| CPC G05D 1/0044 (2013.01) [B60W 60/0059 (2020.02); G01C 21/3811 (2020.08); G01C 21/3837 (2020.08); G01C 21/3889 (2020.08); B60W 2554/20 (2020.02); B60W 2554/80 (2020.02); B60W 2756/10 (2020.02)] | 9 Claims |
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1. A map management system comprising:
one or more processors; and
one or more memory devices configured to store map information used by an automated driving vehicle, wherein
the automated driving vehicle detects an obstacle based on the map information, or acquires a margin distance when stopping in front of an obstacle based on the map information,
when requiring a remote operator's decision about an action with respect to the obstacle, the automated driving vehicle issues a support request that requests the remote operator to give support, and
the one or more processors are configured to:
acquire an operator instruction to the automated driving vehicle issued by the remote operator in response to the support request;
estimate a type of the obstacle based on a state of acquisition of the operator instruction or a content of the operator instruction;
update the map information according to the type of the obstacle; and
control the automated driving vehicle based on the updated map information,
wherein the map information indicates a position of a stationary object or terrain,
wherein the operator instruction comprises a criterion relaxation instruction that instructs the automated driving vehicle to relax a criterion for deciding whether or not to stop in front of the obstacle and a wait instruction that instructs the automated driving vehicle to wait, and
wherein the one or more processors are further configured to:
estimate the obstacle to be the stationary object when acquiring the criterion relaxation instruction as the operator instruction;
estimate the obstacle not to be the stationary object when acquiring the wait instruction as the operator instruction.
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