Map generation system, server, vehicle-side device, method, and non-transitory computer-readable storage medium for autonomously driving vehicle

A server that generates map data including coordinate information of a plurality of features disposed along the road, wherein:

• the map data includes a reference mark, which is a feature whose absolute coordinates have been measured in advance,
• the server controls at least one processor to:
• acquire position coordinates of a reference mark and position coordinates of a normal feature other than the reference mark which is related to the reference mark, as observation coordinates from each of a plurality of vehicle-side devices;
• statistically process the observation coordinates of the normal feature to determine coordinates of the normal feature;
• and
• correct the observation coordinates of the normal feature in association with the reference mark according to a degree of deviation between the observation coordinates of the reference mark and the absolute coordinates of the reference mark.

A vehicle-side device comprising:

• at least one processor in a map generation system that generates map data including coordinate information of a plurality of features disposed along a road, wherein:
• the processor is configured to:
• specify position coordinates of a feature disposed around a vehicle as observation coordinates based on a detection result of a peripheral monitoring sensor mounted on the vehicle;
• and
• sequentially transmit probe data including the observation coordinates of a predetermined feature as a reference mark and the observation coordinates of a normal feature other than the reference mark, to a server.

A map generation system for autonomously driving a vehicle along a road segment using map data including coordinate information of a plurality of features disposed along the road, the map generation system comprising:

• a vehicle-side device in the vehicle;
• and
• a server that manages the map data, wherein:
• the map data is distributable from the server to the vehicle in patch units, which are data sets for different areas;
• the vehicle-side device controls at least one processor to
• transmit position coordinates of a feature with respect to the road on which the vehicle travels as observation coordinates, which is determined by analyzing peripheral object data indicating the feature disposed around the vehicle and generated by a peripheral monitoring sensor mounted on the vehicle;
• the server controls at least one processor to:
• acquire the observation coordinates for each feature transmitted from the vehicle-side device;
• generate a patch as map data for each area by statistically determining the coordinates of an individual feature;
• set an accuracy level for each patch according to a statistically calculated variation in the coordinates of the feature;
• and
• deliver the patch corresponding to the position of the vehicle to the vehicle in association with the accuracy level of the patch;
• and
• the vehicle-side device restricts an application that uses the map data according to the accuracy level of the patch acquired from the server.

A method for autonomously driving a vehicle along a road segment using map data including coordinate information of a plurality of features disposed along a road, which is executed by collaborating a vehicle-side device in the vehicle and a server that manages map data,

• the method comprising:
• transmitting, by the vehicle-side device, position coordinates of a feature with respect to the road on which the vehicle travels as observation coordinates, which is determined by analyzing peripheral object data indicating the feature disposed around the vehicle and generated by a peripheral monitoring sensor mounted on the vehicle;
• acquiring, by the server, the observation coordinates for each feature transmitted from the vehicle side device;
• generating, by the server, a patch as the map data for different areas by statistically determining the coordinates of an individual feature;
• setting, by the server, an accuracy level for each patch according to a statistically calculated variation in the coordinates of the feature;
• and
• delivering, by the server, the patch according to the position of the vehicle to the vehicle in association with the accuracy level;
• and
• restricting, by the vehicle-side device, an application that uses the map data according to the accuracy level of the patch acquired from the server.

A vehicle-side device for autonomously driving a vehicle along a road segment using map data including coordinate information of a plurality of landmarks disposed along the road, wherein:

• the map data is stored in the server in patch units, which are data sets for different areas, and the accuracy level is set for each patch;
• the vehicle-side device controls at least one processor to:
• acquire the patch corresponding to a current position of the vehicle from the server;
• and
• restrict an application that utilizes the patch according to the accuracy level of the patch obtained from the server.