US 11,920,948 B2
Vehicle-side device, method, and non-transitory computer-readable storage medium for uploading map data
Genki Kitahara, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Feb. 25, 2021, as Appl. No. 17/185,682.
Application 17/185,682 is a continuation of application No. PCT/JP2019/033208, filed on Aug. 26, 2019.
Claims priority of application No. 2018-162468 (JP), filed on Aug. 31, 2018; and application No. 2019-143134 (JP), filed on Aug. 2, 2019.
Prior Publication US 2021/0180979 A1, Jun. 17, 2021
Int. Cl. G01C 21/00 (2006.01); B60W 60/00 (2020.01)
CPC G01C 21/3811 (2020.08) [B60W 60/001 (2020.02); G01C 21/3815 (2020.08); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2556/50 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for generating or updating map data that includes coordinate information of a plurality of landmarks disposed along a road, the method executed in collaboration with a vehicle-side device in a vehicle and a server that manages the map data, the method comprising:
by the vehicle-side device, determining whether to update the map data in association with a road segment on which the vehicle is traveling by:
acquiring, from a peripheral monitoring sensor mounted on the vehicle, peripheral object data representing a feature disposed in a vicinity of the vehicle;
analyzing the peripheral object data to calculate a position of a landmark with respect to the vehicle;
calculating a first position of the vehicle based on (i) the position of the landmark with respect to the vehicle calculated from the peripheral object data and (ii) a position of the landmark in the map data;
calculating a second position of the vehicle based on information that does not include the map data;
comparing the first position and the second position to determine whether the first position and the second position deviate from each other; and
transmitting index information to the server indicating that a position misalignment occurs in the map at the second position for a state in which the first position and the second position deviate from each other, the index information comprising a request to the server requesting that the map data be updated;
by the server, setting an update flag indicating that the map data needs to be updated for the road segment based on the index information transmitted from the vehicle-side device, the update flag being set for a point where the position misalignment occurs a predetermined number of times or a predetermined frequency; and
by the vehicle-side device, downloading updated map data from the server and performing a control of the vehicle.