Map data processing device for vehicle

• US 9,990,375 B2
• Filed: 03/02/2016
• Issued: 06/05/2018
• Est. Priority Date: 03/03/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Mizoguchi, Masato
• Primary Examiner(s): Hasan, Syed H
• Application Number:
  US15/059,292
• Publication Number:
  US 20160259814A1
• Time in Patent Office: 825 Days
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G06F 16/215 Improving data quality; Data cleansing, e.g. de-duplication, removing invalid entries or correcting typographical errors
• CPC Class Codes: G06F 16/2365 Ensuring data consistency and integrity
• CPC Class Codes: G06F 16/2379 Updates performed during online database operations; commit processing
• CPC Class Codes: G06F 16/29 Geographical information databases

Abstract

In a map data processing device for a vehicle, a map database has first map data of a road on which the vehicle travels. A map data computing module computes second map data of the road based on a surrounding environment and a traveling state of the vehicle. An update data computing module computes update data for updating the map database, based on a reliability of the second map data. An update determining module then compares the first map data with the update data. When both disagree with each other, the update determining module determines whether to update first map data with the update data, based on a frequency of discrepancy and the reliability. A data processing module executes a processing of updating the map database in accordance with a determination result by the update determining module.

Claims

1. A map data processing device, comprising:

a map database that has first map data of a road on which a vehicle travels;

a map data computing module configured to compute second map data of the road based on a surrounding environment of the vehicle and a traveling state of the vehicle;

an update data computing module configured to compute update data to update the map database, based on a reliability of the second map data, the reliability being a numerical value that is set based on at least stability of a recognition state of the surrounding environment by one or more cameras equipped on the vehicle, stability of vehicle behavior detected by one or more sensors equipped on the vehicle, and stability of reception state of GPS signals received by the vehicle;

an update determining module configured to;

compare the first map data with the update data;

determine an error between the first map data and the update data; and

determine, by an update determination, to update the first map data with the update data, wherein the determination to update the first map data with the update data is based on at least a multiplication product of the reliability and a frequency with which the error is greater than or equal to a first determination value; and

a data processing module configured to update the map database with the update data based on at least a result of the update determination.

2. The map data processing device according to claim 1, wherein the update data computing module is further configured to:

weight pieces of the second map data with the reliability; and

compute the update data based on an averaging process on the weighted pieces of the second map data.

3. The map data processing device according to claim 2,

wherein the map database is stored in a storage medium that is managed by a server device outside of the vehicle, and

wherein the update data computing module is further configured to compute average data of all vehicles connected to the server device to compute the update data.

4. The map data processing device according to claim 3, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

5. The map data processing device according to claim 2, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

6. The map data processing device according to claim 1, wherein the update determining module is further configured to:

compute a traveling frequency from data of a date on which the vehicle travels on the road; and

determine to update the map database, based on a proportion of the frequency to the traveling frequency.

7. The map data processing device according to claim 6,

wherein the map database is stored in a storage medium is managed by a server device outside of the vehicle, and

wherein the update data computing module is further configured to compute average data of all vehicles connected to the server device to compute the update data.

8. The map data processing device according to claim 7, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

9. The map data processing device according to claim 6, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

10. The map data processing device according to claim 1,

wherein the map database is stored in a storage medium that is managed by a server device outside of the vehicle, and

wherein the update data computing module is further configured to compute average data of all vehicles connected to the server device to compute the update data.

11. The map data processing device according to claim 10, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

12. The map data processing device according to claim 1, wherein the data processing module is further configured to create, at a determined interval, an interpolation point in an area in which road information is absent from the map database.

13. The map data processing device according to claim 1,

wherein the surrounding environment of the vehicle is acquired by at least one stereo camera installed on the vehicle, and

wherein the surrounding environment of the vehicle includes at least one of a road curvature, a road azimuth, a lane width, a type of white line, a number of lanes, or a road shoulder width.

14. The map data processing device according to claim 1,

wherein a travelling state of the vehicle is acquired by at least one of a speed sensor or a yaw rate sensor in the vehicle.

15. The map data processing device according to claim 1, wherein the numerical value of the reliability is set further based on a difference between a first value of the second map data at a current time instance and a second value of the second map data at a first time instance, and wherein the first time instance is prior to the current time instance.

16. The map data processing device according to claim 1, wherein the update determination comprises:

comparison of a second determination value with the multiplication product; and

determination to update the first map data with the update data, wherein the determination to update the first map data with the update data is based on the comparison of the second determination value with the multiplication product.

17. A map data processing device, comprising:

a map database that has first map data of a road on which a vehicle travels;

a map data computing module configured to compute second map data and third map data which is more latest than the second map data of the road, based on a surrounding environment of the vehicle and a traveling state of the vehicle;

an update data computing module configured to compute update data to update the map database, based on a weighted average value of at least second map data and third map data for reliabilities of at least the second map data and the third map data, each of the reliabilities being a numerical value that is set based on at least stability of a recognition state of the surrounding environment by one or more cameras equipped on the vehicle, stability of vehicle behavior detected by one or more sensors equipped on the vehicle, and stability of reception state of GPS signals received by the vehicle;

an update determining module configured to;

compare the first map data with the update data;

determine an error between the first map data and the update data; and

determine, by update determination, to update the first map data with the update data, wherein the determination to update the first map data with the update data is based on at least a reliability of the update data and a frequency with which the error is greater than or equal to a determination value; and

a data processing module configured to update the map database with the update data based on at least a result of the update determination.