Map information system

Patent metadata

Field	Value
Publication number	US-11680820-B2
Application number	US-201916660274-A
Country	US
Kind code	B2
Filing date	Oct 22, 2019
Priority date	Nov 5, 2018
Publication date	Jun 20, 2023
Grant date	Jun 20, 2023

Abstract

A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.

First claim

What is claimed is:

1. A map information system comprising:
a map database including map information used for driving assist control for assisting driving of a vehicle; and
a driving assist level determination device configured to determine an allowable level of the driving assist control that is allowed when the vehicle travels in a target range, wherein:
the map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system;
the driving assist level determination device is configured to
acquire, based on driving environment information indicating a driving environment of the vehicle, intervention operation information indicating an intervention operation location that is a location where an intervention operation is performed, the intervention operation being an operation performed by a driver of the vehicle representing an intention of the driver to intervene in the driving assist control during execution of the driving assist control, the driving environment information including information indicating that the intervention operation has been performed,
acquire, based on the map information, the evaluation value for each point or section within the target range, and
determine, based on the evaluation value and the intervention operation location, the allowable level for each point or section within the target range, wherein

the allowable level in the intervention operation location is equal to or less than the allowable level in a normal location that is not the intervention operation location, on a condition that the evaluation values in the intervention operation location and the normal location are identical,
the driving assist level determination device is configured to:
maintain the evaluation value in a previous position while reducing the evaluation value in the intervention operation location to acquire a corrected evaluation value,
set the allowable level to a first level in a location where the corrected evaluation value is less than a first threshold, and
set the allowable level to a second level that is higher than the first level in a location where the corrected evaluation value is equal to or more than the first threshold, and

when a combination of a plurality of types of map information is used for the driving assist control, the evaluation value of each of the plurality of types of map information is used to obtain two or more allowable levels for a same point or section within the target range, and the two or more allowable levels are combined to determine a final allowable level of the driving assist control.

2. The map information system according to claim 1 , wherein the driving assist level determination device is configured to
set the allowable level to the first level in a location where the evaluation value is less than a second threshold,
set the allowable level to the second level in a location where the evaluation value is equal to or more than the second threshold, and
increase the second threshold in the intervention operation location so as to be larger than the second threshold in the previous position.

3. The map information system according to claim 1 , further comprising a database management device configured to manage the map database, wherein:
the database management device is configured to
acquire the intervention operation information from the driving environment information, and
update the map database so as to reduce the evaluation value in the intervention operation location; and

the driving assist level determination device is configured to
set the allowable level to the first level in a location where the evaluation value is less than a second threshold, and
set the allowable level to the second level in a location where the evaluation value is equal to or more than the second threshold.

4. The map information system according to claim 1 , further comprising a driving assist controller configured to perform the driving assist control of the allowable level, based on the driving environment information and the map information.

5. The map information system according to claim 4 , further comprising a display device mounted on the vehicle, wherein:
the driving assist level determination device is configured to determine the allowable level along the target route for the vehicle to travel; and
the driving assist controller is configured to display on the display device a transition of the allowable level from a current location or current time.

6. The map information system according to claim 5 , wherein the driving assist controller is configured to display on the display device the target route and the transition of the allowable level so as to be superimposed on a map.

7. The map information system according to claim 1 , wherein the intervention operation includes steering, accelerating, and braking operations.

8. A map information system comprising:
a storage device configured to store a map database including map information used for driving assist control for assisting driving of a vehicle; and
one or more processors, wherein:
the map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system;
the one or more processors are configured to
acquire, based on driving environment information indicating a driving environment of the vehicle, intervention operation information indicating an intervention operation location that is a location where an intervention operation is performed, the intervention operation being an operation performed by a driver of the vehicle representing an intention of the driver to intervene in the driving assist control during execution of the driving assist control, the driving environment information including information indicating that the intervention operation has been performed,
acquire, based on the map information, the evaluation value for each point or section in a target range, and
determine, based on the evaluation value and the intervention operation location, an allowable level of the driving assist control that is allowed when the vehicle travels within the target range, for each point or section within the target range, wherein

the allowable level in the intervention operation location is equal to or less than the allowable level in a normal location that is not the intervention operation location, on a condition that the evaluation values in the intervention operation location and the normal location are identical,
the one or more processors are configured to
maintain the evaluation value in a previous position while reducing the evaluation value in the intervention operation location to acquire a corrected evaluation value,
set the allowable level to a first level in a location where the corrected evaluation value is less than a first threshold, and
set the allowable level to a second level that is higher than the first level in a location where the corrected evaluation value is equal to or more than the first threshold, and

when a combination of a plurality of types of map information is used for the driving assist control, the evaluation value of each of the plurality of types of map information is used to obtain two or more allowable levels for a same point or section within the target range, and the two or more allowable levels are combined to determine a final allowable level of the driving assist control.

9. The map information system according to claim 8 , wherein the intervention operation includes steering, accelerating, and braking operations.

10. The map information system according to claim 8 , w

Assignees

• Toyota Motor Co Ltd

Inventors

• Kawanai Taichi
• Takagi Yasuhiro
• Harada Masahiro
• Kamata Nobuhide
• Sakaguchi Eiji
• Hokai Keisuke
• Matsui Hideyuki
• Kamikado Kazuhiko
• Hayashi Yusuke
• Fukamachi Hideo

Classifications

• G01C21/3407

  specially adapted for specific applications · CPC title

• B60W30/182

  Selecting between different operative modes, e.g. comfort and performance modes · CPC title

• G01C21/387 Primary

  Organisation of map data, e.g. version management or database structures · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• G08G1/096791

  where the origin of the information is another vehicle · CPC title