US 12,228,421 B2
Map update device and storage medium
Masashi Tsukadaira, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Sep. 22, 2022, as Appl. No. 17/934,510.
Application 17/934,510 is a continuation of application No. PCT/JP2021/007690, filed on Mar. 1, 2021.
Claims priority of application No. 2020-054172 (JP), filed on Mar. 25, 2020.
Prior Publication US 2023/0039735 A1, Feb. 9, 2023
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3822 (2020.08) [G01C 21/3841 (2020.08); G01C 21/387 (2020.08)] 8 Claims
OG exemplary drawing
 
1. A map update device comprising a storage medium and a processor, the processor executing instructions stored in the storage medium to:
generate an input map including a landmark and a lane marking based on a plurality of probe data including at least one of image data acquired from an in-vehicle camera and data acquired from an in-vehicle sensor;
superimpose the input map and a reference map on each other based on a feature point to perform position correction for the input map;
detect a difference between the input map and the reference map when the processor has determined that the position correction for the input map has succeeded; and
reflect the detected difference in the reference map to update the reference map;
estimate positions of feature points of a plurality of respective input maps when the processor has determined that the position correction for the input map has failed;
accumulate the estimated positions of the feature points of the plurality of respective input maps to generate accumulated data;
determine whether the positions of the feature points have converged based on the accumulated data;
generate, when the processor determines that the positions of the feature points have converged, difference data from the positions of the feature points that have converged; and
reflect the generated difference data in the reference map to update the reference map.