US 12,460,942 B2
Map system, map generating program, storage medium, on-vehicle apparatus, and server
Kentarou Shiota, Kariya (JP); Naoki Nitanda, Kariya (JP); Kazuma Ishigaki, Kariya (JP); and Shinya Taguchi, Kariya (JP)
Assigned to DENSO CORPORATION, Aichi-pref. (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Nov. 24, 2021, as Appl. No. 17/456,444.
Application 17/456,444 is a continuation of application No. PCT/JP2020/021152, filed on May 28, 2020.
Claims priority of application No. 2019-100268 (JP), filed on May 29, 2019; and application No. 2020-089651 (JP), filed on May 22, 2020.
Prior Publication US 2022/0082407 A1, Mar. 17, 2022
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3833 (2020.08) [G01C 21/3822 (2020.08); G01C 21/387 (2020.08); G01C 21/3885 (2020.08)] 12 Claims
OG exemplary drawing
 
1. A map system that includes a vehicle apparatus that is mounted to each vehicle of a plurality of vehicles, the map system comprising:
an image sensor that is included in the vehicle apparatus of a respective vehicle of the plurality of vehicles and configured to capture an image of a surrounding area of the respective vehicle;
a server configured to
generate a probe map using data that is transmitted from the respective vehicle, the data corresponding to feature points extracted from the image captured by the image sensor that is transmitted from the vehicle apparatus of the respective vehicle;
determine bias in the data in which pieces of the data are biased by data of limited accuracy from the image sensor of the respective vehicle, the limited accuracy of the image sensor being determined based on at least one of (i) at least one of a mounting position, a mounting attitude, and a resolution and an angle of view of the image sensor, (ii) a traveling speed of the vehicle, and (iii) a brightness of a surrounding environment of the vehicle;
weight pieces of data of a plurality of data that is transmitted from the plurality of vehicles based on the determined bias in the pieces of the data; and
generate a map by integrating at least a portion of the pieces of data of the plurality of data that is transmitted from the plurality of vehicles based on the weighting,
wherein
the map is transmitted to at least one vehicle of the plurality of vehicles, and an actuator of the at least one vehicle performs a process for controlling the traveling of the at least one vehicle based on the map, wherein:
for a state in which an estimation accuracy of an own-vehicle behavior is determined to be relatively high, the server weights the pieces of data such that a priority level of the pieces of data is higher than a priority level of the data in which the estimation accuracy is determined to be relatively low; and
the estimation accuracy of the own-vehicle behavior being estimated (i) using the respective image that corresponds to the pieces of data and (ii) estimated using a Structure From Motion method.