-12-25|2019-07-04|パイオニア株式会社|Information acquisition device, information acquisition method and program|

---

CN108318043B|2017-12-29|2020-07-31|百度在线网络技术（北京）有限公司|Method, apparatus, and computer-readable storage medium for updating electronic map|

---

CN108416257A|2018-01-19|2018-08-17|北京交通大学|Merge the underground railway track obstacle detection method of vision and laser radar data feature|

---

KR102323394B1|2018-01-22|2021-11-08|삼성전자주식회사|Apparatus and method for assisting driving of a vehicle|

---

JPWO2019159429A1|2018-02-14|2021-02-12|住友電気工業株式会社|Management equipment, in-vehicle equipment, data collection system, data collection method and data collection program|

---

JP6985207B2|2018-05-09|2021-12-22|トヨタ自動車株式会社|Autonomous driving system|

---

US10564643B2|2018-05-31|2020-02-18|Nissan North America, Inc.|Time-warping for autonomous driving simulation|

---

JP2019211961A|2018-06-04|2019-12-12|パナソニック株式会社|Map information update system|

---

CN108871352A|2018-06-27|2018-11-23|维沃移动通信有限公司|A kind of map updating method and device|

---

CN110654308B|2018-06-29|2021-11-12|比亚迪股份有限公司|Vehicle and whistle control method and device of vehicle|

---

WO2020045324A1|2018-08-31|2020-03-05|株式会社デンソー|Vehicle-side device, method and storage medium|

---

KR20200027256A|2018-09-04|2020-03-12|현대자동차주식회사|Navigation apparatus for vehicle and method for updating map data thereof and vehicle using the same|

---

EP3862995A4|2018-10-01|2021-10-20|Nissan Motor Co., Ltd.|Information processing system, information processing device, and information processing method|

---

EP3647728A1|2018-11-05|2020-05-06|Toyota Jidosha Kabushiki Kaisha|Map information system|

---

CN109448373A|2018-11-09|2019-03-08|百度在线网络技术（北京）有限公司|Method and apparatus for generating information|

---

CN109387208B|2018-11-13|2021-03-19|百度在线网络技术（北京）有限公司|Map data processing method, device, equipment and medium|

---

CN109783588A|2018-12-10|2019-05-21|北京百度网讯科技有限公司|Error message detection method, device, equipment, vehicle and the storage medium of map|

---

WO2020139390A1|2018-12-28|2020-07-02|Didi Research America, Llc|Map editing using vehicle-provided data|

---

US10990105B2|2018-12-28|2021-04-27|Beijing Voyager Technology Co., Ltd.|Vehicle-based virtual stop and yield line detection|

---

US10991244B2|2018-12-28|2021-04-27|Beijing Voyager Technology Co., Ltd.|On-board vehicle stop cause determination system|

---

CN109781122B|2019-01-31|2022-03-01|北京经纬恒润科技股份有限公司|High-precision map updating method and device|

---

JP2020140535A|2019-02-28|2020-09-03|株式会社日立製作所|Server, vehicle assistance system|

---

US11096026B2|2019-03-13|2021-08-17|Here Global B.V.|Road network change detection and local propagation of detected change|

---

US11255680B2|2019-03-13|2022-02-22|Here Global B.V.|Maplets for maintaining and updating a self-healing high definition map|

---

US20200292323A1|2019-03-13|2020-09-17|Here Global B.V.|Maplets for maintaining and updating a self-healing high definition map|

---

CN114008409A|2019-06-12|2022-02-01|株式会社电装|Map data generating device|

---

JPWO2020250719A1|2019-06-13|2020-12-17|

---

US11226207B2|2019-12-18|2022-01-18|GM Cruise Holdings, LLC|Semantic map with live updates|

---

CN113498474A|2020-01-21|2021-10-12|深圳元戎启行科技有限公司|High-precision map updating method and device, computer equipment and storage medium|

---

KR20210105692A|2020-02-19|2021-08-27|삼성전자주식회사|Electronic device and Method for controlling the electronic device thereof|

法律状态:
2017-05-23| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

---

2020-05-19| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

---

2021-11-23| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

---

2022-02-15| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 03/11/2016, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

---

申请号 | 申请日 | 专利标题

---

JP2015216960A|JP6798779B2|2015-11-04|2015-11-04|Map update judgment system|

---

JP2015-216960|2015-11-04|

---