Patent Publication Number: US-2021172760-A1

Title: Map maintenance system and map maintenance method

Description:
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 
     Patent Literature 1: WO 2017/150059 
     Patent Literature 2: WO 2017/110801 
     Patent Literature 3: JP 2016-200472 
     Patent Literature 4: WO 2005/088584 
     Patent Literature 5: JP 2009-222572 
     Patent Literature 6: WO 2016/185637 
     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 includes 
     a map server apparatus, and 
     an in-vehicle apparatus mounted on a cooperating vehicle. 
     The map server apparatus includes 
     a point cloud data acquisition unit to acquire point cloud data from the in-vehicle apparatus, and 
     a map data generation unit to generate map data on the basis of the point cloud data. 
     The in-vehicle apparatus includes 
     a 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, and 
     a 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. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a configuration diagram of a map maintenance system  100  according to Embodiment 1. 
         FIG. 2  is a configuration diagram of a cooperating vehicle  110  according to Embodiment 1. 
         FIG. 3  is a configuration diagram of a map server apparatus  200  according to Embodiment 1. 
         FIG. 4  is a configuration diagram of an in-vehicle apparatus  300  according to Embodiment 1. 
         FIG. 5  is a flowchart of a map maintenance method by the map server apparatus  200  according to Embodiment 1. 
         FIG. 6  is a flowchart of a data provision method by the in-vehicle apparatus  300  according to Embodiment 1. 
         FIG. 7  is a flowchart of a map maintenance method by the map maintenance system  100  according to Embodiment 1. 
         FIG. 8  illustrates a configuration example of the map server apparatus  200  according to Embodiment 1. 
         FIG. 9  illustrates a configuration example of the in-vehicle apparatus  300  according to Embodiment 1. 
         FIG. 10  illustrates a configuration example of the map server apparatus  200  according to Embodiment 1. 
         FIG. 11  illustrates a configuration example of the in-vehicle apparatus  300  according to Embodiment 1. 
         FIG. 12  is a configuration diagram of a map server apparatus  200  according to Embodiment 2. 
         FIG. 13  is a flowchart of a map maintenance method by the map server apparatus  200  according to Embodiment 2. 
         FIG. 14  is a flowchart of a map maintenance method by a map maintenance system  100  according to Embodiment 2. 
         FIG. 15  is a configuration diagram of a map server apparatus  200  according to Embodiment 3. 
         FIG. 16  is a flowchart of a map distribution method by the map server apparatus  200  according to Embodiment 3. 
         FIG. 17  is a hardware configuration diagram of the map server apparatus  200  according to each embodiment. 
         FIG. 18  is a hardware configuration diagram of the in-vehicle apparatus  300  according to each embodiment. 
     
    
    
     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. 
     Embodiment 1 
     A map maintenance system  100  will be described with reference to  FIGS. 1 to 11 . 
     *** Description of Configuration *** 
     A configuration of the map maintenance system  100  will be described with reference to  FIG. 1 . 
     The map maintenance system  100  includes a map server apparatus  200  and in-vehicle apparatuses  300 . 
     The map server apparatus  200  and the in-vehicle apparatus  300  of each cooperating vehicle  110  communicate with each other over a network  101 . A specific example of the network  101  is the Internet. 
     The in-vehicle apparatus  300  is mounted on the cooperating vehicle  110 . 
     The cooperating vehicle  110  is a vehicle having a function of measuring a road. 
     More specifically, the cooperating vehicle  110  is 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 vehicle  110  corresponds to a measuring vehicle in a mobile mapping system (MMS). 
     The cooperating vehicle  110  performs road measurement while the cooperating vehicle  110  is running. If the cooperating vehicle  110  is a transporting vehicle, the cooperating vehicle  110  measures a road in a transport region during transport of at least either one of freight and passengers. 
     A configuration example of the cooperating vehicle  110  will be described with reference to  FIG. 2 . 
     The cooperating vehicle  110  is provided with a top board  119 . The top board  119  is provided on a roof of a vehicle body. The cooperating vehicle  110  also includes an odometer  114 . 
     Various sensors are attached to the top board  119 . 
     More specifically, a positioning reinforcement signal receiver  111 , positioning signal receivers  112 , an inertial measurement unit  113 , and laser scanners  115  are attached to the top board  119 . 
