US 12,392,641 B2
Map information output device, automatic driving control system, map information output system, and map information output method
Hiroki Ukai, Kariya (JP); Takao Kashu, Tokyo (JP); and Chika Tsumori, Funabashi (JP)
Assigned to DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 30, 2022, as Appl. No. 17/657,295.
Claims priority of application No. 2021-063601 (JP), filed on Apr. 2, 2021.
Prior Publication US 2022/0316919 A1, Oct. 6, 2022
Int. Cl. H04W 4/40 (2018.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); G01C 21/32 (2006.01)
CPC G01C 21/3896 (2020.08) [B60W 50/14 (2013.01); B60W 60/0053 (2020.02); G01C 21/32 (2013.01); G01C 21/3844 (2020.08); G01C 21/387 (2020.08); H04W 4/40 (2018.02); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2556/40 (2020.02); B60W 2556/50 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A map information output device including a map information output unit outputting control map information used for enabling automatic driving control of a vehicle to an automatic driving control unit, the map information output device comprising:
a map storage unit configured to store at least one original map for constructing the control map information;
a position obtainer configured to obtain a current position of the vehicle;
a map information constructor configured to sequentially construct control map information; and
a download processor configured to download and store map information, based on the current position of the vehicle and a range, sequentially from a map distribution device outside the vehicle by wireless communication,
wherein
the map information constructor sequentially constructs initial control map information based on an original map of a first range determined based on the current position,
when the vehicle has traveled from the current position to a subsequent position, the download processor downloads and stores an original map of a second range, based on the current position of the vehicle and including the first range, and the map information constructor constructs new control map information based on the original map of the second range,
wherein
the download processor starts to download the original map of the second range based on
the vehicle traveling from the current position to the subsequent position by an amount greater than or equal to a map update distance, the map update distance being shorter than a difference distance between a boundary of the first range and a boundary of the second range, wherein the map update distance is equal to or less than a distance of movement from the current position by the vehicle that causes the difference distance to be 0,
wherein
the map information output unit is configured to output the initial control map information and the new control map information to the automatic driving control unit of the vehicle,
the automatic driving control unit determines whether control of a behavior of the vehicle based on the initial control map information and the new control map information is continuable, and
the automatic driving control unit controls the behavior of the vehicle based on the initial control map information and the new control map information.