Map generation device and map generation method

A map generation method implemented by at least one processor for creating or updating map data based on probe data indicating a feature detected in vehicle surroundings by an environment monitoring sensor incorporated in at least one vehicle, the method comprising:

• receiving the probe data from an on-vehicle device of the at least one vehicle;
• detecting whether a number of characteristic information items consistent between characteristic information included in the probe data and characteristic information included in a corresponding data block of the map data is equal to or greater than a number of data items enough for three-dimensional identification of the probe data;
• determining that the probe data does not include sufficient characteristic information usable for alignment with the map data in response to detecting that the number of characteristic information items consistent between the characteristic information included in the probe data and the characteristic information included in the corresponding data block of the map data is smaller than the number of data items enough for three-dimensional identification of the probe data;
• joining a target probe data set including the probe data that does not include sufficient characteristic information to a probe data set that is previous or subsequent to the target probe data set in consecutive probe data sets, the consecutive probe data sets comprising a plurality of probe data sets acquired from the at least one vehicle during traveling from engine start to engine stop;
• updating the map data based on the joined probe data sets;
• and
• transmitting the map data updated based on the joined probe data sets to the on-vehicle device, the map data includes a travel path model,
• wherein
• the at least one vehicle is configured to follow travel paths of the travel path model during autonomous driving of the at least one vehicle.