     The positioning reinforcement signal receiver  111  receives 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 vehicle  110  with 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 receiver  112  receives a positioning signal transmitted from a positioning satellite and measures the position of the cooperating vehicle  110  using 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 vehicle  110  determined by the positioning signal receiver  112 . 
     The inertial measurement unit  113  includes a gyroscope and an acceleration sensor. The gyroscope measures angles and angular velocities in three axial directions of the cooperating vehicle  110 . The acceleration sensor measures accelerations in the three axial directions of the cooperating vehicle  110 . The angles in the three axial directions indicate an elevation angle, a rotation angle, and an azimuth angle. 
     Data obtained by the inertial measurement unit  113  is called inertial measurement data. 
     The odometer  114  measures a running distance of the cooperating vehicle  110 . 
     More specifically, the odometer  114  detects a vehicle speed pulse output each time a wheel of the cooperating vehicle  110  rotates, 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 odometer  114  is called running distance data. 
     The laser scanner  115  performs laser measurement. 
     In the laser measurement, the laser scanner  115  emits laser light while rotating a laser emission surface at a speed of about 100 revolutions per second. The laser scanner  115  then 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 scanner  115  measures 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 scanner  115  is 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 vehicle  110  are each called measured data. 
     More specifically, positioning reinforcement data, positioning data, inertial measurement data, and running distance data T azimuth-distance data are collectively called measured data. 
     A configuration of the map server apparatus  200  will be described with reference to  FIG. 3 . 
     The map server apparatus  200  is a computer including pieces of hardware, such as a processor  201 , a memory  202 , an auxiliary storage device  203 , and a communication device  204 . The pieces of hardware are connected to one another via signal lines. 
     The processor  201  is an IC (Integrated Circuit) which performs arithmetic processing and controls the other pieces of hardware. The processor  201  is, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit). 
     The memory  202  is a volatile storage device. The memory  202  is also called a main storage or a main memory. The memory  202  is, for example, a RAM (Random Access Memory). Data stored in the memory  202  is saved in the auxiliary storage device  203  as needed. 
     The auxiliary storage device  203  is a nonvolatile storage device. The auxiliary storage device  203  is, for example, a ROM (Read Only Memory), an IIDD (Hard Disk Drive), or a flash memory. Data stored in the auxiliary storage device  203  is loaded into the memory  202  as needed. 
     The communication device  204  is a receiver and a transmitter. The communication device  204  is, for example, a communication chip or an NIC (Network Interface Card). 
     The map server apparatus  200  includes elements, such as a point cloud data acquisition unit  211 , a map data generation unit  212 , and a map data provision unit  213 . The elements are implemented by software. 
     A map server program is stored in the auxiliary storage device  203 , the map server program for causing a computer to function as the point cloud data acquisition unit  211 , the map data generation unit  212 , the map data provision unit  213 , a storage unit  221 , and a communication unit  222 . The map server program is loaded into the memory  202  and is executed by the processor  201 . 
     An OS (Operating System) is also stored in the auxiliary storage device  203 . At least a part of the OS is loaded into the memory  202  and is executed by the processor  201 . 
     That is, the processor  201  executes 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 memory  202 , the auxiliary storage device  203 , a register in the processor  201 , or a cache memory in the processor  201 . 
     The auxiliary storage device  203  functions as the storage unit  221 . Note that any other storage device may function as the storage unit  221  instead of the auxiliary storage device  203  or together with the auxiliary storage device  203 . 
     The communication device  204  functions as the communication unit  222 . 
     The map server apparatus  200  may include a plurality of processors which substitute for the processor  201 . The plurality of processors share the role of the processor  201 . 
     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 apparatus  300  will be described with reference to  FIG. 4 . 
     The in-vehicle apparatus  300  is a computer which includes pieces of hardware, such as a processor  301 , a memory  302 , an auxiliary storage device  303 , a communication device  304 , and an input/output interface  305 . The pieces of hardware are connected to one another via signal lines. 
     The processor  301  is an IC which performs arithmetic processing and controls the other pieces of hardware. The processor  301  is, for example, a CPU, a DSP, or a GPU. 
     The memory  302  is a volatile storage device. The memory  302  is also called a main storage or a main memory. The memory  302  is, for example, a RAM. Data stored in the memory  302  is saved in the auxiliary storage device  303  as needed. 
