Patent ID: 11920949
Assignee: HONDA MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A map generation apparatus, comprising:
a detection device that detects an external situation around a subject vehicle, the external situation including a pair of left and right division lines for defining a current lane on which the subject vehicle travels;
a communication unit; and
an electronic control unit including a microprocessor and a memory connected to the microprocessor,
the microprocessor is configured to perform:
generating including generating a first map for the current lane including position information on the pair of left and right division lines, based on the external situation detected by the detection device;
acquiring map information on an opposite lane map for an opposite lane generated by another vehicle traveling on the opposite lane opposite to the current lane through the communication unit, the opposite lane map including position information on a pair of left and right division lines for defining the opposite lane; and
the generating further including setting a symmetry axis at a center between a first center line extending along the current lane through a center in a left-right direction of the current lane and a second center line extending along the opposite lane through a center in the left-right direction of the opposite lane and generating a second map for the current lane corresponding to a point where the map information on the opposite lane map has been acquired, by inverting the opposite lane map acquired through the communication unit symmetrically in the left-right direction with respect to the symmetry axis, wherein the subject vehicle autonomously travels on the current lane based on the second map.