Data updating device, data updating method, and storage medium storing data updating program

Patent metadata

Field	Value
Publication number	US-11585673-B2
Application number	US-202017094329-A
Country	US
Kind code	B2
Filing date	Nov 10, 2020
Priority date	Nov 12, 2019
Publication date	Feb 21, 2023
Grant date	Feb 21, 2023

Abstract

A data updating device sets, with respect to map data in which road links are represented as line segment sequences, a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction, to thereby generate mesh map data. Then, the data updating device sets a set L of points or line segments that represent the update location, sets a set V including a plurality of first straight lines, and sets a set H including a plurality of second straight lines. Then, the data updating device sets the state of each mesh based on the set L, the set V, and the set H.

First claim

What is claimed is:

1. A data updating system, comprising:
one or more vehicle; and
a data updating device including:
a memory; and
a first processor coupled to the memory, the first processor being configured to:
with respect to map data, set a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction to thereby generate a plurality of meshes that are surrounded by the plurality of first straight lines and the plurality of second straight lines, and generate mesh map data including the plurality of meshes;
set a group L of points or line segments, which represent an update location, set a group V including the plurality of first straight lines, and set a group H including the plurality of second straight lines;
based on the group L, the group V, and the group H, which have been set:
in a case in which the points or the line segments included in the group L overlap with any of the plurality of first straight lines included in the group V, set a status of a mesh corresponding to locations at which the plurality of first straight lines and the points or the line segments overlap as an update status, which indicates a state in which a data update of the mesh map data at the mesh is required;
in a case in which the points or the line segments included in the group L overlap with any of the plurality of second straight lines included in the group H, set a status of a mesh corresponding to locations at which the plurality of second straight lines and the points or the line segments overlap as the update status;
in a case in which the points or the line segments included in the group L do not intersect with any of the plurality of first straight lines included in the group V, set a status of a mesh of a location corresponding to a first straight line having an intersection point when a start point and an end point of the points or the line segments are projected in the second direction as the update status;
in a case in which the points or the line segments included in the group L do not intersect with any of the plurality of second straight lines included in the group H, set a status of a mesh of a location corresponding to a second straight line having an intersection point when a start point and an end point of the points or the line segments are projected in the first direction as the update status;
in a case in which the points or the line segments included in the group L intersect with any of the plurality of first straight lines included in the group V, set a status of a mesh corresponding to an intersection point with the first straight line and a status of a mesh adjacent to the mesh corresponding to an intersection point with the first straight line on the first straight line as the update status; and
in a case in which the points or the line segments included in the group L intersect with any of the plurality of second straight lines included in the group H, set a status of a mesh corresponding to an intersection point with the second straight line and a status of a mesh adjacent to the mesh corresponding to an intersection point with the second straight line on the second straight line as the update status; and

transmit mesh map data in which the state of the mesh is the update status to the one or more vehicle,

wherein the one or more vehicle includes:
a camera; and
an in-vehicle device including a second processor configured to:
receive the mesh map data in which the state of the mesh is the update status from the data updating device; and
provide data for updating the mesh map data by transmitting an image captured by the camera at a location corresponding to the mesh whose status is the update status to the data updating device.

2. The data updating device according to claim 1 , wherein the first processor is configured to split a line segment sequence representing a road link into line segments to thereby set the group L of a plurality of split line segments.

3. The data updating device according to claim 2 , wherein, in a case in which a road link for which acquisition of data is required is added to the map data, the first processor is configured to update a status of each mesh corresponding to a part including the road link for which acquisition of data is required based on the group L, the group V, and the group H corresponding to the road link for which acquisition of data is required.

4. A data updating method that is executed by a data updating device comprising a memory and a first processor coupled to the memory and one or more vehicle comprising a camera and an in-vehicle device including a second processor, the method comprising:
by the first processor:
with respect to map data, setting a plurality of first straight lines extending in a first direction and a plurality of second straight lines extending in a second direction that intersects with the first direction to thereby generate a plurality of meshes that are surrounded by the plurality of first straight lines and the plurality of second straight lines, and generate mesh map data including the plurality of meshes;
setting a group L of points or line segments, which represent an update location, setting a group V including the plurality of first straight lines, and setting a group H including the plurality of second straight lines;
based on the group L, the group V, and the group H, which have been set:
in a case in which the points or the line segments included in the group L overlap with any of the plurality of first straight lines included in the group V, setting a status of a mesh corresponding to locations at which the plurality of first straight lines and the points or the line segments overlap as an update status, which indicates a state in which a data update of the mesh map data at the mesh is required;
in a case in which the points or the line segments included in the group L overlap with any of the plurality of second straight lines included in the group H, setting a status of a mesh corresponding to locations at which the plurality of second straight lines and the points or the line segments overlap as the update status;
in a case in which the points or the line segments included in the group L do not intersect with any of the plurality of first straight lines included in the group V, setting a status of a mesh of a location corresponding to a first straight line having an intersection point when a start point and an end point of the points or the line segments are projected in the second direction as the update status;
in a case in which the points or the line segments included in the group L do not intersect with any of the plurality of second straight lines included in the group H, setting a status of a mesh of a location corresponding to a second straight line having an intersection point when a start point and an end point of the points or the line segments are projected in the first direction as the update status;
in a case in which the points or the line segments included in the group L intersect with any of the plurality of first straight lines included in the group V, setting a status of a mesh corresponding to an intersection point with the first straight line and a status of a mesh adjacent to the mesh corresponding to an intersection point with the first straight line on the first straight line as the update status; and
in a case in which the points or the line segments included in the group L intersect with any of the plurality of second straight lines included in the group H, setting a status of a mesh corresponding to an intersection point with the second straight line and a status of a mesh adjacent to the mesh corresponding to an intersection point with the second straight line on the second

Assignees

• Toyota Motor Co Ltd

Inventors

• Neyama Ryo
• Lefebvre Sylvain
• Tanaka Masahiro

Classifications

• G01C21/3841

  Data obtained from two or more sources, e.g. probe vehicles · CPC title

• G01C21/3881

  Tile-based structures · CPC title

• G01C21/3815 Primary

  Road data · CPC title