Patent Publication Number: US-2020278215-A1

Title: Map collection system, map server device, in-vehicle device and map collection method

Description:
TECHNICAL FIELD 
     The present invention relates to collection of map data. 
     BACKGROUND ART 
     Dynamic maps have been developed and maintained for expressways since fiscal 2015. 
     A dynamic map is a high-precision three-dimensional map including dynamic information, semi-dynamic information, semi-static information and static information. 
     The static information of the dynamic map identifies lanes of roads with an accuracy of several centimeters to several tens of centimeters. 
     A vehicle compatible with a dynamic map is capable of automated driving. 
     Sensors such as a camera and a radar, etc. are mounted on the vehicle. Then, the information obtained by each sensor is compared with the information (information such as lanes and road objects, etc.) obtained from the dynamic map. This makes it possible to recognize an accurate position of the vehicle. As a result, the control performance of automated driving is improved. 
     Patent Literature 1 discloses a form of control over automated driving by using a dynamic map. 
     In preparation for popularization of self-driving vehicles in the future, it is necessary to develop and maintain a dynamic map for ordinary roads. 
     Patent Literature 2 discloses a form of maintenance of a dynamic map. 
     In the mobile mapping system (MMS), three-dimensional point cloud information of roads is collected by a measurement vehicle, and linearized data of roads and features is obtained from the three-dimensional point cloud information. Then, based on the obtained linearized data, a dynamic map is generated. The generated dynamic map is distributed to map companies and automobile companies. 
     In order to proceed with improvement of the dynamic map, it is necessary to have the measurement vehicle travel a long distance. 
     The subject matter according to Patent Literature 3 is to report that when high-precision map data is not provided for a part of a guide route, a part exists in the guide route where automated driving is impossible. 
     The aim of the subject matter according to Patent Literature 3 is to eliminate an uncomfortable feeling of a driver that is caused in a situation where an area for which high-precision map data is maintained, and an area for which high-precision map data is not maintained are mixed. 
     Such an uncomfortable feeling is eliminated when improvement of dynamic maps for ordinary roads is promoted. 
     Patent Literature 4 discloses a technique to improve efficiency of a partial update operation of data for map display. 
     In order to promote popularization of dynamic maps, it is necessary to simplify the update operation of the dynamic maps. 
     Patent Literature 5 discloses a method to improve convenience of a user in displaying guidance information at the time of route search. Specifically, guidance information to guide featured areas along with routes are displayed. This makes it possible for the user to select various actions during travel time from a departure point to a destination, such as to drop by a featured area that does not exist on the route. 
     It is regarded as necessary to improve convenience of users also for improvement of dynamic maps. 
     Patent Literature 6 discloses a method to display point cloud images representing roads and the periphery of roads based on measurement data obtained by a measurement vehicle. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: WO2017-150059 A 
     Patent Literature 2: WO2017-110801 A 
     Patent Literature 3: JP 2016-200472 A 
     Patent Literature 4: WO2005-088584 A 
     Patent Literature 5: JP2009-222572 A 
     Patent Literature 6: WO 2016-185637 A 
     SUMMARY OF INVENT ION 
     Technical Problem 
     The present invention is aimed at making it possible to provide map data from an in-vehicle device of a measurement vehicle to a map server device. 
     Solution to Problem 
     A map collection system according to the present invention includes a map server device, and an in-vehicle device that is mounted on a measurement vehicle. 
     The map server device includes: 
     a software distribution unit to distribute, to the in-vehicle device, mapping software to generate map data based on measurement data obtained by the measurement vehicle, and 
     a map data acquisition unit to acquire, from the in-vehicle device, the map data generated by the mapping software. 
     The measurement vehicle includes: 
     a software acquisition unit to acquire the mapping software from the map server device; 
     a measurement data acquisition unit to acquire the measurement data obtained by the measurement vehicle; 
     a map data generation unit to generate map data by executing the mapping software by using the acquired measurement data as an input, and 
     a map data provision unit to transmit the generated map data to the map server device. 
