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`GO9B 29/00
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`GOIC 21/26
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`GO8G 1/137
`
`Z
`
`A
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`{21} [Application number] 2015034943
`
`(22) [Filing date] 20150225
`
`(72) [Apmicant]
`
`[Name] PIONEER ELECTRONIC CORP
`
`[Name] INCREMENT P CORP
`
`{72} [Inventor]
`
`[Full name] KODA KENIT
`
`[Full name] SUZUKT MASAMI
`
`[Full name] KOBAYASHI HAJIME
`
`[Full name] NITHARA RYOKO
`
`[Full name] OISHT JUNYA
`
`{Theme cade (reference}]
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`2C032
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`[F-term (reference) ]
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`SHIBSIFF22
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`SHISLFF27
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`SHISIMC18
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`SHISIMCI9
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`SHISIMC27
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`(57) [Overview]
`
`PROBLEM TO BE SOLVED: To provide a map data storage device that can sultably update
`
`map data taking into consideration a reliability level of sensors used in detection of a chan
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`ge point.
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`SGLUTION: A server device 2 is configured to acquire change point candidate data generat
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`ed by cornparing surrounding information based on an output of a sensor unit 17 with a pa
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`rial map DB 12, and sensor accuracy relevant information Is relevant to accuracy of objec
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`t sensors upon acquisition of the change point candidate data. Then, the server device 2 is
`
`confiqured to set weight W to each of the acquired change point candidate data on the bas
`
`is of the sensar accuracy relevant information Is; and update a distribution map DB?1i ont
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`he basis of the change point candidate data having the weight W set.
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`SELECTED DRAWING: Figure 2
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`

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`[Patent Claims]
`
`

`

`[Claim 1]
`
`A storage unit for storing map data ;
`
`A i acquisition part which acquires change point candidate data showing a candidate of ac
`
`Range point to be updated in the map date generated based an the peripheral information
`
`acquired by each of the plurality of mobile bodies and the map data frora the plurality of m
`
`obie bodies ;
`
`A 2 acquisition part for acquiring information on accuracy of the sensor used when each of
`
`the plurality of mobile bodies acquires the peripheral inforrnation ;
`
`A setting part for setting a weight to each of the change point candidate data acquired by t
`
`he 2? acquisition part on the basis of infarrnation on the accuracy acquired by the 1 acquisit
`
`ion part ;
`
`An updating unit for updating the map data based on the set change point candidate data
`
`A map data storage device comprising :.
`
`[Claim 2]
`
`A map data transmitting unit for transmitting the map data or a part of the map data to th
`
`e plurality of mobile units is further provided.
`
`The map data storage apparatus according to claim 1, wherein the 1 acquisition unit acquir
`
`es the change point candidate data generated based on the rnap data received from the m
`
`ap data transmission unit by each of the plurality of mobile units and the peripheral inform
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`ation from the plurality of mobile units.
`
`[Claim 3]
`
`The map data storage device according to claim i or 2, wherein the updating unit calculate
`
`San accumulated value of the weight for each of the same or similar change point candida
`
`te data, and reflects the change point candidate data whose curnulative value exceeds @ pr
`
`ecdetermined threshald value in the map data.
`
`[Claim 4]
`
`The map data storage device according to any one of claims 1 to 3, wherein the setting uni
`
`t sets the weight to be larger as the accuracy of the sensor estimated fram the information
`
`on the accuracy increases.
`
`[Claim 5]
`
`The map data storage device according to any one of claims 1 to 4, wherein the 2 acquisiti
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`on unit acquires at least one of a type of the sensor, an environment in which the peripher
`
`al information is acquired using the sensor, and a performance of the sensor as inforrnatio
`
`n regarding the accuracy.
`
`[Claim 6]
`
`The map data storage device according to claim 5, wherein the 2 acquisition unit acquires
`
`at feast one of weather, a time period, a speed, and an acceleration when the environment
`
`information is acquired as the environment,
`
`[Claim ¥]
`
`When the sensor is a camera, when the weather at the time of acquiring the peripheral inf
`
`

