Map generation apparatus

A map generation apparatus including a first vehicle and a second vehicle communicating with each other by an inter-vehicle communication, the first vehicle traveling on a first lane, and the second vehicle traveling on a second lane opposite to the first lane, each of the first vehicle and the second vehicle comprising:

• a communication unit capable of communicating with each other;
• and
• a detection device that detects an external situation therearound, wherein
• the first vehicle further comprises
• an electronic control unit including a microprocessor and a memory connected to the microprocessor;
• and
• the microprocessor is configured to perform:
• recognizing the second vehicle traveling on the second lane;
• acquiring information of the external situation around the second vehicle detected by the detection device of the second vehicle in a route matching section through the communication unit when the second vehicle is recognized, the route matching section being a section in which a driving route of the first vehicle and a driving route of the second vehicle match in a driving route including the first lane and the second lane;
• and
• generating a map for the first lane based on the information of the external situation around the first vehicle detected by the detection device of the first vehicle, and a map for the second lane in the route matching section based on the information of the external situation around the second vehicle acquired from the second vehicle through the communication unit.