| CPC G01C 21/3811 (2020.08) [G01C 21/3602 (2013.01); G01C 21/3837 (2020.08)] | 11 Claims |
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1. A vehicle control system generating a map for use in acquiring a position of a subject vehicle to control traveling of the subject vehicle based on the map, the vehicle control system comprising:
a camera configured to detect a situation around the subject vehicle in traveling;
a traveling actuator for controlling the traveling of the subject vehicle; and
a microprocessor and a memory connected to the microprocessor and storing the map, wherein
the microprocessor is configured to perform:
extracting one or more feature points from detection data acquired by the camera;
generating the map with the feature points extracted from the detection data; and
controlling the traveling actuator so that the subject vehicle travels along a target route calculated based on the map;
the microprocessor is configured to further perform:
recognizing a landmark on the map;
determining an importance of the landmark so that the higher a location estimation accuracy of the subject vehicle required based on a viewpoint of safety, the higher the importance of the landmark;
applying the importance of the landmark to a section on a road from a current position of the subject vehicle to a point that is distant in a traveling direction by a distance determined based on a speed limit set for the road on which the subject vehicle is traveling; and
correcting a number of the feature points included in the map corresponding to the section on the road based on the importance of the landmark.
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