`

`ormation is clear, the setting unit increases the weight more than in the case of a weather
`
`other than a sunny weather, and when the sensor is a rider, the setting unit Increases the
`
`weight. The map data storage device according to claim 6, wherein when the weather at th
`
`e time of acquiring the peripheral information is cloudy, the weight is set larger than in the
`
`case of weather other than fogging.
`
`[Claim 8]
`
`In the case where the sensor is a camera, the setting unit increases the weight rnore than
`
`in the nighttime when the time zone in which the peripheral information is acquired is in th
`
`e daytime, and when the sensor is a rider, the setting unit increases the weight in the case
`
`where the sensor is a riden The rnap data storage device according to clair 6 or 7, wherel
`
`nwhen the tinte zone in which the peripheral information is acquired is at night, the weigh
`
`tis set larger than in the daytime.
`
`[Claim 9]
`
`The map data storage device according to any one of claims 6 to 8, wherein, when the sean
`
`sor is a camera or a rider the setting unit sets the weight to be smaller as the speed or ac
`
`celeration of the rnoving body when the perisheral information is acquired increases.
`
`[Claim 10]
`
`The map data storage device according to any one. of clairns t to 9, wherein the 2 acquisiti
`
`an anit acquires information on the accuracy from the mobile unit or a terminal other than
`
`the mobile unit.
`
`[Claim 11]
`
`A storage unit for storing map data ;
`
`A i acquisitian part for acquiring peripheral information acquired by each of the plurality of
`
`mobile bodies ;
`
`A generator for generating a change point candidate data indicating a candidate of a chang
`
`@ paint to be updated in the map data based on the peripheral information and the map da
`
`ta;
`
`A 2 acquisition part for acquiring information on accuracy of the sensor used when each of
`
`the plurality of mobile bodies acquires the peripheral information ;
`
`A setting part for setting a weight to each of the change point candidate data acquired by t
`
`he 2 acquisition part on the basis of information on the accuracy acquired by the 1 acquisit
`
`ion part ;
`
`An updating unit for updating the map data based on the set change point candidate data
`
`map data storage device comprising :.
`
`t A
`
`(Claim 12]
`
`The control method is executed by a map data storage device including a storage unit for s
`
`toring map data.
`
`A i acquisition step of acquiring, from the plurality of rnohile badies, change point candidat
`
`e data indicating a candidate of a change point to be updated in the map data generated b
`
`

`

`ased on the peripheral information acquired by each of the plurality of mobile bodies and ¢
`
`he map data ;
`
`A 2 acquisition step of acquiring information on accuracy of the sensor used when each of t
`
`he plurality of mobile bodies acquires the peripheral information ;
`
`A setting step fer setting a weight to each of the change point candidate data acquired by t
`
`he 2 acquisition step on the basis of the Information an the accuracy acquired in the 1 acg
`
`uisition step ;
`
`An updating step of updating the map data based on the set change point candidate data ;
`
`A **ting) control method.
`
`[Claim 13]
`
`A program executed by a computer of a map data storage device including a storage unit f
`
`or storing map data is provided.
`
`A i acquisition part which acquires change point candidate data showing a candidate of ac
`
`hange point to be updated in the map data generated based on the peripheral information
`
`acquired by each of the olurality of mobile bodies and the map data from the plurality of m
`
`ebile bodies ;
`
`A 2 acquisition part for acquiring information on accuracy of the sensor used when each of
`
`the plurality of mobile bodies acquires the peripheral information ;
`
`A setting part for setting a weight to each of the change point candidate data acquired by t
`
`he 2 acquisition part aon the basis of information on the accuracy acquired by the 1 acquisit
`
`ion part ;
`
`An updating unit updates the map data based on the set change point candidate data.
`
`A program for causing the computer to function.
`
`[Claim 14]
`
`A& storage medium storing a program according to claim 13.
`
`
`
`[Detailed description af the invention]
`
`[Technical field]
`
`(0001)
`
`The present invention relates to a technique for updating map data.
`
`[Background of the Invention]
`
`fo002]
`
`Conventionally, a technique of updating map data based on an output of a sensor installed
`
`ina vehicle has been known. For example, in Patent Document 1, a server which manages
`
`latest map data and a server are described.
`
`