     Advantageous Effects of Invention 
     According to the present invention, it is possible to provide map data from an in-vehicle device of a measurement vehicle to a map server device. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a configuration diagram of a map collection system  100  according to a first embodiment; 
         FIG. 2  is a configuration diagram of a measurement vehicle  100  according to the first embodiment; 
         FIG. 3  is a configuration diagram of a map server device  200  according to the first embodiment; 
         FIG. 4  is a configuration diagram of an in-vehicle device  300  according to the first embodiment; 
         FIG. 5  is a flowchart of a map collection method by the map server device  200  according to the first embodiment; 
         FIG. 6  is a flowchart of a map provision method by the in-vehicle device  300  according to the first embodiment; 
         FIG. 7  is a flowchart of a map collection method by the map collection system  100  according to the first embodiment; 
         FIG. 8  is a flowchart of a map collection method in a map collection system  190 ; 
         FIG. 9  is a configuration diagram of an in-vehicle device  300  according to a second embodiment; 
         FIG. 10  is a diagram illustrating a procedure of mapping software  120  according to the second embodiment; 
         FIG. 11  is a flowchart of a map provision method by the in-vehicle device  300  according to the second embodiment; 
         FIG. 12  is a flowchart of a map collection method by a map collection system  100  according to the second embodiment; 
         FIG. 13  is a diagram illustrating a hardware configuration of the map server device  200  according to the embodiments; and 
         FIG. 14  is a diagram illustrating a hardware configuration of the in-vehicle device  300  according to the embodiments. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     In embodiments and diagrams, same elements and corresponding elements are denoted by the same reference numerals. Explanation for the elements with the same reference numerals will be omitted or simplified appropriately. Arrows in the diagrams mainly illustrate flows of data or flows of processing. 
     First Embodiment 
     Explanation will be provided of a map collection system  100  based on  FIG. 1  through  FIG. 7 . 
     Explanation of Configuration 
     Based on  FIG. 1 , the configuration of the map collection system  100  will be described. 
     The map collection system  100  includes a map server device  200  and in-vehicle devices  300 . 
     The map server device  200  and the in-vehicle devices  300  of each measurement vehicle  110  communicate with one another via a network  101 . The network  101  is specifically the Internet. 
     The in-vehicle devices  300  are mounted on measurement vehicles  110 . 
     The measurement vehicles  110  are vehicles used in the mobile mapping system (MMS), which measure roads in each area. 
     However, any vehicles may be the measurement vehicles  110  as far as they are equipped with measurement functions, and the measurement vehicles  110  need not be vehicles dedicated to the mobile mapping system. For example, the measurement vehicles  110  may be private cars or transporting vehicles. The transporting vehicles are vehicles for transporting at least any of goods or passengers. One example of the transporting vehicles is a taxi, a bus or a home delivery vehicle. 
     Based on  FIG. 2 , the configuration of a measurement vehicle  110  will be described. 
     The measurement vehicle  110  is provided with a top board  119 . The top board  119  is situated at the roof of the vehicle. Further, the measurement vehicle  110  includes an odometer  114 . 
     Various types of sensors are attached to the top board  119 . 
     Specifically, a positioning reinforcement signal receiver  111 , a positioning signal receiver  112 , an inertial measurement device  113  and a laser scanner  115  are attached to the top board  119 . 
     The positioning reinforcement signal receiver  111  receives positioning reinforcement data from a GNSS satellite, a terrestrial wireless LAN, or a mobile phone line. GNSS is an abbreviation for Global Navigation Satellite System. 
     The positioning reinforcement data has an accuracy of a centimeter class, which is used for measuring a position of the measurement vehicle  110  with a high degree of accuracy. 
     The positioning reinforcement data is distributed from the GNSS satellite. Otherwise, the positioning reinforcement data is distributed from a GNSS correction information distribution service provider via a mobile telephone network. 