     The auxiliary storage device  303  is a nonvolatile storage device. The auxiliary storage device  303  is, for example, a ROM, an HDD, or a flash memory. Data stored in the auxiliary storage device  303  is loaded into the memory  302  as needed. 
     The communication device  304  is a receiver and a transmitter. The communication device  304  is, for example, a communication chip or an NIC. 
     The input/output interface  305  is a port through which data is input and output. The input/output interface  305  is, for example, a USB terminal. USB is an abbreviation for Universal Serial Bus. 
     The in-vehicle apparatus  300  includes elements, such as a measured data acquisition unit  311 , a point cloud data generation unit  312 , a point cloud data provision unit  313 , and a map data acquisition unit  314 . The elements are implemented by software. 
     An in-vehicle program is stored in the auxiliary storage device  303 , the in-vehicle program for causing a computer to function as the measured data acquisition unit  311 , the point cloud data generation unit  312 , the point cloud data provision unit  313 , the map data acquisition unit  314 , a storage unit  321 , a communication unit  322 , and an acceptance unit  323 . The in-vehicle program is loaded into the memory  302  and is executed by the processor  301 . 
     An OS is also stored in the auxiliary storage device  303 . At least a part of the OS is loaded into the memory  302  and is executed by the processor  301 . 
     That is, the processor  301  executes 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 memory  302 , the auxiliary storage device  303 , a register in the processor  301 , or a cache memory in the processor  301 . 
     The auxiliary storage device  303  functions as the storage unit  321 . Note that any other storage device may function as the storage unit  321  instead of the auxiliary storage device  303  or together with the auxiliary storage device  303 . 
     The communication device  304  functions as the communication unit  322 . 
     The input/output interface  305  functions as the acceptance unit  323 . 
     The in-vehicle apparatus  300  may include a plurality of processors which substitute for the processor  301 . The plurality of processors share the role of the processor  301 . 
     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 apparatus  200  will be described with reference to  FIG. 5 . 
     In step S 101 , the point cloud data acquisition unit  211  acquires point cloud data from the in-vehicle apparatus  300  of the cooperating vehicle  110 . 
     The point cloud data indicates respective three-dimensional coordinate values for measuring points. 
     More specifically, the in-vehicle apparatus  300  transmits the point cloud data to the map server apparatus  200 . The point cloud data acquisition unit  211  receives the point cloud data transmitted from the in-vehicle apparatus  300  via the communication unit  222 . The point cloud data acquisition unit  211  then stores the point cloud data in the storage unit  221 . 
     In step S 102 , the map data generation unit  212  generates 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 unit  212  executes 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 S 103 , the map data provision unit  213  transmits the map data to the in-vehicle apparatus  300  that is a transmission source of measured data via the communication unit  222 . 
     A data provision method by the in-vehicle apparatus  300  will be described with reference to  FIG. 6 . 
     In step S 111 , the measured data acquisition unit  311  acquires pieces of measured data from the various sensors of the cooperating vehicle  110 . 
     More specifically, when road measurement by the cooperating vehicle  110  is started, the various sensors output pieces of measured data. The output pieces of measured data are input to the in-vehicle apparatus  300 . The acceptance unit  323  accepts the input pieces of measured data, and the measured data acquisition unit  311  acquires the pieces of measured data via the acceptance unit  323 . The measured data acquisition unit  311  then stores the pieces of measured data in the storage unit  321 . 
     In step S 112 , the point cloud data generation unit  312  generates 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 S 113 , the point cloud data provision unit  313  transmits the point cloud data to the map server apparatus  200  via the communication unit  322 . 
     In step S 114 , the map data acquisition unit  314  acquires map data from the map server apparatus  200 . 
     More specifically, the map server apparatus  200  generates the map data on the basis of the point cloud data and transmits the map data to the in-vehicle apparatus  300 . The map data acquisition unit  314  receives the map data transmitted from the map server apparatus  200  via the communication unit  322 . The map data acquisition unit  314  then stores the map data in the storage unit  321 . 
     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 system  100  will be described with reference to  FIG. 7 . 
     In step S 121 , the in-vehicle apparatus  300  acquires pieces of measured data. 