`

`In a navigation system having a navigation device which receives update information of a
`
`map, a navigation device which increases a frequency of updating a map at a detected pol
`
`nt when a change in map data is detected by a sensor is disclosad,
`
`[Prior art reference]
`
`[Patent document]
`
`foog3}
`
`[Patent document TWIP 2013-108820A
`
`[Summary of the Invention]
`
`[Problem to be solved by the invention]
`
`fooo4}
`
`A system is known in which, when each vehicle detects @ change point of map data relativ
`
`e to map data, data relating to the point of change is transmitted to the server to update t
`
`he map data. In such a system, when the server receives data of a predetermined nurnber
`
`or more of the same or similar change point, the server determines that the change pointi
`
`s reliable and reflects the data of the change point on the map data. However, since the rel
`
`iability of the sensor used to detect the paint of change differs depending on the type, perf
`
`ormance, and measurement environment of the sensor, it may not be appropriate to unifor
`
`miy handle all cases in which the point of change is detected,
`
`[o005}
`
`Tris an abject of the present invention to provide a map data storage device capable of ap
`
`propriately updating map data in consideration of rellabiity of a sensor used in detecting a
`
`charige point.
`
`[Means for solving the problem]
`
`[o006)
`
`According to a 1 aspect of the present invention, there is provided a map data storage devi
`
`ce, wherein the first acquisition unit acquires, from the plurality of mobile units, change po
`
`int candidate data indicating a candidate of a change point to be updated in the map data,
`
`the change paint candidate being generated based on the peripheral information acquired
`
`by each of the plurality of mobile units and the map data. A 2 acquisition part for acquiring
`
`information on accuracy of the sensor used when each of the plurality of mobile bodies acq
`
`wires the peripheral information ; According to another aspect of the presert invention, the
`
`re is provided a method for updating the map data, comprising : a setting unit configured ¢
`
`o set a weight in each of the change point candidate data acquired by the 2 acquisition uni
`
`t based on the information on the accuracy acquired by the 1 acquisition unit > and an upd
`
`ate unit. configured to update the map data based on the change point candidate data in w
`
`hich the weight is set.
`
`[0007]
`
`In addition, in the present invention, there is provided a map data storage device, camprisi
`
`ng : a storage unit that stores map data; a 1 acquisition unit that acquires peripheral infor
`
`mation acquired by each of the plurality of mobile units ; and a generation unit that genera
`
`tes a change point candidate data indicating a candidate of a change point to be updated i
`
`

`

`nm the map data based on the peripheral information and the map data. A 2 acquisition part
`
`for acquiring Information on accuracy of the sensor used when each of the plurality of mabi
`
`le bodies acquires the peripheral information ; According to another aspect of the present |
`
`nvention, there is provided a method for updating the map data, comprising : a setting unl
`
`t configured ta set a weight in each of the change point candidate data acquired by the 2 a
`
`cquisitien unit based on the Infarmation an the accuracy acquired by the 1 acquisition unit
`
`and an update unit configured to update the map data based on the change point candid
`
`ate data in which the weight is set.
`
`fO00s}
`
`Further, according to the present invention, there is provided a control method which is ex
`
`ecuted by @ map data storage device including a storage unit for storing map data. A I acq
`
`uisition step of acquiring, from the plurality of mobile bodies, change point candidate data j
`
`ndicating a candidate of a change point to be updated in the map data generated based on
`
`the peripheral information acquired by each of the plurality of mobile bodies and the map
`
`data ; A? acquisition step of acquiring information on accuracy of a sensor used when eac
`
`h af the plurality of mobile bodies acquires the peripheral infarmation, and a setting step o
`
`f setting a weight to each of the change point candidate data acquired by the 2 acquisition
`
`step on the basis of information on the accuracy acquired in the 1 acquisition step ; Accord
`
`ing to another aspect of the present invention, there is pravided an update pracess for upd
`
`ating the mapdata based an the set change point candidate data.
`
`[e0as]
`
`The present invention aiso provides a computer pragram executed by a camputer of a rap
`
`data storage device including a storage unit for storing map data. A i acquisition part whic
`
`h acquires change point candidate data showing a candidate af a change point to be updat
`
`ed in the map data generated based on the perlsheral information acquired by each of the
`
`nurality of mobile bodies and the map data fram the plurality of mobile bodies ; A 2 acquis
`
`ition part for acquiring information on accuracy of the sensor used when each of the plurali
`
`ty of mobile bodies acquires the peripheral information, and a setting part for setting 4a wei
`
`ght to each of the change point candidate data acquired by the 2 acquisition part an the ba
`
`sis of information on the accuracy acquired by the 1 acquisition part ; The computer may F
`
`unction as an updating unit for updating the map data based on the set change point candi
`
`date data.
`
`[Brief Description of the Drawings]
`
`fOO10]
`
`[Fig. 1]it is a schernatic structure of a map renewal system.
`
`[Fig. 2] The block configuration of an operation supporting device and a server device is sh
`own,
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`[Fig, 3]FIG. 4 is an example of a table used for weighting of change point candidate data
`
`[Fig. 4]F1G, 4 is a flowchart of an update process of a distribution map DB executed by as
`
`