     When the GNSS satellite being a quasi-zenith satellite distributes the positioning reinforcement data, the positioning reinforcement data is included in signals of L 6  band, which indicates an error of a satellite clock of each GPS satellite, an orbit error of each GPS satellite, an inter-frequency bias, an error of ionospheric propagation delay and an error of tropospheric delay. GPS is an abbreviation for Global Positioning System. 
     The positioning signal receiver  112  receives a positioning signal transmitted from a positioning satellite, and measures a position of the measurement vehicle  110  by using a reception result of the positioning signal. The data obtained by positioning is called positioning data. The GPS satellite is one example of the positioning satellite. 
     The positioning data indicates a position of the measurement vehicle  110  measured by the positioning signal receiver  112 . 
     The inertial measurement device  113  includes a gyroscope and an acceleration sensor. The gyroscope measures angles and angular velocities in three-axial directions of the measurement vehicle  110 . The acceleration sensor measures acceleration rates in the three-axial directions of the measurement vehicle  110 . The angles in the three-axial directions indicate an elevation angle, a rotation angle and an azimuthal angle. 
     The data obtained by the inertial measurement device  113  is called inertial measurement data. 
     The odometer  114  measures a travel distance of the measurement vehicle  110 . 
     Specifically, the odometer  114  detects vehicle speed pulses which are output every time a wheel of the measurement vehicle  110  rotates, and calculates the travel distance by integral calculation using the rotating radius of a tire and the rotation amount of the wheel. 
     The data obtained by the odometer  114  is called travel distance data. 
     The laser scanner  115  performs laser measurement. 
     In the laser measurement, the laser scanner  115  emits a laser beam while rotating a laser emission surface at a speed of about  100  rotations per second. Then, the laser scanner  115  calculates distances and directions for each point at which the laser beam is reflected. 
     The point at which the laser beam is reflected is called a measurement point. 
     Specifically, the laser scanner  115  measures a time from an emission time of a laser beam until a reception time of the laser beam, and calculates a distance to a measurement point by using the measured time. The emission time is a time when the laser beam is emitted, and the reception time is a time when the laser beam that is reflected at the measurement point is received. The azimuth of the measurement point is an angle at which the laser beam is emitted. 
     The data obtained by the laser scanner  115  is called azimuth-distance data. 
     The data obtained by the several types of sensors mounted on the measurement vehicle  110  is called measurement data. 
     Specifically, the positioning reinforcement data, the positioning data, the inertial measurement data, the travel distance data and T azimuth-distance data arc collectively called the measurement data. 
     The configuration of the map server device  200  is described based on  FIG. 3 . 
     The map server device  200  is a computer including hardware components such as a processor  201 , a memory  202 , an auxiliary storage device  203  and a communication device  204 . These hardware components are connected to one another via signal lines. 
     The processor  201  is an IC (Integrated Circuit) that performs arithmetic processing, and controls other hardware components. For example, the processor  201  is 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 device or a main memory. For example, the memory  202  is a RAM (Random Access Memory). The data stored in the memory  202  is saved in the auxiliary storage device  203  as needed. 
     The auxiliary storage device  203  is a non-volatile storage device. For example, the auxiliary storage device  203  is a ROM (Read Only Memory), an HDD (Hard Disk Drive) or a flash memory. The data stored in the auxiliary storage device  203  is loaded into the memory  202  as needed. 
     The communication device  204  is a receiver/transmitter. For example, the communication device  204  is a communication chip or an NIC (Network Interface Card). 
     The map server device  200  includes elements such as a software distribution unit  211 , a map data acquisition unit  212  and a map data distribution unit  213 . These elements are realized by software. 
     The auxiliary storage device  203  stores a map server program to make a computer function as the software distribution unit  211 , the map data acquisition unit  212 , the 2 map data distribution unit  213 , a storage unit  221  and a communication unit  222 . The map server program is loaded into the memory  202 , and executed by the processor  201 . 
     Further, the auxiliary storage device  203  stores an OS (Operating System). At least a part of the OS is loaded into the memory  202 , and executed by the processor  201 . 