     More specifically, when road measurement by the cooperating vehicle  110  is started, the various sensors output the pieces of measured data. The output pieces of measured data are input to the in-vehicle apparatus  300 . The acceptance unit  323  accepts the input pieces of measured data, and the measured data acquisition unit  311  acquires the pieces of measured data via the acceptance unit  323 . The storage unit  321  then stores the pieces of measured data. 
     In step S 122 , the in-vehicle apparatus  300  generates point cloud data. 
     More specifically, the point cloud data generation unit  312  generates the point cloud data on the basis of the pieces of measured data. The storage unit  321  then stores the point cloud data. 
     In step S 123 , the in-vehicle apparatus  300  transmits the point cloud data to the map server apparatus  200 . 
     More specifically, the point cloud data provision unit  313  transmits the point cloud data to the map server apparatus  200  via the communication unit  322 . 
     In step S 124 , the map server apparatus  200  stores the point cloud data. 
     More specifically, the point cloud data acquisition unit  211  receives the point cloud data via the communication unit  222 . The storage unit  221  then stores the point cloud data. 
     In step S 125 , the map server apparatus  200  generates map data. 
     More specifically, the map data generation unit  212  executes the mapping software using the point cloud data as an input. With the execution, the map data is generated. The storage unit  221  stores the map data. 
     In step S 126 , the map server apparatus  200  transmits the map data to the in-vehicle apparatus  300 . 
     More specifically, the map data provision unit  213  transmits the map data to the in-vehicle apparatus  300  that is a transmission source of measured data via the communication unit  222 . 
     In step S 127 , the in-vehicle apparatus  300  stores the map data. 
     More specifically, the map data acquisition unit  314  receives the map data via the communication unit  322 . The storage unit  221  then 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 vehicle  110  is equipped with various sensors (measuring functions). The cooperating vehicles  110  measure roads in regions. This makes it possible to maintain dynamic maps for more regions in a short time period. 
     *** Other Configurations *** 
     The in-vehicle apparatus  300  may provide measured data to the map server apparatus  200  instead of point cloud data. 
     A configuration of the map server apparatus  200  will be described with reference to  FIG. 8 . 
     The map server apparatus  200  includes a measured data acquisition unit  231  and a map data generation unit  232  instead of the point cloud data acquisition unit  211  and the map data generation unit  212 . 
     The measured data acquisition unit  231  acquires measured data from the in-vehicle apparatus  300 . More specifically, the measured data acquisition unit  231  receives the measured data transmitted from the in-vehicle apparatus  300  via the communication unit  222 . 
     The map data generation unit  232  generates map data on the basis of the measured data. More specifically, the map data generation unit  232  executes 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 apparatus  300  will be described with reference to  FIG. 9 . 
     The in-vehicle apparatus  300  includes a measured data provision unit  331  instead of the point cloud data generation unit  312  and the point cloud data provision unit  313 . 
     The measured data provision unit  331  transmits measured data to the map server apparatus  200  via the communication unit  322 . 
     The in-vehicle apparatus  300  may provide map data to the map server apparatus  200  instead of point cloud data. 
     A configuration of the map server apparatus  200  will be described with reference to  FIG. 10 . 
     The map server apparatus  200  includes a map data acquisition unit  233  instead of the point cloud data acquisition unit  211 , the map data generation unit  212 , and the map data provision unit  213 . 
     The map data acquisition unit  233  acquires map data from the in-vehicle apparatus  300 . More specifically, the map data acquisition unit  233  receives the map data transmitted from the in-vehicle apparatus  300  via the communication unit  222 . 
     A configuration of the in-vehicle apparatus  300  will be described with reference to  FIG. 11 . 
     The in-vehicle apparatus  300  includes a map data generation unit  332  and a map data provision unit  333  instead of the point cloud data generation unit  312 , the point cloud data provision unit  313 , and the map data acquisition unit  314 . 
     The map data generation unit  332  generates map data on the basis of measured data. More specifically, the map data generation unit  332  executes 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 unit  333  transmits the map data to the map server apparatus  200  via the communication unit  322 . 
     Positioning evaluation data may be added to data (point cloud data, measured data, or map data) to be provided from the in-vehicle apparatus  300  to the map server apparatus  200 . 
