Apparatus and method for collecting data for map generation, and vehicle

Patent metadata

Field	Value
Publication number	US-12232000-B2
Application number	US-202117159622-A
Country	US
Kind code	B2
Filing date	Jan 27, 2021
Priority date	Jan 29, 2020
Publication date	Feb 18, 2025
Grant date	Feb 18, 2025

Abstract

An apparatus for collecting data for map generation includes a processor configured to determine whether the current state of a vehicle is suitable for collection of collection target data to be used for generating or updating a map, based on suitability data received from the vehicle with a communication device. The suitability data indicates suitability of the vehicle or surroundings thereof for the collection. The processor is also configured to instruct, with the communication device, the vehicle to collect the collection target data when determining that the current state of the vehicle is suitable for the collection.

First claim

What is claimed is:

1. A method for collecting data for map generation, comprising:
determining whether a current state of a vehicle is suitable for collection of collection target data to be used for generating or updating a map, based on suitability data received from the vehicle using a communication device, the suitability data indicating suitability of the vehicle or surroundings thereof for the collection, wherein the suitability data includes a visibility index indicating a visibility of a road or a road feature, the visibility index being generated based on data obtained by an illuminance sensor and a camera for generating an image of the surroundings of the vehicle;
transmitting to the vehicle, before transmitting a collection command, a type of collection target data to be collected for a target region, wherein the type of the collection target data comprises whole image data and sub-image data, and based on the type of the collection target data being sub-image data, an area representing a road surface is extracted from a road image;
based on the collection target data being the whole image data, identifying a location of a center of a whole-image or a center of a sub-image, based on a bearing of a location corresponding to an image center with respect to the camera, a location and traveling direction of the vehicle, and internal parameters of the camera, and identifying a location of a feature based on the location of the center of the whole-image or the sub-image;
transmitting, using the communication device, after determining that the current state of the vehicle is suitable for the collection, the collection command instructing the vehicle to collect the collection target data corresponding to the type of the collection target data to be collected for the target region; and
based on the collection target data, controlling travel of the vehicle using newly generated map information.

2. The method of claim 1 , wherein the type of the collection target data to be collected for the target region includes the type of the collection target data for each road section of the road included in the target region.

3. The method of claim 1 , wherein the type of the collection target data to be collected for the target region includes the type of the collection target data for each road section of the road included in the target region.

4. The method according to claim 1 , wherein the suitability data includes at least one index selected from a group consisting of a hidden index indicating whether the feature near the vehicle is hidden in the image by another object, a rest index indicating whether the vehicle is at rest, and a location index indicating a location of a vehicle.

5. The method according to claim 4 , wherein the suitability data includes the visibility index, and the method further comprises determining, only when the visibility index indicates that the road or the road feature is clear in the image, that the current state of the vehicle is suitable for the collection.

6. The method according to claim 4 , wherein the suitability data includes the hidden index, and further comprises: determining, only when the hidden index indicates that the feature near the vehicle is not hidden in the image by another object, that the current state of the vehicle is suitable for the collection.

7. The method according to claim 4 , wherein the suitability data includes the rest index, and further comprises: determining, only when the rest index indicates that the vehicle is moving, that the current state of the vehicle is suitable for the collection.

8. The method according to claim 4 , wherein the suitability data includes the location index, and further comprises: determining, only when the location index indicates that the vehicle is not straddling a lane division line, that the current state of the vehicle is suitable for the collection.

Assignees

• Toyota Motor Co Ltd

Inventors

• Neyama Ryo
• Tanaka Masahiro
• Koreishi Jun

Classifications

• G06V10/764

  using classification, e.g. of video objects · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• H04W4/025

  using location based information parameters · CPC title

• H04W4/38

  for collecting sensor information · CPC title

• G01C21/3841

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