     That is, the processor  201  executes the map server program while executing the OS. 
     The data obtained by executing 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 a storage unit  221 . However, another storage device may function as the storage unit  221  instead of the auxiliary storage device  203 , or along with the auxiliary storage device  203 . 
     The communication device  204  functions as the communication unit  222 . 
     The map server program  200  may include a plurality of processors which replace the processor  201 . The plurality of processors share the roles of the processor  201 . 
     The map server program can be recorded (stored) on a non-volatile recording medium such as an optical disk or a flash memory, etc. in a computer-readable manner. 
     The configuration of the in-vehicle device  300  will be described based on  FIG. 4 . 
     The in-vehicle device  300  is a computer including hardware components such as a processor  301 , a memory  302 , an auxiliary storage device  300 , a communication device  304  and an input/output interface  305 . These hardware components are connected to one another via signal lines. 
     The processor  301  is an IC to perform arithmetic processing, which controls other hardware components. For example, the processor  301  is a CPU, a DSP or a GPU. 
     The memory  302  is a volatile storage device. The memory  302  is also called a main storage device or a main memory. For example, the memory  302  is a RAM. The data stored in the memory  302  is saved in an auxiliary storage device  303  as needed. 
     The auxiliary storage device  303  is a non-volatile storage device. For example, the auxiliary storage device  303  is a ROM, an HDD or a flash memory. The 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. For example, the communication device  304  is a communication chip or an NIC. 
     The input/output interface  305  is a port through which data is input and output. For example, the input/output interface  305  is a USB terminal. USB is an abbreviation for Universal Serial Bus. 
     The in-vehicle device  300  includes elements such as a software acquisition unit  311 , a measurement data acquisition unit  312 , a map data generation unit  313  and a map data provision unit  314 . These elements are realized by software. 
     The auxiliary storage device  303  stores an in-vehicle program to make a computer function as the software acquisition unit  311 , the measurement data acquisition unit  312 , the map data generation unit  313 , the map data provision unit  314 , a communication unit  322  and a reception unit  323 . The in-vehicle program is loaded into the memory  302 , and executed by the processor  301 . 
     Further, the auxiliary storage device  303  stores an OS. At least a part of the OS is loaded into the memory  302 , and executed by the processor  301 . 
     That is, the processor  301  executes the in-vehicle program while executing the OS. 
     The data obtained by executing 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 memory  302  functions as a storage unit  321 . However, another storage device may function as the storage unit  321  instead of the memory  302 , or along with the memory  302 . 
     The communication device  304  functions as the communication unit  322 . 
     The input/output interface  305  functions as the reception unit  323 . 
     The in-vehicle device  300  may include a plurality of processors that replace the processor  301 . The plurality of processors share the roles of the processor  301 . 
     The in-vehicle program can be recorded (stored) on a non-volatile recording medium such as an optical disk or a flash memory, etc. in a computer-readable manner. 
     Explanation of Operations 
     A map collection method by the map server device  200  will be described based on  FIG. 5 . 
     In a step S 101 , the software distribution unit  211  distributes mapping software to in-vehicle devices  300  of each measurement vehicle  110 . 
     The mapping software is a program to generate map data based on measurement data obtained by each measurement vehicle  110 . For example, a conventional program to generate map data is used as mapping software. 
     The mapping software is stored beforehand in the storage unit  221 . 
     Specifically, the software distribution unit  211  reads out the mapping software from the storage unit  221 , and transmits the mapping software to the in-vehicle device  300  via the communication unit  222 . 
     In a step S 102 , the map data acquisition unit  212  acquires map data. 
     Specifically, the in-vehicle devices  300  generate map data by executing the mapping software, and transmit the map data to the map server device  200 . The map data acquisition unit  212  receives the map data transmitted from the in-vehicle devices  300  of each measurement vehicle  110  via the communication unit  222 . Then, the map data acquisition unit  212  stores the map data in the storage unit  221 . 
