Image data generation device for vehicle, travel trajectory data generation system, and storage medium

An image data generation device for a vehicle communicating with a server that recognizes an image in at least one of a basic map data, an aerial photograph data, and a navigation map data, recognizes an image data generated by an in-vehicle camera, and generates a travel trajectory data for autonomous driving, the image data generation device comprising:

• a segment image data generation unit that generates the image data for each segment as a segment image data based on the image data generated by the in-vehicle camera;
• a data transmission unit that transmits the segment image data generated by the segment image data generation unit to the server;
• a lane line recognition unit that recognizes a lane line in the segment image data generated by the segment image data generation unit;
• a lane center line specifying unit that specifies a lane center line in the segment image data according to a recognition result of the lane line by the lane line recognition unit;
• and
• a tentative position specifying unit that compares at least one of a road centerline of the navigation map data and a traveling trajectory of the vehicle with a traveling direction of the vehicle to specify a tentative position of the lane center line in the segment image data, wherein:
• when transmitting the segment image data to the server, the data transmission unit transmits a recognition result of the lane line in the segment image data recognized by the lane line recognition unit to the server;
• and
• the segment image data generation unit couples a plurality of image data in accordance with a pavement paint marking on a road surface to generate coupled image data and divides the coupled image data into a plurality of segments according to pavement paint markings on a road surface or navigation map data to generate the segment image data based on at least one of a gap in the pavement paint markings on the road surface, a node position in the navigation map data, and a change in a lane on the road surface;
• each of the plurality of image data is two-dimensional image data including a plurality of image elements;
• the segment image data is a part of the coupled image data indicative of one segment;
• and
• the segment image data includes the part of the coupled image data to align a road surface paint continuously.

An image data generation device for a vehicle communicating with a server that recognizes an image in at least one of a basic map data, an aerial photograph data, and a navigation map data, recognizes an image data generated by an in-vehicle camera, and generates a travel trajectory data for autonomous driving, the image data generation device comprising:

• a segment image data generation unit that generates the image data for each segment as a segment image data based on the image data generated by the in-vehicle camera;
• a data transmission unit that transmits the segment image data generated by the segment image data generation unit to the server;
• an evaluation result assigning unit that assigns an evaluation result to the segment image data generated by the segment image data generation unit;
• and
• a segment image data storage unit that stores the segment image data generated by the segment image data generation unit, wherein:
• the segment image data storage unit stores one of a plurality of segment image data in a same segment, to which a best evaluation result is assigned, and the best evaluation result assigned to the one of the plurality of segment image data by the evaluation result assigning unit, to connect the one of the plurality of segment image data with the best evaluation result;
• when transmitting the segment image data to the server, the data transmission unit transmits the evaluation result stored in the segment image data storage unit in association with the segment image data to the server;
• and
• the segment image data generation unit couples a plurality of image data in accordance with a pavement paint marking on a road surface to generate coupled image data and divides the coupled image data into a plurality of segments according to pavement paint markings on a road surface or navigation map data to generate the segment image data based on at least one of a gap in the pavement paint markings on the road surface, a node position in the navigation map data, and a change in a lane on the road surface;
• each of the plurality of image data is two-dimensional image data including a plurality of image elements;
• the segment image data is a part of the coupled image data indicative of one segment;
• and
• the segment image data includes the part of the coupled image data to align a road surface paint continuously.

