Map maintenance system and map maintenance method

A cooperating vehicle (110) is a transporting vehicle which includes sensors for road measurement. An in-vehicle apparatus (300) mounted on the cooperating vehicle acquires measured data obtained by the cooperating vehicle, generates point cloud data on the basis of the measured data, and transmits the point cloud data to a map server apparatus (200). The map server apparatus receives the point cloud data from the in-vehicle apparatus, and generates map data on the basis of the point cloud data.

TECHNICAL FIELD

The present invention relates to map maintenance.

BACKGROUND ART

Dynamic map development and maintenance intended for expressways has been carried out since the fiscal year 2015.

A dynamic map is a high-accuracy three-dimensional map including dynamic information, semi-dynamic information, semi-static information, and static information.

Static information of a dynamic map serves to identify a lane of a road with an accuracy of several centimeters to several tens of centimeters.

An automobile supporting a dynamic map is capable of autonomous driving.

Sensors such as a camera and a radar are mounted on the automobile. Pieces of information obtained by the sensors are compared with information (information on lanes, road features, and the like) obtained from a dynamic map. This allows recognition of an exact position of the automobile. As a result, performance of autonomous driving control is enhanced.

Patent Literature 1 illustrates a form of autonomous driving control using a dynamic map.

Development and maintenance of a dynamic map intended for general roads is needed to prepare for future widespread use of autonomous driving cars.

Patent Literature 2 illustrates a form of maintenance of a dynamic map.

In a mobile mapping system (MMS), a measuring vehicle collects pieces of three-dimensional point cloud information of roads, and pieces of linearized data of roads and features are obtained from the pieces of three-dimensional point cloud information. A dynamic map is generated on the basis of the obtained pieces of linearized data. The generated dynamic map is distributed to a map company and an automobile company.

To facilitate maintenance of a dynamic map, a measuring vehicle needs to run a long distance.

The invention according to Patent Literature 3 is intended to give notification that a guidepath has a portion where autonomous driving is impossible if there is no high-accuracy map data for a part of the guidepath.

The object of the invention according to Patent Literature 3 is to eliminate a sense of discomfort of a driver produced in a situation having a mix of areas with maintained high-accuracy map data and areas without maintained high-accuracy map data.

The above-described sense of discomfort is eliminated with further maintenance of a dynamic map intended for general roads.

Patent Literature 4 discloses a technique for increasing the efficiency of the work of partly updating data for map display.

To facilitate widespread use of a dynamic map, simplification of dynamic map updating work is necessary.

Patent Literature 5 discloses a method for achieving enhancement of the convenience for users in guidance information display at the time of path search. More specifically, guidance information which announces a region of interest together with the path is displayed. This allows a user to select an action during movement from a place of departure to a destination among various options, such as stopping in a region of interest not present on the path.

Enhancement of the convenience for users is also needed to maintain a dynamic map.

Patent Literature 6 discloses a method of displaying a point cloud image representing roads and surroundings of the roads on the basis of measured data obtained by a measuring vehicle.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

The present invention has as its object to allow facilitation of maintenance of a dynamic map.

Solution to Problem

A map maintenance system according to the present invention includesa map server apparatus, andan in-vehicle apparatus mounted on a cooperating vehicle.

The map server apparatus includesa point cloud data acquisition unit to acquire point cloud data from the in-vehicle apparatus, anda map data generation unit to generate map data on the basis of the point cloud data.

The in-vehicle apparatus includesa measured data acquisition unit to acquire measured data obtained by the cooperating vehicle,a point cloud data generation unit to generate the point cloud data on the basis of the measured data, anda point cloud data provision unit to transmit the point cloud data to the map server apparatus.

The cooperating vehicle is a transporting vehicle which includes sensors for road measurement.

Advantageous Effects of Invention

According to the present invention, a cooperating vehicle is equipped with a sensor. Road measurement is performed by the cooperating vehicle. This facilitates maintenance of a dynamic map.