`

`erver device >.
`
`[Mode for carrying out the Invention]
`
`fOo1d}
`
`According to a preferred embodiment of the present invention, a rnap data storage device |
`
`ncludes a storage unit far storing map data, anda 1 acquisition unit for acquiring, from th
`
`e mluralicy of mobile units, change point candidate data indicating a candidate of a change
`
`point to be updated in the map data generated based on the peripheral information acquir
`
`ed by each of the plurality of mobile units and the map data. A 2 acquisition part for acquir
`
`ing information on accuracy of the sensor used when each of the plurality of mobile bodies
`
`acquires the peripheral information ; The apparatus includes a setting unit configured to se
`
`ta weight to each of the change point candidate data acquired by the 2 acquisition unit ba
`
`sed on the information on the accuracy acquired by the 7 acquisition unit, and an update u
`
`nit configured to update the map data based on the change point candidate data having th
`
`@ set weight.
`
`fO0127
`
`The map data storage device includes a storage unit that stores map data,:a 1 acquisition
`
`unit, a 2 acquisition unit, a setting unit, and an update unit. The 1 acquisition unit acquire
`
`S, from a plurality of mobile units, change point candidate data indicating a candidate ofa
`
`change point to be updated in the map data qenerated based on the perigheral information
`
`acquired by each ofthe plurality of mobile units and the map data. The 2 acquisition unit a
`
`cquires information on the accuracy of the sensor used when each of the plurality of mobi
`
`e unlts acquires the peripheral information. The setting unit sets a weight for each of the c
`
`hange point candidate data acquired by the ? acquisition unft based on the Infarmation on
`
`the accuracy of the sensor acquired by the 1 acquisition unit. Then, the updating unit upda
`
`tes the map data based on the changed point candidate data whase weight is set.
`
`fO013}
`
`In this aspect, when the map data storage device receives, from the mobile unit, the chan
`
`ge point candidate data indicating the information of the change point to be updated in the
`
`map data, the map data storage unit weights the change point candidate data based on th
`
`e information regarding the accuracy of the sensor used when the mobile unit acquires the
`
`peripheral information. Thus, the map data storage device can appropriately update the m
`
`ap data in consideration of the accuracy of the sensor used when detecting the candidate o
`
`fthe change point.
`
`fod14}
`
`In one mode of the above-mentioned map data storage, a map data storage is further pro
`
`vided with the map data transmission section which transmits some of aforementioned ma
`
`p data or aforementioned map data to said plurality of rnabile bores, and is the Ist above
`
`-mentioned acquisition part, The plurality of moving objects acquires the change point can
`
`didate data generated based on the map data received from the map data transmitting sec
`
`tien and the peripheral information from the plurality of moving objects. According to this
`
`aspect, the moving body is preferably capable of detecting the candidate of the change poi
`
`