A non-transitory tangible computer readable medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for an image data generation device for a vehicle, which communicates with a server that recognizes an image in at least one of a basic map data, an aerial photograph data, and a navigation map data, recognizes an image data generated by an in-vehicle camera, and generates a travel trajectory data for autonomous driving, the instructions comprising:

• generating an image data for each segment as a segment image data based on the image data generated by the in-vehicle camera;
• and
• transmitting the segment image data generated in the generating of the segment image data to the server, wherein:
• the generating of the segment image data includes:
• arranging a plurality of image data photographed in a chronological order by the in-vehicle camera according to coordinate points of an estimated trajectory of the vehicle;
• coupling the plurality of image data arranged by the arranging of the image data in accordance with a pavement paint marking on a road surface to generate a coupled image data;
• and
• dividing the coupled image data generated by the coupling of the image data by each segment according to the pavement paint marking on the road surface or the navigation map data to generate the segment image data based on at least one of a gap in the pavement paint marking on the road surface, a node position in the navigation map data, and a change in a lane on the road surface;
• each of the plurality of image data is two-dimensional image data including a plurality of image elements;
• the segment image data is a part of the coupled image data indicative of one segment;
• and
• the segment image data includes the part of the coupled image data to align a road surface paint continuously.

A non-transitory tangible computer readable medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for an image data generation device for a vehicle, which communicates with a server that recognizes an image in at least one of a basic map data, an aerial photograph data, and a navigation map data, recognizes an image data generated by an in-vehicle camera, and generates a travel trajectory data for autonomous driving, the instructions comprising:

• generating an image data for each segment as a segment image data based on the image data generated by the in-vehicle camera;
• coupling a plurality of image data in accordance with a pavement paint marking on a road surface to generate coupled image data;
• dividing the coupled image data into a plurality of segments according to pavement paint markings on a road surface or navigation map data to generate the segment image data based on at least one of a gap in the pavement paint markings on the road surface, a node position in the navigation map data, and a change in a lane on the road surface;
• each of the plurality of image data is two-dimensional image data including a plurality of image elements;
• the segment image data is a part of the coupled image data indicative of one segment;
• and
• the segment image data includes the part of the coupled image data to align a road surface paint continuously;
• transmitting the segment image data generated in the generating of the segment image data to the server;
• recognizing a lane line in the segment image data generated by the generating of the segment image data;
• specifying a lane center line in the segment image data according to a recognition result of the lane line by the recognizing of the lane line;
• and
• comparing at least one of a road centerline of the navigation map data and a traveling trajectory of the vehicle with a traveling direction of the vehicle to specify a tentative position of the lane center line in the segment image data, wherein:
• when transmitting the segment image data to the server, the transmitting of the segment image data further includes:
• transmitting a recognition result of the lane line in the segment image data recognized by the recognizing of the lane line to the server.

A non-transitory tangible computer readable medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for an image data generation device for a vehicle, which communicates with a server that recognizes an image in at least one of a basic map data, an aerial photograph data, and a navigation map data, recognizes an image data generated by an in-vehicle camera, and generates a travel trajectory data for autonomous driving, the instructions comprising:

• generating an image data for each segment as a segment image data based on the image data generated by the in-vehicle camera;
• coupling a plurality of image data in accordance with a pavement paint marking on a road surface to generate coupled image data;
• dividing the coupled image data into a plurality of segments according to pavement paint markings on a road surface or navigation map data to generate the segment image data based on at least one of a cap in the pavement paint markings on the road surface, a node position in the navigation map data, and a change in a lane on the road surface;
• each of the plurality of image data is two-dimensional image data including a plurality of image elements;
• the segment image data is a part of the coupled image data indicative of one segment;
• and
• the segment image data includes the part of the coupled image data to align a road surface paint continuously;
• transmitting the segment image data generated in the generating of the segment image data to the server;
• assigning an evaluation result to the segment image data generated by the generating of the segment image data;
• storing the segment image data generated by the generating of the segment image data, wherein:
• the storing of the segment image data further includes:
• storing one of a plurality of segment image data in a same segment, to which a best evaluation result is assigned, and the best evaluation result assigned to the one of the plurality of segment image data by the assigning of the evaluation result, to connect the one of the plurality of segment image data with the best evaluation result;
• and
• when transmitting the segment image data to the server, the transmitting of the segment image data further includes:
• transmitting the evaluation result stored in the storing of the segment image data in association with the segment image data to the server.