DESCRIPTION OF EMBODIMENTS

Throughout the embodiments and drawings, the same elements and corresponding elements are denoted by the same reference numerals. A description of an element denoted by the same reference numeral will be appropriately omitted or simplified. An arrow in the drawings mainly indicates the flow of data or the flow of processing.

A map maintenance system100will be described with reference toFIGS.1to11.

Description of Configuration

A configuration of the map maintenance system100will be described with reference toFIG.1.

The map maintenance system100includes a map server apparatus200and in-vehicle apparatuses300.

The map server apparatus200and the in-vehicle apparatus300of each cooperating vehicle110communicate with each other over a network101. A specific example of the network101is the Internet.

The in-vehicle apparatus300is mounted on the cooperating vehicle110.

The cooperating vehicle110is a vehicle having a function of measuring a road.

More specifically, the cooperating vehicle110is a transporting vehicle including various sensors for road measurement. The transporting vehicle is a vehicle for transporting at least either one of freight and passengers. The transporting vehicle is, for example, a taxi, a bus, or a home-delivery car.

The cooperating vehicle110corresponds to a measuring vehicle in a mobile mapping system (MMS).

The cooperating vehicle110performs road measurement while the cooperating vehicle110is running. If the cooperating vehicle110is a transporting vehicle, the cooperating vehicle110measures a road in a transport region during transport of at least either one of freight and passengers.

A configuration example of the cooperating vehicle110will be described with reference toFIG.2.

The cooperating vehicle110is provided with a top board119. The top board119is provided on a roof of a vehicle body. The cooperating vehicle110also includes an odometer114.

Various sensors are attached to the top board119.

More specifically, a positioning reinforcement signal receiver111, positioning signal receivers112, an inertial measurement unit113, and laser scanners115are attached to the top board119.

The positioning reinforcement signal receiver111receives positioning reinforcement data from a GNSS satellite, or a terrestrial wireless LAN or mobile phone line. GNSS is an abbreviation for Global Navigation Satellite System.

Positioning reinforcement data has centimeter-level accuracy and is used to measure the position of the cooperating vehicle110with high accuracy.

Positioning reinforcement data is distributed from a GNSS satellite. Alternatively, positioning reinforcement data is distributed from a GNSS correction information distribution service provider over a mobile phone network.

If a GNSS satellite which is a quasi-zenith satellite distributes positioning reinforcement data, the positioning reinforcement data is included in an L6 band signal and indicates a satellite clock error of a GPS satellite, an orbit error of the GPS satellite, an inter-frequency bias, an error from an ionospheric propagation delay, and an error from a tropospheric delay. GPS stands for Global Positioning System.

The positioning signal receiver112receives a positioning signal transmitted from a positioning satellite and measures the position of the cooperating vehicle110using a result of receiving the positioning signal. Data obtained through positioning is called positioning data. An example of the positioning satellite is a GPS satellite.

The positioning data indicates the position of the cooperating vehicle110determined by the positioning signal receiver112.

The inertial measurement unit113includes a gyroscope and an acceleration sensor. The gyroscope measures angles and angular velocities in three axial directions of the cooperating vehicle110. The acceleration sensor measures accelerations in the three axial directions of the cooperating vehicle110. The angles in the three axial directions indicate an elevation angle, a rotation angle, and an azimuth angle.

Data obtained by the inertial measurement unit113is called inertial measurement data.

The odometer114measures a running distance of the cooperating vehicle110.

More specifically, the odometer114detects a vehicle speed pulse output each time a wheel of the cooperating vehicle110rotates, and calculates the running distance through integral computation using the rotating radius of a tire and the rotation amount of the wheel.

Data obtained by the odometer114is called running distance data.

The laser scanner115performs laser measurement.

In the laser measurement, the laser scanner115emits laser light while rotating a laser emission surface at a speed of about 100 revolutions per second. The laser scanner115then calculates a distance and an azimuth for each of spots which reflect the laser light. The spot that reflects the laser light is called a measuring point.

More specifically, the laser scanner115measures a time period from a laser light emission time to a laser light reception time, and calculates the distance to a measuring point using the measured time period. The emission time is a time of emission of laser light, and the reception time is a time of reception of the laser light reflected at the measuring point. The azimuth of the measuring point is an angle of the emission of the laser light.

