# US 11,906,323 B2 · Map generation apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,323 B2 - Document ID: US11906323B2 - Status: Granted - Kind: B2 - Application number: 17/676,185 - Filed: 2022-02-20 - Published: 2022-08-25 - Granted: 2024-02-20 - Earliest claimed: 2021-02-25 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Tokitomo Ariyoshi - Web page: https://patentgrep.com/patent/US11906323B2 ## CPC - G01C 21/3815: {Road data} - G01C 21/32: Structuring or formatting of map data - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G01C 21/3804: {Creation or updating of map data} - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A map generation apparatus including a microprocessor. The microprocessor is configured to perform recognizing another vehicle traveling on an opposite lane opposite to a current lane on which a subject vehicle travels, acquiring an information of an external situation around the other vehicle in a route matching section when the other vehicle is recognized, the information of the external situation being obtained by the other vehicle traveling on the opposite lane, the route matching section being a section in which a driving route of the subject vehicle and a driving route of the other vehicle match in a driving route including the current lane and the opposite lane, and generating a map for the opposite lane in the route matching section, based on the information of the external situation. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The map generation apparatus according to claim 1, wherein the microprocessor is configured to further perform determining whether the route matching section exists, and the microprocessor is configured to perform the acquiring including acquiring the information of the external situation around the second vehicle in the route matching section through the communication unit when it is determined that the route matching section exists. ### Claim 3 (depends on 2) The map generation apparatus according to claim 2, wherein the route matching section is a section in which a route on which the first vehicle is scheduled to travel and a route on which the second vehicle has already traveled match. ### Claim 4 (depends on 2) The map generation apparatus according to claim 2, wherein the route matching section is a section in which a route on which the first vehicle has already traveled and a route on which the second vehicle is scheduled to travel match. ### Claim 5 (depends on 1) The map generation apparatus according to claim 1, wherein the microprocessor is configured to perform the generating including generating the map for the second lane while generating the map for the first lane. ### Claim 6 (depends on 1) The map generation apparatus according to claim 1, wherein the second lane is defined by left and right division lines, the microprocessor is configured to perform the acquiring including acquiring information on positions of the left and right division lines, and the detection device of the first vehicle detects one of the left and right division lines. ### Claim 7 (depends on 1) The map generation apparatus according to claim 1, wherein the microprocessor is configured to further perform setting a target route when the first vehicle travels on the second lane, based on the map for the second lane. ### Claim 8 (depends on 7) The map generation apparatus according to claim 7, wherein the first vehicle is a self-driving vehicle having a self-driving capability, and the microprocessor is configured to perform the setting including setting the target route used when the first vehicle travels on the second lane by self-driving. ### Claim 9 (depends on 1) The map generation apparatus according to claim 1, wherein the second vehicle further comprises an electronic control unit including a microprocessor and a memory connected to the microprocessor, the microprocessor of the second vehicle is configured to perform generating a map for the second lane based on the information of the external situation around the second vehicle detected by the detection device of the second vehicle, and the microprocessor of the first vehicle is configured to perform the acquiring including acquiring the map for the second lane generated by the second vehicle through the communication unit, and the generating including generating the map for the second lane in the route matching section, based on the map for the second lane acquired from the second vehicle. ### Claim 10 (depends on 1) The map generation apparatus according to claim 1, wherein the detection device is a camera. ### Claim 11 A map generation method, generating a map through an inter-vehicle communication between a first vehicle traveling on a first lane and a second vehicle traveling on a second lane opposite to the first lane, each of the first vehicle and the second vehicle including a communication unit capable of communicating with each other and a detection device that detects an external situation therearound, the map generation method comprising: 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.