     After each map data is collected, the map data distribution unit  213  distributes each map data. 
     Specifically, an in-vehicle terminal mounted on a map using vehicle requests map data from the map server device  200 . When the map data is requested, the map data distribution unit  213  reads out the map data from the storage unit  221 . Then, the map data distribution unit  213  transmits the map data to the in-vehicle terminal being a requestor via the communication unit  222 . The map using vehicles are various types of vehicles that use map data. The map using vehicle may be the measurement vehicle  110 . 
     Map data is data corresponding to static information of a dynamic map, and is used for automatic driving or navigation. 
     A map provision method by the in-vehicle devices  300  will be described based on  FIG. 6 . 
     In a step S 111 , the software acquisition unit  311  acquires the mapping software from the map server device  200 . 
     Specifically, the software acquisition unit  311  receives the mapping software transmitted form the map server device  200  via the communication unit  322 . Then, the software acquisition unit  311  stores the mapping software in the storage unit  321 . 
     In a step S 112 , the measurement data acquisition unit  312  acquires measurement data from the various types of sensors of the measurement vehicles  110 . 
     Specifically, when measurement by the measurement vehicle  110  is started, the several types of sensors output measurement data. The output measurement data is input into the in-vehicle devices  300 . The reception unit  323  receives the input measurement data, and the measurement data acquisition unit  312  acquires the measurement data via the reception unit  323 . Then, the measurement data acquisition unit  312  stores the measurement data in the storage unit  321 . 
     In a step S 113 , the map data generation unit  313  generates map data. 
     Specifically, the map data generation unit  313  executes the mapping software by using the measurement data as an input. Thereby, the map data is generated. The map data generation unit  313  stores the map data in the storage unit  321 . 
     In a step S 114 , the map data provision unit  314  transmits the map data to the map server device  200  via the communication unit  322 . 
     A map collection method by the map collection system  100  will be described based on  FIG. 7 . 
     In a step S 121 , the in-vehicle devices  300  request mapping software from the map server device  200 . 
     Specifically, the software acquisition unit  311  transmits a software request to the map server device  200  via the communication unit  322 . 
     The software request is communication data to request the mapping software. 
     In a step S 122 , the map server device  200  distributes the mapping software to the in-vehicle devices  300 . 
     Specifically, the map server device  200  operates as follows. 
     The communication unit  222  receives a software request. 
     When the software request is received, the software distribution unit  211  reads out the mapping software from the storage unit  221 . 
     Then, the software distribution unit  211  transmits a software response to the in-vehicle devices  300  via the communication unit  222 . 
     The software response is communication data including the mapping software. 
     In a step S 123 , the in-vehicle devices  300  store the mapping software. 
     Specifically, the in-vehicle devices  300  operate as follows. 
     The communication unit  322  receives the software response. 
     When the software response is received, the software acquisition unit  311  acquires the mapping software from the software response. 
     Then, the storage unit  321  stores the mapping software. 
     In a step  5124 , the in-vehicle devices  300  acquire measurement data —    
     Specifically, when measurement by a measurement vehicle  110  is started, the various types of sensors output the measurement data. The output measurement data is input into the in-vehicle devices  300 . The reception unit  323  receives the input measurement data, and the measurement data acquisition unit  312  acquires the measurement data via the reception unit  323 . Then, the storage unit  321  stores the measurement data. 
     In a step S 125 , the in-vehicle devices  300  generate map data. 
     Specifically, the map data generation unit  313  executes the mapping software by using the measurement data as an input. Thereby, the map data is generated. The storage unit  321  stores the map data. 
     In a step  5126 , the in-vehicle devices  300  transmit the map data to the map server device  200 . 
     Specifically, the map data provision unit  314  transmits the map data to the map server device  200  via the communication unit  322 . 
     In a step S 127 , the map server device  200  stores the map data. 
     Specifically, the map data acquisition unit  212  receives the map data via the communication unit  222 . Then, the storage unit  221  stores the map data. 