Data obtained by the laser scanner115is called azimuth-distance data. The azimuth-distance data includes an azimuth and a distance for each measuring point.

Pieces of data obtained by the various sensors mounted on the cooperating vehicle110are each called measured data.

More specifically, positioning reinforcement data, positioning data, inertial measurement data, running distance data, and azimuth-distance data are collectively called measured data.

A configuration of the map server apparatus200will be described with reference toFIG.3.

The map server apparatus200is a computer including pieces of hardware, such as a processor201, a memory202, an auxiliary storage device203, and a communication device204. The pieces of hardware are connected to one another via signal lines.

The processor201is an IC (Integrated Circuit) which performs arithmetic processing and controls the other pieces of hardware. The processor201is, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).

The memory202is a volatile storage device. The memory202is also called a main storage or a main memory. The memory202is, for example, a RAM (Random Access Memory). Data stored in the memory202is saved in the auxiliary storage device203as needed.

The auxiliary storage device203is a nonvolatile storage device. The auxiliary storage device203is, for example, a ROM (Read Only Memory), an IIDD (Hard Disk Drive), or a flash memory. Data stored in the auxiliary storage device203is loaded into the memory202as needed.

The communication device204is a receiver and a transmitter. The communication device204is, for example, a communication chip or an NIC (Network Interface Card).

The map server apparatus200includes elements, such as a point cloud data acquisition unit211, a map data generation unit212, and a map data provision unit213. The elements are implemented by software.

A map server program is stored in the auxiliary storage device203, the map server program for causing a computer to function as the point cloud data acquisition unit211, the map data generation unit212, the map data provision unit213, a storage unit221, and a communication unit222. The map server program is loaded into the memory202and is executed by the processor201.

An OS (Operating System) is also stored in the auxiliary storage device203. At least a part of the OS is loaded into the memory202and is executed by the processor201.

That is, the processor201executes the map server program while executing the OS.

Data obtained through execution of the map server program is stored in a storage device, such as the memory202, the auxiliary storage device203, a register in the processor201, or a cache memory in the processor201.

The auxiliary storage device203functions as the storage unit221. Note that any other storage device may function as the storage unit221instead of the auxiliary storage device203or together with the auxiliary storage device203.

The communication device204functions as the communication unit222.

The map server apparatus200may include a plurality of processors which substitute for the processor201. The plurality of processors share the role of the processor201.

The map server program can be computer-readably recorded (stored) in a nonvolatile recording medium, such as an optical disc or a flash memory.

A configuration of the in-vehicle apparatus300will be described with reference toFIG.4.

The in-vehicle apparatus300is a computer which includes pieces of hardware, such as a processor301, a memory302, an auxiliary storage device303, a communication device304, and an input/output interface305. The pieces of hardware are connected to one another via signal lines.

The processor301is an IC which performs arithmetic processing and controls the other pieces of hardware. The processor301is, for example, a CPU, a DSP, or a GPU.

The memory302is a volatile storage device. The memory302is also called a main storage or a main memory. The memory302is, for example, a RAM. Data stored in the memory302is saved in the auxiliary storage device303as needed.

The auxiliary storage device303is a nonvolatile storage device. The auxiliary storage device303is, for example, a ROM, an HDD, or a flash memory. Data stored in the auxiliary storage device303is loaded into the memory302as needed.

The communication device304is a receiver and a transmitter. The communication device304is, for example, a communication chip or an NIC.

The input/output interface305is a port through which data is input and output. The input/output interface305is, for example, a USB terminal. USB is an abbreviation for Universal Serial Bus.

The in-vehicle apparatus300includes elements, such as a measured data acquisition unit311, a point cloud data generation unit312, a point cloud data provision unit313, and a map data acquisition unit314. The elements are implemented by software.

An in-vehicle program is stored in the auxiliary storage device303, the in-vehicle program for causing a computer to function as the measured data acquisition unit311, the point cloud data generation unit312, the point cloud data provision unit313, the map data acquisition unit314, a storage unit321, a communication unit322, and an acceptance unit323. The in-vehicle program is loaded into the memory302and is executed by the processor301.

