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

Claim 7:
8. A map generation method, comprising:
generating including generating a first map for a current lane on which a subject vehicle travels, based on an external situation around the subject vehicle detected by a detection device, the external situation including a pair of left and right division lines for defining the current lane, the first map including position information on the pair of left and right division lines;
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 a 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.