     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 apparatus  200  and the in-vehicle apparatus  300 . 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 apparatus  300  encrypts point cloud data (or measured data). The in-vehicle apparatus  300  then transmits the encrypted point cloud data (or encrypted measured data). The map server apparatus  200  receives the encrypted point cloud data (or encrypted measured data) and decodes the encrypted point cloud data (or encrypted measured data). 
     Embodiment 2 
     A form of paying a price for data provision will be described with reference to  FIGS. 12 to 14  mainly with a focus on differences from Embodiment 1. 
     *** Description of Configuration *** 
     A configuration of a map maintenance system  100  is the same as that (see  FIG. 1 ) in Embodiment 1. 
     A configuration of a cooperating vehicle  110  is the same as that (see  FIG. 2 ) in Embodiment 1. 
     A configuration of a map server apparatus  200  will be described with reference to  FIG. 12 . 
     The map server apparatus  200  further includes a payment unit  214 . 
     A map server program further causes a computer to function as the payment unit  214 . 
     A configuration of an in-vehicle apparatus  300  is the same as that (see  FIG. 4 ) in Embodiment 1. 
     *** Description of Operation *** 
     A map maintenance method by the map server apparatus  200  will be described with reference to  FIG. 13 . 
     Steps S 201  to S 203  are the same as steps S 101  to S 103  in Embodiment 1 (see  FIG. 5 ). 
     In step S 204 , the payment unit  214  performs payment processing on a price for point cloud data acquired from the in-vehicle apparatus  300 . 
     More specifically, the payment unit  214  pays the price for the point cloud data to a manager (owner or operator) of the cooperating vehicle  110 . That is, the payment unit  214  pays 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 unit  214  determines a price for point cloud data in the manner below. 
     (1) The payment unit  214  calculates 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 unit  214  calculates 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 unit  214  calculates the price on the basis of a running distance of the cooperating vehicle  110 . 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 apparatus  300 . More specifically, the running distance is the sum of distances between measuring points. 
     (4) The payment unit  214  calculates the price on the basis of a measurement time period of the cooperating vehicle  110 . The measurement time period is a time period for road measurement performed by the cooperating vehicle  110 . 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 apparatus  300 . 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 apparatus  300  is the same as that (see  FIG. 6 ) in Embodiment 1. 
     A map maintenance method by the map maintenance system  100  will be described with reference to  FIG. 14 . 
     Steps S 221  to S 227  are the same as steps S 121  to S 127  in Embodiment 1 (see  FIG. 7 ). 
     In step S 228 , the map server apparatus  200  performs payment processing on point cloud data received from the in-vehicle apparatus  300 . 
     The payment processing is as described in step S 204  (see  FIG. 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 vehicle  110  can 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 apparatus  300  may provide measured data or map data to the map server apparatus  200  instead of point cloud data (see  FIGS. 8 to 11 ). 
     The payment unit  214  performs payment processing on data (measured data or map data) provided from the in-vehicle apparatus  300 . 
     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. 
     Embodiment 3 
     A form of giving preferential treatment to a data provider (cooperator) in map data distribution will be described with reference to  FIGS. 15 and 16  mainly with a focus on differences from Embodiment 1. 
     *** Description of Configuration *** 
     A configuration of a map maintenance system  100  is the same as that (see  FIG. 1 ) in Embodiment 1. 
     A configuration of a cooperating vehicle  110  is the same as that (see  FIG. 2 ) in Embodiment 1. 
     A configuration of a map server apparatus  200  will be described with reference to  FIG. 15 . 
     The map server apparatus  200  further includes a discrimination unit  215 , a distribution unit  216 , and a charging unit  217 . 
     A map server program further causes a computer to function as the discrimination unit  215 , the distribution unit  216 , and the charging unit  217 . 
     A configuration of an in-vehicle apparatus  300  is the same as that (see  FIG. 4 ) in Embodiment 1. 
     *** Description of Operation *** 
     A map distribution method by the map server apparatus  200  will be described with reference to  FIG. 16 . 
     An in-vehicle terminal mounted on a map-using car transmits a distribution request to the map server apparatus  200 . 
     The map-using car is one of various vehicles which use map data. The map-using car may be the cooperating vehicle  110 . 
     The distribution request is communication data for requesting distribution of map data. 
     In step S 301 , a communication unit  222  receives a distribution request. 
     In step S 302 , the discrimination unit  215  discriminates a manager of the map-using car. The manager of the map-using car is called a requestor. 