An OS is also stored in the auxiliary storage device303. At least a part of the OS is loaded into the memory302and is executed by the processor301.

That is, the processor301executes the in-vehicle program while executing the OS.

Data obtained through execution of the in-vehicle program is stored in a storage device, such as the memory302, the auxiliary storage device303, a register in the processor301, or a cache memory in the processor301.

The auxiliary storage device303functions as the storage unit321. Note that any other storage device may function as the storage unit321instead of the auxiliary storage device303or together with the auxiliary storage device303.

The communication device304functions as the communication unit322.

The input/output interface305functions as the acceptance unit323.

The in-vehicle apparatus300may include a plurality of processors which substitute for the processor301. The plurality of processors share the role of the processor301.

The in-vehicle program can be computer-readably recorded (stored) in a nonvolatile recording medium, such as an optical disc or a flash memory.

Description of Operation

A map maintenance method by the map server apparatus200will be described with reference toFIG.5.

In step S101, the point cloud data acquisition unit211acquires point cloud data from the in-vehicle apparatus300of the cooperating vehicle110.

The point cloud data indicates respective three-dimensional coordinate values for measuring points.

More specifically, the in-vehicle apparatus300transmits the point cloud data to the map server apparatus200. The point cloud data acquisition unit211receives the point cloud data transmitted from the in-vehicle apparatus300via the communication unit222. The point cloud data acquisition unit211then stores the point cloud data in the storage unit221.

In step S102, the map data generation unit212generates map data on the basis of the point cloud data.

The map data is data representing three-dimensional vectors (a linear shape) of a road.

More specifically, the map data generation unit212executes mapping software using the point cloud data as an input. With the execution, the map data is generated.

The mapping software is a program for generating map data on the basis of point cloud data.

In step S103, the map data provision unit213transmits the map data to the in-vehicle apparatus300that is a transmission source of measured data via the communication unit222.

A data provision method by the in-vehicle apparatus300will be described with reference toFIG.6.

In step S111, the measured data acquisition unit311acquires pieces of measured data from the various sensors of the cooperating vehicle110.

More specifically, when road measurement by the cooperating vehicle110is started, the various sensors output pieces of measured data. The output pieces of measured data are input to the in-vehicle apparatus300. The acceptance unit323accepts the input pieces of measured data, and the measured data acquisition unit311acquires the pieces of measured data via the acceptance unit323. The measured data acquisition unit311then stores the pieces of measured data in the storage unit321.

In step S112, the point cloud data generation unit312generates point cloud data on the basis of the pieces of measured data.

A method of generating the point cloud data is the same as a method in a mobile mapping system.

In step S113, the point cloud data provision unit313transmits the point cloud data to the map server apparatus200via the communication unit322.

In step S114, the map data acquisition unit314acquires map data from the map server apparatus200.

More specifically, the map server apparatus200generates the map data on the basis of the point cloud data and transmits the map data to the in-vehicle apparatus300. The map data acquisition unit314receives the map data transmitted from the map server apparatus200via the communication unit322. The map data acquisition unit314then stores the map data in the storage unit321.

Map data is data corresponding to static information of a dynamic map and is used for autonomous driving or navigation.

A map maintenance method by the map maintenance system100will be described with reference toFIG.7.

In step S121, the in-vehicle apparatus300acquires pieces of measured data.

More specifically, when road measurement by the cooperating vehicle110is started, the various sensors output the pieces of measured data. The output pieces of measured data are input to the in-vehicle apparatus300. The acceptance unit323accepts the input pieces of measured data, and the measured data acquisition unit311acquires the pieces of measured data via the acceptance unit323. The storage unit321then stores the pieces of measured data.

In step S122, the in-vehicle apparatus300generates point cloud data.

More specifically, the point cloud data generation unit312generates the point cloud data on the basis of the pieces of measured data. The storage unit321then stores the point cloud data.

In step S123, the in-vehicle apparatus300transmits the point cloud data to the map server apparatus200.