`

`nt to be updated in the map date stored in the map data storage device to generate the ch
`
`ange point candidate data.
`
`fOG15]
`
`In another aspect of the map data storage device, the updating unit calculates the curnulat
`
`ive Value of the weight for each of the same or similar change point candidate data, and re
`
`flacts the change point candidate data whose cumulative value exceeds a predetermined t
`
`hreshald value in the map data. According to this aspect, the rap data storage device can
`
`suitably deterrnine whether or not to reflect the acquired change point candidate data into
`
`the map data, taking into consideration the accuracy of the sensor used in detecting the ca
`
`ndidate of the change point,
`
`fO016)
`
`In another aspect of the map data storage device, the setting unit sets the weight larger a
`
`5 the accuracy of the sensor estimated from the information relating to the accuracyis hig
`
`her. Thus, the map data storage device can preferentially reflect the change point candidat
`
`e data based on the output of the sensor estimated to be highly accurate in the map data.
`
`fO047}
`
`In another aspect of the above-described map data storage device, the 2 acquisition unita
`
`cquires at least one of a type of the sensor, an environment in which the peripheral inform
`
`ation is acquired using the sensor, and a performance of the sensor as the information req
`
`arding the accuracy, According to this aspect, the map data storage device Is preferably. ca
`
`pable of setting a weight corresponding to the accuracy of the sensor
`
`fo018}
`
`In anather aspect of the map data storage device, the 2 acquisition unit acquires at least o
`
`ne of weather, a time period, a speed, and an acceleration when the ambient information j
`
`§ acquired as the environment. According to this aspect, it is possible for the map data sto
`
`rage device to suitably acquire the parameters that influence the reliability (accuracy) of th
`
`6 sensor and to appropriately set the weight.
`
`[O019}
`
`In another aspect of the map data storage device, when the sensor is a camera, the settin
`
`g unit obtains the weather when the ambient information is acquired. When the weight Isl
`
`arger than in the case of weather other than fine weather and when the sensoris a rider
`
`{Lidar:Laser Hfiurninated Detection And Ranging), the weight is set larger than in the cas
`
`@ of weather other than fogging when the weather at the time of acquiring the peripheral i
`
`nformation is cloudy, According to this aspect, the map data storage device can appropriat
`
`ely set the weight to the change point candidate data when the change point candidate dat
`
`a is generated using the camera or the rider In consideration of the influence on the accura
`
`cy of the sensor by the weather.
`
`[O020}
`
`In another aspect of the above-described map data storage device, when the sensor is ac
`
`amera, the setting unit increases the weight when the sensor is a camera, and sets the we
`
`

`

`ight larger when the sensoris a rider, and when the sensor is a rider, the weight is larger t
`
`han when the user is In a daytime. According to this aspect, the map data storage device c
`
`an appropriately set the weight of the change point candidate data when the change point
`
`candidate data is generated using the carnera or the rider, taking into consideration the infi
`
`uence of the time period on the accuracy of the senson
`
`9021)
`
`In another aspect of the above map data storage device, when the senser is a camera or a
`
`rider, the setting unit sets the weight to be smaller as the speed or acceleration of the rnov
`
`ing body when the peripheral information is acquired is larger. According to this aspect, the
`
`map data storage device can appropriately set the weight to the change point candidate da
`
`ta when the change point candidate data is generated using the camera or the rider in con
`
`sideration of the influence an the accuracy of the sensor due to the speed and the accelera
`
`tion at the time of moving,
`
`fOd22}
`
`In another aspect of the above map data storage device, the 2? acquisition unit acquires inf
`
`armation regarding the accuracy from the mobile unit or a terminal other than the mobile
`
`unit, According to this aspect, the map data storage device can suitably obtain information
`
`en the accuracy of the sensor
`
`[0023]
`
`According toa another preferred embodiment of the present invention, the map data storag
`
`@ device inchides a storage unit for storing map data, a 1 acquisition unit for acquiring peri
`
`oheral information acquired by each of the plurality of mobile units, and a change point to
`
`be updated in the map data based on the peripheral information and the map data.
`
`& 2 acquisition part for acquiring information on accuracy of a sensor which is used when e
`
`ach of the plurality of mobile bodies acquires the perigheral information ; The apparatus in
`
`cludes a setting unit configured to set a weight to each of the change paint candidate data
`
`acquired by the 2 acquisition unit based on the information on the accuracy acquired by th
`
`e i acquisition unit, and an update unit confiqured to update the map data based on the c
`
`hange point candidate data having the set weight.
`
`foo24]
`
`The map data storage device generates change point candidate data indicating a candidate
`
`of a change point te be updated in the map data by acquiring peripheral information acquir
`
`ed by each of the plurality of mobile bodies. Also in this embodiment, the map data storag
`
`e device sets a weight for the change point candidate data based on information about the
`
`accuracy of the sensor used in generating the peripheral information, and updates the map
`
`data based on the change point candidate data. Thus, the map data starage device can ap
`
`propriately ugdate the map data in consideration of the accuracy of the sensor used when
`
`detecting the candidate of the change point.
`
`fo025]
`
`According to another preferred embodiment of the present invention, there is provided a m
`
`