     More specifically, the discrimination unit  215  judges whether the requestor is a cooperator. 
     The cooperator is a manager of the cooperating vehicle  110 . 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 unit  221 . The list of cooperators is a list of cooperator identifiers. Each cooperator identifier is used to identify a cooperator. 
     The discrimination unit  215  acquires 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 unit  215  judges that the requestor is a cooperator. 
     If the manager identifier is not included in the list of cooperators, the discrimination unit  215  judges that the requestor is not a cooperator. 
     In step S 303 , the distribution unit  216  distributes map data. 
     More specifically, the distribution unit  216  selects map data requested by the distribution request from the storage unit  221 . The distribution unit  216  then transmits the selected map data to an in-vehicle terminal which is a request source via the communication unit  222 . 
     The distribution unit  216  determines a map data distribution method on the basis of a result of discriminating the requestor. 
     For example, the distribution unit  216  varies the map data distribution method in the manner below. 
     (1) The distribution unit  216  varies the quantity of information to be included in map data. If the requestor is a cooperator, the distribution unit  216  distributes map data including additional information. If the requestor is not a cooperator, the distribution unit  216  distributes 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 unit  216  varies the order of precedence in distribution. If the requestor is a cooperator, the distribution unit  216  distributes 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 S 304 , the charging unit  217  performs charging processing on the distributed map data on the basis of the result of discriminating the requestor. 
     More specifically, the charging unit  217  determines 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 unit  217  determines a regular rate as the charge amount. If the requestor is a cooperator, the charging unit  217  determines a reduced rate as the charge amount. The charging unit  217  then 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 vehicle  110  can 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 unit  216  may 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 vehicle  110 , and (4) a measurement time period of the cooperating vehicle  110 . 
     If the requestor is a cooperator, the charging unit  217  may 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 vehicle  110 , and (4) the measurement time period of the cooperating vehicle  110 . 
     As described at the end of Embodiment 1, the in-vehicle apparatus  300  may provide measured data or map data to the map server apparatus  200  instead of point cloud data (see  FIGS. 8 to 11 ). 
     As described in Embodiment 2, the map server apparatus  200  may include the payment unit  214 . 
     Supplement to Embodiments 
     A hardware configuration of the map server apparatus  200  will be described with reference to  FIG. 17 . 
     The map server apparatus  200  includes processing circuitry  209 . 
     The processing circuitry  209  is hardware which implements the point cloud data acquisition unit  211 , the map data generation unit  212 , the map data provision unit  213 , the payment unit  214 , the discrimination unit  215 , the distribution unit  216 , the charging unit  217 , the measured data acquisition unit  231 , the map data generation unit  232 , and the map data acquisition unit  233 . 
     The processing circuitry  209  may be dedicated hardware or the processor  201  that executes a program stored in the memory  202 . 
     If the processing circuitry  209  is dedicated hardware, the processing circuitry  209  is, 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 apparatus  200  may include a plurality of processing circuits which substitute for the processing circuitry  209 . The plurality of processing circuits share the role of the processing circuitry  209 . 
     Some of the functions of the map server apparatus  200  may be implemented by dedicated hardware, and the others may be implemented by software or firmware. 
     As described above, the processing circuitry  209  can be implemented by hardware, software, firmware, or a combination thereof. 
     A hardware configuration of the in-vehicle apparatus  300  will be described with reference to  FIG. 18 . 
     The in-vehicle apparatus  300  includes processing circuitry  309 . 
     The processing circuitry  309  is hardware which implements the measured data acquisition unit  311 , the point cloud data generation unit  312 , the point cloud data provision unit  313 , the map data acquisition unit  314 , the measured data provision unit  331 , the map data generation unit  332 , and the map data provision unit  333 . 
     The processing circuitry  309  may be dedicated hardware or the processor  301  that executes a program stored in the memory  302 . 
     If the processing circuitry  309  is dedicated hardware, the processing circuitry  309  is, 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 apparatus  300  may include a plurality of processing circuits which substitute for the processing circuitry  309 . The plurality of processing circuits share the role of the processing circuitry  309 . 
     Some of the functions of the in-vehicle apparatus  300  may be implemented by dedicated hardware, and the others may be implemented by software or firmware. 
     As described above, the processing circuitry  309  can 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