# US 12,215,987 B2 · Map data output device

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- Number: US 12,215,987 B2
- Document ID: US12215987B2
- Status: Granted
- Kind: B2
- Application number: 17/477,261
- Filed: 2021-09-16
- Published: 2022-01-06
- Granted: 2025-02-04
- Earliest claimed: 2019-03-20
- Assignees: Denso Corporation; Toyota Jidosha Kabushiki Kaisha
- Applicants: Denso Corporation; Toyota Jidosha Kabushiki Kaisha
- Inventors: Hiroki Ukai; Masahiro Goto; Shuichi Morimoto; Akira Iijima; Chika Tsumori
- Web page: https://patentgrep.com/patent/US12215987B2

## CPC

- G01C 21/3859: {Differential updating map data}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- G01C 21/3815: {Road data}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G09B 29/006: {Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes}
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- 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)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)

## Abstract

A map data output device includes: a map storage that stores map data that represents lane network information; a position determination portion that determines a current position of a vehicle; a read processing portion that reads the map data of an area established based on the current position; a control map generation portion that generates control map data obtained by adding information to the map; and an output portion that outputs the control map data to a vehicle control device.

## Claims

### Claim 1

A map data output device comprising:
a map storage configured to store map data that represents lane network information that shows a model of a lane of a road by connecting a link that indicates a part of the lane;
a position determination portion configured to determine a current position of a vehicle;
a read processing portion configured to read, from the map storage, the map data of an area established based on the current position determined by the position determination portion;
a control map generation portion configured to generate control map data by adding information indicating lane shape information to the map data based on the map data read by the read processing portion; and
an output portion configured to output the control map data to a vehicle control device configured to control behavior of the vehicle, wherein:
the added information is the lane shape information and is defined as addition information;
the map data represents lane shape information that indicates a shape of a lane for each link and is different from the addition information; and
the control map generation portion is configured to generate the control map data obtained by adding the addition information to increase an information amount of the lane shape information in the read map data.

### Claim 2 (depends on 1)

The map data output device according to claim 1, wherein:
the control map generation portion is configured to generate the control map data obtained by increasing an information amount of the lane network information in read map data.

### Claim 3 (depends on 1)

The map data output device according to claim 1, wherein:
the lane network information shown by the map data is divided into a plurality of lane blocks in a longitudinal direction of the road;
at least one lane block among the plurality of lane blocks has, as information, a lane number of the at least one lane block; and
when the at least one lane block includes a branching-merging part that is at least one of a branching part or a merging part, the control map generation portion
divides the at least one lane block into the branching-merging part and a different part and
increases a numerical number of the branching-merging part, wherein
by increase in the numerical number of the branching-merging part, the lane number of the branching-merging part is equal to a lane number added to, as the information, to a lane block adjacent to the branching-merging part.

### Claim 4 (depends on 1)

The map data output device according to claim 1, wherein:
the lane shape information includes
a shape point that is placed at a position where a shape of the lane changes and indicates a position where the lane exists by a coordinate, and
a shape attribute point which is placed at a position where a lane shape attribute changes, of which position is specified based on a distance on the link, and which represents the lane shape attribute at the position; and
the control map generation portion is configured to
generate a corresponding shape attribute point for a shape point having no corresponding shape attribute point by interpolation of the shape attribute point in the lane shape information of the map data read from the map storage, and
generate a corresponding shape point for a shape attribute point having no corresponding shape point based on a coordinate of an end point of the link in the lane shape information of the map data read from the map storage and a distance from the end point of the shape attribute point.

### Claim 5 (depends on 3)

The map data output device according to claim 3, wherein:
the plurality of lane blocks include a first lane block and a second lane block adjacent to the first lane block;
a lane number of the first lane block is less than a lane number of the second lane block; and
the first lane block includes the branching-merging part.

### Claim 6 (depends on 4)

The map data output device according to claim 4, wherein:
the lane shape attribute is an attribute that is different from the position where the lane exists, and specifies the shape of the lane.

### Claim 7

A map data output device comprising:
one or more processors; and
a memory that is configured to store map data that represents lane network information that shows a model of a lane of a road by connecting a link that indicates a part of the lane, and is coupled to the one or more processors and storing program instructions that when executed by the one or more processors cause the one or more processors to at least:
determine a current position of a vehicle;
read, from the memory, the map data of an area established based on a determined current position;
generate control map data by adding information indicating lane shape information to the map data based on read map data; and
output the control map data to a vehicle control device configured to control behavior of the vehicle, wherein:
the added information is the lane shape information and is defined as addition information;
the map data represents lane shape information that indicates a shape of a lane for each link and is different from the addition information; and
the program instructions cause the one or more processors to generate the control map data obtained by adding the addition information to increase an information amount of the lane shape information in the read map data.

### Claim 8

A map data output device comprising:
a map storage configured to store map data that represents lane network information that shows a model of a lane of a road by connecting a link that indicates a part of the lane;
a position determination portion configured to determine a current position of a vehicle;
a read processing portion configured to read, from the map storage, the map data of an area established based on the current position determined by the position determination portion;
a control map generation portion configured to generate control map data by adding information indicating lane shape information to the map data based on the map data read by the read processing portion; and
an output portion configured to output the control map data to a vehicle control device configured to control behavior of the vehicle, wherein:
disconnected links of the lane in the map data are connected by adding the information indicating lane shape information to the map data.

### Claim 9

A map data output device comprising:
one or more processors; and
a memory that is configured to store map data that represents lane network information that shows a model of a lane of a road by connecting a link that indicates a part of the lane, and is coupled to the one or more processors and storing program instructions that when executed by the one or more processors cause the one or more processors to at least:
determine a current position of a vehicle;
read, from the memory, the map data of an area established based on a determined current position;
generate control map data by adding information indicating lane shape information to the map data based on read map data; and
output the control map data to a vehicle control device configured to control behavior of the vehicle, wherein:
disconnected links of the lane in the map data are connected by adding the information indicating lane shape information to the map data.