`

`eathod of controlling a map data storage device comprising a storage unit for storing map ad
`
`ata. Al acquisition step of acquiring, from the plurality of mobile bodies, change point can
`
`didate data indicating a candidate of a change point te be updated in the map data genera
`
`ted based on the peripheral information acquired by each of the plurality af mobile bodies
`
`and the map data ; A 2 acquisition step of acquiring information on accuracy of the sensor
`
`used when each of the plurality of mobile bodies acquires the peripheral information > The
`
`method inchides a setting step of setting a weight to each of the change point candidate d
`
`ata acquired by the 2 acquisitian step an the basis of the information regarding the accura
`
`cy acquired in the 1 acquisition step, and an update step of updating the map data based o
`
`nthe change point candidate data having the set weight. By executing the contro! method,
`
`the map data storage device can appropriately update the map data in consideration of the
`
`accuracy of the sensor used in detecting the candidate of the change point.
`
`[O026}
`
`According to another preferred embodiment of the present invention, there is provided a c
`
`omputer program executed by a computer of a map data storage device including a storagq
`
`@ unit for storing map data. A i acquisition part which acquires change point candidate dat
`
`a showing a candidate of a change point to be updated in the map data generated based o
`
`n the peripheral information acquired by each of the plurality of mobile bodies and the ma
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`p data frorn the plurality of mobile bodies ; A 2 acquisition part far acquiring informatian 6
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`n accuracy of the sensor used when each of the plurality of mobile bodies acquires the peri
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`pheral inforrnation, and @ setting part for setting a weight to each of the change point cand
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`idate data acquired by the 2 acquisition part en the basis of information on the accuracy ac
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`quired by the 1 acquisition part ; The computer is caused to function as an updating unit f
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`or updating the map data based on the set change point candidate data. By executing the
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`program, the map data storage device can appropriately update the map data in considera
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`tien of the accuracy of the sersor used in detecting the candidate of the change point. Pref
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`erably, the program is stored in a storage medium,
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`[Examples]
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`[O027]
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`Hereinafter, preferred embodiments of the present invention will be described with referen
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`ce to the accompanying drawings.
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`[0028]
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`SUMMARY OF THE INVENTION
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`FIG. 1 is a schematic configuration of a map updating system according to the present em
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`bodiment. The map updating system includes a driving sugport device 1 maving with each
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`vehicle and @ server device 2 communicating with each driving support device 1 via a netw
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`ark 9, Then, the driving support system updates the distribution map DB (Database) 21 w
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`hich is the map data held by the server device 2 based on the information measured by ea
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`ch of the driving support devices 1,
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`fO0297
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`The driving support device i is a mobile terminal such as a stationary driving support devi
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`