     Effect of First Embodiment 
     A map collection method by a map collection system  190  will be described based on  FIG. 8 . 
     The map collection system  190  is a system to be compared with the map collection system  100 . 
     First, an in-vehicle device  191  acquires measurement data from the various types of sensors of the measurement vehicles. 
     Next, the in-vehicle device  191  transmits the measurement data to a map server device  192 . The map server device  192  receives the measurement data. 
     Then, the map server device  192  generates map data by executing the mapping software by using the measurement as an input. 
     That is, the map server device  192  acquires measurement data obtained in each area from the in-vehicle devices  300  of each measurement vehicle  110 , and generates map data of each area based on the measurement data of the each area. 
     Meanwhile, in the first embodiment, the map server device  200  makes the in-vehicle devices  300  of each measurement vehicle  110  generate map data of each area by distributing the mapping software to the in-vehicle devices  300  of each measurement vehicle  110 . 
     This makes it possible to distribute a load in generating the map data to the in-vehicle devices  300  of each measurement vehicle  110 . Thereby, it is possible to reduce the load on the map server device  200 . 
     The amount of the measurement data obtained by the measurement vehicles  110  is enormous. Meanwhile, the map data generated based on the measurement data is smaller than the measurement data. 
     In the map collection system  190 , the data communicated between the map server device  192  and the in-vehicle device  191  is the measurement data. 
     Meanwhile, in the first embodiment, the data communicated between the map server device  200  and the in-vehicle devices  300  is the map data. 
     This makes it possible to reduce the amount of the data communicated between the map server device  200  and the in-vehicle devices  300 . 
     The map server device  200  distributes common mapping software to the in-vehicle devices  300  of each measurement vehicle  110 . This makes it possible to generate map data of each area in a common format. 
     Another Configuration 
     There may exist a map-related system. 
     The map-related system relays measurement data and map data between the map server device  200  and the in-vehicle devices  300 . The measurement data and the map data are communicated via the map-related system. 
     For example, the map-related system is a system that is used by a map company, a car company or a navigation system company, etc. In addition, the map-related system is a system used by, for example, a logistics company, a taxi company, a bus company, or a home delivery company. 
     Second Embodiment 
     A form in which automatic transmission and automatic deletion of map data is performed in the in-vehicle devices  300  will be described mainly on points different from those in the first embodiment based on  FIG. 9  through  FIG. 12 . 
     Explanation of Configuration 
     The configuration of the map collection system  100  is the same as the configuration in the first embodiment (refer to  FIG. 1 ). 
     The configuration of the map server device  200  is the same as the configuration in the first embodiment (refer to  FIG. 2 ). 
     The configuration of an in-vehicle device  300  will be described based on  FIG. 9 . 
     The in-vehicle device  300  further includes a map data deletion unit  315 . 
     The procedure described in the mapping software  120  will be described based on  FIG. 10 . 
     In the mapping software  120 , a series of procedures are described as an algorithm. 
     The series of procedures include an automatic mapping step, an automatic transmission step and an automatic deletion step. 
     The automatic mapping step is a step to generate map data based on measurement data. The map data generated is stored in the storage unit  321 . 
     The automatic transmission step is a step to transmit the generated map data to the map server device  200 . 
     The automatic deletion step is a step to delete the generated map data from the storage unit  321  when the generated map data is transmitted to the map server device  200 . 
     The automatic mapping step includes a three-dimensional point cloud generation step and a map generation step. 
     The three-dimensional point cloud generation step is a step to generate three-dimensional point cloud data based on the measurement data. The three-dimensional point cloud data indicates three-dimensional coordinate values of each measurement point. 
     The map generation step is a step to generate map data based on the three-dimensional point cloud data. 
     Description of Operation 
     A map collection method by the map server device  200  is the same as the method (refer to  FIG. 5 ) in the first embodiment. 
     A map provision method by the in-vehicle devices  300  will be described based on  FIG. 10 . 