More specifically, the point cloud data provision unit313transmits the point cloud data to the map server apparatus200via the communication unit322.

In step S124, the map server apparatus200stores the point cloud data.

More specifically, the point cloud data acquisition unit211receives the point cloud data via the communication unit222. The storage unit221then stores the point cloud data.

In step S125, the map server apparatus200generates map data.

More specifically, the map data generation unit212executes the mapping software using the point cloud data as an input. With the execution, the map data is generated. The storage unit221stores the map data.

In step S126, the map server apparatus200transmits the map data to the in-vehicle apparatus300.

More specifically, the map data provision unit213transmits the map data to the in-vehicle apparatus300that is a transmission source of measured data via the communication unit222.

In step S127, the in-vehicle apparatus300stores the map data.

More specifically, the map data acquisition unit314receives the map data via the communication unit322. The storage unit321then stores the map data.

Advantageous Effects of Embodiment 1

Measurement of roads throughout the country only with measuring vehicles owned by a measurement company is difficult, and it takes a long time to maintain dynamic maps.

In Embodiment 1, each cooperating vehicle110is equipped with various sensors (measuring functions). The cooperating vehicles110measure roads in regions. This makes it possible to maintain dynamic maps for more regions in a short time period.

Other Configurations

The in-vehicle apparatus300may provide measured data to the map server apparatus200instead of point cloud data.

A configuration of the map server apparatus200will be described with reference toFIG.8.

The map server apparatus200includes a measured data acquisition unit231and a map data generation unit232instead of the point cloud data acquisition unit211and the map data generation unit212.

The measured data acquisition unit231acquires measured data from the in-vehicle apparatus300. More specifically, the measured data acquisition unit231receives the measured data transmitted from the in-vehicle apparatus300via the communication unit222.

The map data generation unit232generates map data on the basis of the measured data. More specifically, the map data generation unit232executes mapping software using the measured data as an input. With the execution, the map data is generated. The mapping software is a program for generating map data on the basis of the measured data. With the mapping software, point cloud data is generated on the basis of the measured data, and the map data is generated on the basis of the point cloud data.

A configuration of the in-vehicle apparatus300will be described with reference toFIG.9.

The in-vehicle apparatus300includes a measured data provision unit331instead of the point cloud data generation unit312and the point cloud data provision unit313.

The measured data provision unit331transmits measured data to the map server apparatus200via the communication unit322.

The in-vehicle apparatus300may provide map data to the map server apparatus200instead of point cloud data.

A configuration of the map server apparatus200will be described with reference toFIG.10.

The map server apparatus200includes a map data acquisition unit233instead of the point cloud data acquisition unit211, the map data generation unit212, and the map data provision unit213.

The map data acquisition unit233acquires map data from the in-vehicle apparatus300. More specifically, the map data acquisition unit233receives the map data transmitted from the in-vehicle apparatus300via the communication unit222.

A configuration of the in-vehicle apparatus300will be described with reference toFIG.11.

The in-vehicle apparatus300includes a map data generation unit332and a map data provision unit333instead of the point cloud data generation unit312, the point cloud data provision unit313, and the map data acquisition unit314.

The map data generation unit332generates map data on the basis of measured data. More specifically, the map data generation unit332executes mapping software using the measured data as an input. With the execution, the map data is generated. The mapping software is a program for generating map data on the basis of measured data. With the mapping software, point cloud data is generated on the basis of the measured data, and the map data is generated on the basis of the point cloud data.

The map data provision unit333transmits the map data to the map server apparatus200via the communication unit322.

Positioning evaluation data may be added to data (point cloud data, measured data, or map data) to be provided from the in-vehicle apparatus300to the map server apparatus200.

The positioning evaluation data indicates a result of evaluating a positioning accuracy at the time of measurement.

The positioning evaluation data is generated on the basis of DOP (Dilution Of Precision), satellite arrangement information, or a fix/float error.

The DOP is a dilution of precision.

The satellite arrangement information indicates arrangement of a positioning satellite.

The fix/float error is an ambiguity error.

A map-related system may be present.

