Computing device, own-position estimating device, and map information generating method

A position estimating device comprising:

• a processor configured to:
• store, in a memory, (i) a reference map, (ii) a partial map group comprising partial maps representing respective regions of a periphery map that are spatially partitioned such that adjacent partial maps are non-overlapping, (iii) a plurality of coordinate conversion parameters associated with converted partial maps, and (iv) a gap parameter for each boundary between the converted partial maps that are adjacent to each other, the gap parameter comprising information regarding a correlation between the coordinate conversion parameters of the converted partial maps that are adjacent to each other, wherein;
• the periphery map is divided into (i) one or more confirmed regions corresponding to the partial maps and (ii) at least one unconfirmed region excluding the one or more confirmed regions,
• a respective one of the plurality of coordinate conversion parameters is determined for each of the partial maps by matching each of the partial maps with the reference map, and
• the coordinate conversion parameters are applied to the partial maps for converting the partial maps into the converted partial maps aligned with the reference map;
• determine an offset between (i) an unconfirmed converted partial map associated with the at least one unconfirmed region and (ii) the reference map;
• responsive to the offset being greater than a predetermined threshold, update the partial map group to reduce the offset associated with the converted partial map to be at or below the predetermined threshold;
• detect, based on an output from one or more sensors mounted on a vehicle, a position of a vehicle on the unconfirmed converted partial map in the partial map group;
• and
• based on the detected position of the vehicle approaching a boundary between two converted partial maps, generate a continuous map in which the two converted partial maps are continuous by correcting relative positions of the two converted partial maps using the gap parameter.

A method, comprising:

• storing, by a processor, a reference map in a memory;
• acquiring, by the processor, environment information and movement information from one or more sensors mounted on a vehicle;
• generating, by the processor, a periphery map using the environment information and the movement information;
• extracting, by the processor from the periphery map, partial maps, comprising regions that are spatially partitioned such that adjacent partial maps are non-overlapping, wherein the periphery map is divided into (i) one or more confirmed regions corresponding to the extracted partial maps and (ii) at least one unconfirmed region excluding the one or more confirmed regions;
• determining, by the processor, a respective one of a plurality of coordinate conversion parameters for each of the partial maps by matching each of the partial maps with the reference map to generate a corresponding one of a plurality of converted partial maps aligned with the reference map;
• computing, by the processor based on the coordinate conversion parameters for the converted partial maps, for each boundary between the converted partial maps that are adjacent to each other, a gap parameter comprising information regarding at least a correlation between the coordinate conversion parameters of the converted partial maps that are adjacent to each other;
• determining, by the processor, an offset between (i) an unconfirmed converted partial map associated with the at least one unconfirmed region and (ii) the reference map;
• generating, by the processor, in response to the offset being greater than or equal to a predetermined threshold, a new partial map by setting, as the new partial map, a region of the at least one unconfirmed region corresponding to a region of the unconfirmed converted partial map having an offset from the reference map less than the predetermined threshold;
• and
• generating, by the processor based on a location of the vehicle, a continuous map by connecting the new partial map with at least one of the converted partial maps adjacent to the new partial map using the gap parameter between the new partial map and the at least one adjacent converted partial map.