Granted Patent B2

US 12,372,372 · App. 17/356,358 · Granted Jul 29, 2025

Inventor: Shigehiro Muto (Kariya, JP)

Assignee: DENSO CORPORATION

G01C21/3819B60W10/20B60W30/10G01C21/26

Abstract

Claims (55)

1. A map data generation device for generating map data that includes travelable range data, the travelable range data generated based on a plurality of probe data transmitted from a plurality of vehicles, the travelable range data generated prior to traveling of a subject vehicle, the travelable range data configured to be used to implement an automated driving function or a driving assist function by a subject vehicle, the map data generation device being located external of the plurality of vehicles, the map data generation device comprising:

a start section setting unit configured to set a start section in a first lane, the start section is a section of the first lane in which travel across the lane from the first lane to a second lane begins;

an end section setting unit configured to set an end section in the second lane, the end section is a section in which travel across the lane from the first lane to the second lane ends;

a first storage control unit configured to cause crossing travel track data from the start section to the end section to be stored in a crossing travel track data storage unit of a map data storage unit, the crossing travel track data comprising possible travel paths between the start section and the end section;

a travelable range data generating unit configured to generate the travelable range data indicating a travelable range of travel from the first lane to the second lane using the crossing travel track data to implement an automated driving function or a driving assist function, the travelable range is defined by the possible travel paths between the start section and the end section within the crossing travel track data, the travelable range data comprising part of the map data; and

a second storage control unit configured to cause the travelable range data to be stored in a travelable range data storage unit of the map data storage unit,

wherein

the map data is generated external to the plurality of vehicles, and

the automated driving function or the driving assist function is implemented on the subject vehicle using the travelable range data.

2. The map data generation device according to claim 1 , further comprising:

a first travel track data specifying unit configured to specify crossing travel track data that is closest to the endpoint on one side of the start section and away from the start section as a first travel track data; and

a second travel track data specifying unit configured to specify crossing travel track data that is closest to the endpoint on another side of the start section and away from the start section as a second travel track data, wherein

the travelable range data generating unit generates the travelable range data using the first travel track data and the second travel track data.

3. The map data generation device according to claim 1 , wherein

the second storage control unit causes the travelable range data to be stored in the travelable range data storage unit with an attribute which makes the travelable range data identifiable is provided.

4. The map data generation device according to claim 1 , wherein

the travelable range data generating unit generates travelable range data after excluding crossing travel track data which deviates from a predetermined range by performing statistical processing on the crossing travel track data.

5. The map data generation device according to claim 1 , wherein

the travelable range data generating unit generates the travelable range data in a form of polygon data.

6. The map data generation device according to claim 1 , further comprising:

a road shape data storage unit configured to store road shape data indicating a road shape, wherein

the start section setting unit sets the start section using the road shape data, and

the end section setting unit sets the end section using the road shape data.

7. The map data generation device according to claim 1 , further comprising:

a distribution control unit configured to distribute the travelable range data to in-vehicle equipment.

8. A map data generation system for generating map data that includes travelable range data, the travelable range data generated based on a plurality of probe data transmitted from a plurality of vehicles, the travelable range data generated prior to traveling of a subject vehicle, the travelable range data configured to be used to implement an automated driving function or a driving assist function by a subject vehicle, the map data generation system comprising:

a map data generation device located external of the plurality of vehicles, the map data generation device comprising:

a start section setting unit configured to set a start section in a first lane, the start section is a section of the first lane in which travel across the lane from the first lane to a second lane begins;

an end section setting unit configured to set an end section in the second lane, the end section is a section in which travel across the lane from the first lane to the second lane ends;

a first storage control unit configured to cause crossing travel track data from the start section to the end section to be stored in a crossing travel track data storage unit of a map data storage unit, the crossing travel track data comprising possible travel paths between the start section and the end section;

a travelable range data generating unit configured to generate the travelable range data indicating a travelable range of travel from the first lane to the second lane using the crossing travel track data to implement an automated driving function or a driving assist function, the travelable range is defined by the possible travel paths between the start section and the end section within the crossing travel track data, the travelable range data comprising part of the map data; and

a second storage control unit configured to cause the travelable range data to be stored in a travelable range data storage unit of the map data storage unit; and

in-vehicle equipment configured to communicate with the map data generation device, the in-vehicle equipment comprising:

a travelable range data acquiring unit configured to acquire the travelable range data the map data generation device;

a vehicle behavior data generating unit configured to generate vehicle behavior data indicating vehicle behavior relating to the automated driving function and the driving assist function within the travelable range;

a peripheral situation acquiring unit configured to acquire a situation in an environment of the vehicle;

an implementation determining unit configured to determine whether it is possible to implement the vehicle behavior indicated by the vehicle behavior data using the situation around the vehicle; and

a vehicle behavior implementing unit configured to implement the vehicle behavior in a case where it is determined that it is possible to implement the vehicle behavior,

wherein

the map data is generated external to the plurality of vehicles.

9. The map data generation system according to claim 8 , wherein

the vehicle behavior data generating unit generates predicted track data indicating a predicted track in the travelable range as the vehicle behavior data, and

the vehicle behavior implementing unit implements travel control in accordance with the predicted track indicated by the predicted track data.

10. The map data generation system according to claim 8 , wherein

the vehicle behavior data generating unit generates vehicle control data indicating vehicle control in the travelable range as the vehicle behavior data, and

the vehicle behavior implementing unit implements the vehicle control indicated by the vehicle control data.

11. A map data generation method for generating map data that includes travelable range data, the travelable range data generated based on a plurality of probe data transmitted from a plurality of vehicles, the travelable range data generated prior to traveling of a subject vehicle, the travelable range data configured to be used to implement an automated driving function or a driving assist function by a subject vehicle, the map data generation method comprising:

setting a start section in a first lane, the start section is a section of the first lane in which travel across the lane from the first lane to a second lane begins;

setting an end section in a second lane, the end section is the section in which travel across the lane from the first lane to the second lane ends;

causing crossing travel track data from the start section to the end section to be stored in a crossing travel track data storage unit of a map data storage unit, the crossing travel track data comprising possible travel paths between the start section and the end section;

generating travelable range data indicating a travelable range of travel from the first lane to the second lane using the crossing travel track data to implement an automated driving function or a driving assist function, the travelable range is defined by the possible travel paths between the start section and the end section within the crossing travel track data; and

causing the travelable range data to be stored in a travelable range data storage unit of the map data storage unit,

wherein

the map data is generated external to the plurality of vehicles, and

the automated driving function or the driving assist function is implemented on the subject vehicle using the travelable range data.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (12)