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`ce or a smartphone,
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`In accordance with an area to which the vehicle location belongs, the map data "D 1° of th
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`@ area is acquired from the distribution map DB 21 of the server 4 and stored as the partia
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`imap DB iz. Then, the driving support device 1 refers to the partial map DB 12 and perfor
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`ms route quidance ta the destination set by the user.
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`fOO307
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`Further, the driving support device 1 compares the peripheral information of the vehicle oo
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`sition recognized by the sensor 17 including a camera and the lke with the peripheral infor
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`mation of the vehicle based an the partial map DB 12. When there is a difference between
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`the peripheral information, the driving support apparatus 1 determines that the difference
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`batween the peripheral information and the peripheral information is e portion (also referre
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`d to as a “change paint") in which the state around the vehicle position has changed with t
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`he lapse of time fram the reference time point at which the map data of the partial map D
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`B i? is generated. Therefore, the driving support apparatus 1 regards the object indicated
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`by the difference as a candidate of the change point, and generates data representing the
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`candidate of the change point (also referred to as “change point candidate data"). Here, th
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`e change point may be, for example, a newly established traffic signal, a traffic sign, a new
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`or changed lane, a newly opened route, a lane that is temporarily disabled in road construc
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`tien, etc. Further, the change point candidate data corresponds to, for example, infarmatio
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`n indicating a type of a candidate of a change point, latitude and longitude information on
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`which the candidate exists, 4 dimensional or 3 dimensional shape information of the candi
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`date, and the like.
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`[O03%}
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`Further, the driving support apparatus 1 generates information (aiso referred to as “sensor
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`accuracy related information Is") relating to the accuracy of the sensor at the time point w
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`hen the change point candidate data is generated {T. «., the reliability). Then, the driving 6
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`upport apparatus 1 transmits the information including the change point candidate data an
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`d the sensor accuracy related information Is at the point where the change point candidate
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`data is generated to the server apparatus 2 as the change point information "D 2", As will
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`be described later, the sensor-accuracy related information Is includes information on the
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`performance of the sensor included in the driving support apparatus 1, and information on
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`weather conditions, time periods, and the like that are factors that affect the accuracy of t
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`he sensor.
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`fO032]
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`The server device 2 stores the distribution map DB 21, and in response to a request fram t
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`he driving suppart device 1, extracts and transmits the map data D 1 corresponding to an
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`area in which the driving support device 1 of the request source exists from the distributio
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`nmap DB 24. Further, the server device 2 receives the change point information 0 2 from
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`each of the drive support devices 1, and updates the distribution map DB 21 based cn the
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`change point information BD 2. At this time, the server apparatus 2 sets a weight (also refer
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`

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`red to as “weight W") for the change point candidate data included in each change point in
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`formation D 2, and calculates the cumulative value of the set weight W (alsa referred to as
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`“weight cumulative value Sw") for each of the sare or similar change paint candidate dat
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`a, When the weight cumulative value Sw exceeds a predetermined threshold value (also re
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`ferred to as “threshold value Sth"}, the server device 2 reflects the corresponding change
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`point candidate data in the distribution map OB 21. The server device 2 is an example of a
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`“nap data storage device” in the present invention, and the distribution map DB 21 is ari e
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`xample of “map data” in the present invention.
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`fO033}
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`[Block configuration |
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`FIG, 2 is a block diagrarn shawing a functional configuration of the driving support apparat
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`us Land the server apparatus 2. As shown in FIG, 2, the driving support apparatus 1 main
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`ly includes a map data acquisition unit 11, a partial map DB 12, an enviranment acquisitia
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`nunit £3, a sensor performance storage unit 14, a change point information generation un
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`it 15, a change point information transmission unit 16, and a sensor unit 17.
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`fo034}
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`A map data acquisition part 11 of a driving support device 1 acquires map data Di from a
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`server device 2 and registers the acquired map data D1 in a partial map DB 12. In this cas
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`e, for example, when the map data acquisition unit Li tries to enter an area where the ma
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`oO data is not registered in the partial map DB 42, or when the map data is close, the map
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`data acquisition urit 11 transmits the information specifying the area to the server device
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`2, thereby acquiring the map data BD 1 of the area described above.
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`fO035]
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`An ernviranment acquisition part 13 acquires information on an environment of a vehicle, &
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`pecifically, the environment acquisition unit 13 receives an outout of the sensor unit 17 an
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`d transmits it to the change point information generation unit 15. The environment acquiri
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`ng unit 13 carnmmunicates with a server device (nat shawn) t