The map-related system relays point cloud data (or measured data) and map data between the map server apparatus200and the in-vehicle apparatus300. The point cloud data (or measured data) and the map data are communicated via the map-related system.

The map-related system is, for example, a system used by a map company, a car company, a navigation system company, and the like. The map-related system is, for example, a system used by a logistics company, a taxi company, a bus company, a home-delivery company, and the like.

Encrypted point cloud data (or encrypted measured data) may be communicated.

That is, the in-vehicle apparatus300encrypts point cloud data (or measured data). The in-vehicle apparatus300then transmits the encrypted point cloud data (or encrypted measured data). The map server apparatus200receives the encrypted point cloud data (or encrypted measured data) and decodes the encrypted point cloud data (or encrypted measured data).

A form of paying a price for data provision will be described with reference toFIGS.12to14mainly with a focus on differences from Embodiment 1.

Description of Configuration

A configuration of a map maintenance system100is the same as that (seeFIG.1) in Embodiment 1.

A configuration of a cooperating vehicle110is the same as that (seeFIG.2) in Embodiment 1.

A configuration of a map server apparatus200will be described with reference toFIG.12.

The map server apparatus200further includes a payment unit214.

A map server program further causes a computer to function as the payment unit214.

A configuration of an in-vehicle apparatus300is the same as that (seeFIG.4) in Embodiment 1.

Description of Operation

A map maintenance method by the map server apparatus200will be described with reference toFIG.13.

In step S204, the payment unit214performs payment processing on a price for point cloud data acquired from the in-vehicle apparatus300.

More specifically, the payment unit214pays the price for the point cloud data to a manager (owner or operator) of the cooperating vehicle110. That is, the payment unit214pays the price for the point cloud data to a taxi company, a bus company, a transporting company, or the like. The payment is performed through electronic payment.

The payment unit214determines a price for point cloud data in the manner below.(1) The payment unit214calculates the price on the basis of the number of measuring points included in the point cloud data. The larger the number of measuring points included in the point cloud data is, the higher the price is.(2) The payment unit214calculates the price on the basis of the data quantity of map data generated on the basis of the point cloud data. The larger the data quantity of the generated map data is, the higher the price is. More specifically, the data quantity is the data size of the map data or the length of a road included in the map data.(3) The payment unit214calculates the price on the basis of a running distance of the cooperating vehicle110. The longer the running distance is, the higher the price is. The running distance may be calculated on the basis of the point cloud data or may be announced from the in-vehicle apparatus300. More specifically, the running distance is the sum of distances between measuring points.(4) The payment unit214calculates the price on the basis of a measurement time period of the cooperating vehicle110. The measurement time period is a time period for road measurement performed by the cooperating vehicle110. The longer the measurement time period is, the higher the price is. The measurement time period may be calculated on the basis of the point cloud data or may be announced from the in-vehicle apparatus300. For example, in the point cloud data, a measurement time is associated with a three-dimensional coordinate value of each measuring point. The measurement time period is a time period from a first measurement time to a last measurement time.

A data provision method by the in-vehicle apparatus300is the same as that (seeFIG.6) in Embodiment 1.

A map maintenance method by the map maintenance system100will be described with reference toFIG.14.

In step S228, the map server apparatus200performs payment processing on point cloud data received from the in-vehicle apparatus300.

The payment processing is as described in step S204(seeFIG.13).

Advantageous Effects of Embodiment 2

Payment of a price for data provision allows facilitation of data provision. That is, road measurement by the cooperating vehicle110can be facilitated. This makes it possible to maintain dynamic maps for more regions in a short time period.

Other Configurations

As described at the end of Embodiment 1, the in-vehicle apparatus300may provide measured data or map data to the map server apparatus200instead of point cloud data (seeFIGS.8to11).

The payment unit214performs payment processing on data (measured data or map data) provided from the in-vehicle apparatus300.

A data collection cooperator (data provider) manages the amount of a rate based on the data quantity of collected (and provided) data (a metered rate) or the amount of a rate based on a contract period (a flat rate).

