| CPC B60W 60/001 (2020.02) [B60W 30/10 (2013.01); G01C 21/3841 (2020.08); G01C 21/387 (2020.08); G01C 21/3893 (2020.08)] | 4 Claims |
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1. A vehicle system comprising:
a map processing unit that creates local map data based on high accuracy map data and a position of an own vehicle by extracting data of regions near the own vehicle from the high accuracy map data;
and an autonomous driving control unit that receives the local map data from the map processing unit, creates a travel plan for autonomous traveling of the own vehicle based on the local map data, and controls traveling of the own vehicle according to the travel plan, and
a map guidance unit that, based on a set destination, sets a route to the destination,
wherein the map processing unit creates multiple pieces of transmission data by dividing the local map data so as to correspond to regions on a map and transmits the multiple pieces of transmission data to the autonomous driving control unit,
the map processing unit changes a shape and a size of one of the regions on the map corresponding to each piece of transmission data based on a frequency of overtaking in the autonomous driving control,
the map processing unit decides a recommended lane on which the own vehicle should travel based on the route to the destination,
in the case where the frequency of overtaking is set to “frequent overtaking,” the map processing unit does not divide one of the regions on the map including parallel lanes into multiple regions corresponding to the respective lanes and creates transmission data based on the one of the regions on the map, and
in the case where the frequency of overtaking is set to “infrequent overtaking,” the map processing unit divides one of the regions on the map into multiple regions corresponding to the respective parallel lanes and creates the transmission data based on only one of the multiple regions corresponding to the recommended lane.
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