For example, a data quantity in the metered rate is the quantity of vectors (pieces of road linear shape data), that is, the length of a mapped road. Alternatively, a data quantity in the metered rate is, for example, is the data quantity of pieces of point cloud data (a three-dimensional point cloud). For example, the amount of the flat rate is a monthly amount.

A form of giving preferential treatment to a data provider (cooperator) in map data distribution will be described with reference toFIGS.15and16mainly with a focus on differences from Embodiment 1.

Description of Configuration

A configuration of a map maintenance system100is the same as that (seeFIG.1) in Embodiment 1.

A configuration of a cooperating vehicle110is the same as that (seeFIG.2) in Embodiment 1.

A configuration of a map server apparatus200will be described with reference toFIG.15.

The map server apparatus200further includes a discrimination unit215, a distribution unit216, and a charging unit217.

A map server program further causes a computer to function as the discrimination unit215, the distribution unit216, and the charging unit217.

A configuration of an in-vehicle apparatus300is the same as that (seeFIG.4) in Embodiment 1.

Description of Operation

A map distribution method by the map server apparatus200will be described with reference toFIG.16.

An in-vehicle terminal mounted on a map-using car transmits a distribution request to the map server apparatus200.

The map-using car is one of various vehicles which use map data. The map-using car may be the cooperating vehicle110.

The distribution request is communication data for requesting distribution of map data.

In step S301, a communication unit222receives a distribution request.

In step S302, the discrimination unit215discriminates a manager of the map-using car. The manager of the map-using car is called a requestor.

More specifically, the discrimination unit215judges whether the requestor is a cooperator.

The cooperator is a manager of the cooperating vehicle110. The cooperator is, for example, a taxi company, a bus company, or a transporting company.

The requestor is discriminated in the manner below.

The distribution request includes a manager identifier. The manager identifier is used to identify the manager of the map-using car.

A list of cooperators is stored in advance in a storage unit221. The list of cooperators is a list of cooperator identifiers. Each cooperator identifier is used to identify a cooperator.

The discrimination unit215acquires the manager identifier from the distribution request and compares the manager identifier with the list of cooperators.

If the manager identifier is included in the list of cooperators, the discrimination unit215judges that the requestor is a cooperator.

If the manager identifier is not included in the list of cooperators, the discrimination unit215judges that the requestor is not a cooperator.

In step S303, the distribution unit216distributes map data.

More specifically, the distribution unit216selects map data requested by the distribution request from the storage unit221. The distribution unit216then transmits the selected map data to an in-vehicle terminal which is a request source via the communication unit222.

The distribution unit216determines a map data distribution method on the basis of a result of discriminating the requestor.

For example, the distribution unit216varies the map data distribution method in the manner below.(1) The distribution unit216varies the quantity of information to be included in map data. If the requestor is a cooperator, the distribution unit216distributes map data including additional information. If the requestor is not a cooperator, the distribution unit216distributes map data without additional information. Additional information is, for example, dynamic information in a dynamic map. An example of dynamic information is road congestion information or signal information of a traffic signal.(2) The distribution unit216varies the order of precedence in distribution. If the requestor is a cooperator, the distribution unit216distributes map data ahead of distribution for a distribution request from a requestor other than a cooperator. If the requestor is not a cooperator, map data is distributed later than distribution for a distribution request from a cooperator.

In step S304, the charging unit217performs charging processing on the distributed map data on the basis of the result of discriminating the requestor.

More specifically, the charging unit217determines a charge amount on the basis of the result of discriminating the requestor. A charge amount in a case where the requestor is a cooperator is lower than a charge amount in a case where the requestor is not a cooperator. If the requestor is not a cooperator, the charging unit217determines a regular rate as the charge amount. If the requestor is a cooperator, the charging unit217determines a reduced rate as the charge amount. The charging unit217then charges the requestor the determined charge amount. The charging is performed through electronic payment.

The charge amount in the case where the requestor is a cooperator may be zero. In this case, a cooperator need not be charged.

Advantageous Effects of Embodiment 3

Giving preferential treatment to a data provider (cooperator) in map data distribution allows facilitation of data provision. That is, road measurement by the cooperating vehicle110can be facilitated. This makes it possible to maintain dynamic maps for more regions in a short time period.

Other Configurations

If a requestor is a cooperator, the distribution unit216may vary a map data distribution method on the basis of at least any one of (1) the number of measuring points included in point cloud data, (2) the data quantity of map data generated on the basis of the point cloud data, (3) a running distance of the cooperating vehicle110, and (4) a measurement time period of the cooperating vehicle110.

If the requestor is a cooperator, the charging unit217may determine a charge amount on the basis of at least any one of (1) the number of measuring points included in point cloud data, (2) the data quantity of map data generated on the basis of the point cloud data, (3) the running distance of the cooperating vehicle110, and (4) the measurement time period of the cooperating vehicle110.

As described at the end of Embodiment 1, the in-vehicle apparatus300may provide measured data or map data to the map server apparatus200instead of point cloud data (seeFIGS.8to11).

As described in Embodiment 2, the map server apparatus200may include the payment unit214.

Supplement to Embodiments

A hardware configuration of the map server apparatus200will be described with reference toFIG.17.

The map server apparatus200includes processing circuitry209.

The processing circuitry209is hardware which implements the point cloud data acquisition unit211, the map data generation unit212, the map data provision unit213, the payment unit214, the discrimination unit215, the distribution unit216, the charging unit217, the measured data acquisition unit231, the map data generation unit232, and the map data acquisition unit233.

The processing circuitry209may be dedicated hardware or the processor201that executes a program stored in the memory202.

If the processing circuitry209is dedicated hardware, the processing circuitry209is, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, an FPGA, or a combination thereof.

ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

The map server apparatus200may include a plurality of processing circuits which substitute for the processing circuitry209. The plurality of processing circuits share the role of the processing circuitry209.

Some of the functions of the map server apparatus200may be implemented by dedicated hardware, and the others may be implemented by software or firmware.

As described above, the processing circuitry209can be implemented by hardware, software, firmware, or a combination thereof.

A hardware configuration of the in-vehicle apparatus300will be described with reference toFIG.18.

The processing circuitry309is hardware which implements the measured data acquisition unit311, the point cloud data generation unit312, the point cloud data provision unit313, the map data acquisition unit314, the measured data provision unit331, the map data generation unit332, and the map data provision unit333.

The processing circuitry309may be dedicated hardware or the processor301that executes a program stored in the memory302.

If the processing circuitry309is dedicated hardware, the processing circuitry309is, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, an FPGA, or a combination thereof.

The in-vehicle apparatus300may include a plurality of processing circuits which substitute for the processing circuitry309. The plurality of processing circuits share the role of the processing circuitry309.

Some of the functions of the in-vehicle apparatus300may be implemented by dedicated hardware, and the others may be implemented by software or firmware.

As described above, the processing circuitry309can be implemented by hardware, software, firmware, or a combination thereof.

The embodiments are illustrative of preferred forms and are not intended to limit the technical scope of the present invention. The embodiments may be partly practiced or may be practiced in combination with another form. Each procedure described using a flowchart and the like may be appropriately changed.

REFERENCE SIGNS LIST

100: map maintenance system;101: network;110: cooperating vehicle;111: positioning reinforcement signal receiver;112: positioning signal receiver;113: inertial measurement unit;114: odometer;115: laser scanner;119: top board;200: map server apparatus;201: processor;202: memory;203: auxiliary storage device;204: communication device;209: processing circuitry;211: point cloud data acquisition unit;212: map data generation unit;213: map data provision unit;214: payment unit;215: discrimination unit;216: distribution unit;217: charging unit;221: storage unit;222: communication unit;231: measured data acquisition unit;232: map data generation unit;233: map data acquisition unit;300: in-vehicle apparatus;301: processor;302: memory;303: auxiliary storage device;304: communication device;305: input/output interface;309: processing circuitry;311: measured data acquisition unit;312: point cloud data generation unit;313: point cloud data provision unit;314: map data acquisition unit;321: storage unit;322: communication unit;323: acceptance unit;331: measured data provision unit;332: map data generation unit;333: map data provision unit