     A step S 211  through a step S 214  are the same as the step S 111  through the step S 114  in the first embodiment (refer to  FIG. 6 ). 
     The step S 213  is an automatic mapping step. 
     The step S 214  is an automatic transmission step. 
     A step S 215  is an automatic deletion step. 
     In the step S 215 , the map data deletion unit  315  deletes map data from the storage unit  321 . 
     A map collection method by the map collection system  100  will be described based on  FIG. 12 . 
     A step S 221  through a step S 226  are the same as the step S 121  through the step S 126  in the first embodiment (refer to  FIG. 7 ). 
     The step S 225  is an automatic mapping step. 
     The step S 226  is an automatic transmission step. 
     A step  5227  is an automatic deletion step. 
     In the step S 227 , the map data deletion unit  315  deletes map data from the storage unit  321 . 
     A step S 228  is the same as the step S 127  in the first embodiment (refer to  FIG. 7 ). 
     Effect of Second Embodiment 
     By the mapping software  120 , map data is automatically transmitted from the in-vehicle devices  300  to the map server device  200 . Then, when the map data is transmitted, the map data is automatically deleted from the storage unit  321 . This makes it possible to prevent leakage of the map data. 
     Supplement to Embodiments 
     A hardware configuration of the map server device  200  will be described based on  FIG. 13 . 
     The map server device  200  includes processing circuitry  209 . 
     The processing circuitry  209  is a hardware component to realize the software distribution unit  211 , the map data acquisition unit  212  and the map data distribution unit  213 . 
     The processing circuitry  209  may be a dedicated hardware component, or may be the processor  201  to execute programs stored in the memory  202 . 
     When the processing circuitry  209  is a dedicated hardware component, 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, and FPGA is an abbreviation for Field Programmable Gate Array. 
     The map server device  200  may include a plurality of processing circuits that replace the processing circuitry  209 . The plurality of processing circuits share the roles of the processing circuitry  209 . 
     In the map server device  200 , part of the functions may be realized by a dedicated hardware component, and the remaining functions may be realized by software or firmware. 
     As described above, it is possible to realize the processing circuitry  209  by a hardware component, software, firmware or a combination thereof. 
     A hardware configuration of the in-vehicle devices  300  will be described based on  FIG. 14 . 
     An in-vehicle device  300  includes processing circuitry  309 . 
     The processing circuitry  309  is a hardware component to realize the software acquisition unit 311 , the measurement data acquisition unit  312 , the map data generation unit  313 , the map data provision unit  314  and the map data deletion unit  315 . 
     The processing circuitry  309  may be a dedicated hardware component, or may be a processor ??? to execute programs stored in the memory  302 . 
     When the processing circuitry  309  is a dedicated hardware component, 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 device  300  may include a plurality of processing circuits that replace the processing circuitry  309 . The plurality of processing circuits share the roles of the processing circuitry  309 . 
     In the in-vehicle devices  300 , part of the functions may be realized by a dedicated hardware component, and the remaining functions may be realized by software or firmware. 
     As described above, the processing circuitry  309  may be realized by a hardware component, software, firmware or a combination thereof. 
     The present embodiments are examples of preferable embodiments, and are not aimed at limiting a technical range of the present invention. The present embodiments may be partially performed, or may be performed by being combined with another embodiment. The procedures described by using flowcharts, etc., may be altered suitably. 
     Each device described in the present embodiments may be realized by a plurality of devices. That is, each device described in the present embodiments may be realized as a system. 
     Each element of the devices described in the present embodiments may be realized by any of software, hardware, or firmware, or any combination thereof. 
     “Unit” may be read as “process” or “step.” 
     REFERENCE SIGNS LIST 
       100 : map collection system;  101 : network;  110 : measurement vehicle;  111 : positioning reinforcement signal receiver;  112 : positioning signal receiver;  113 : inertial measurement device;  114 : odometer;  115 : laser scanner;  119 : top board;  120 : mapping software;  190 : map collection system;  191 : in-vehicle device;  192 : map server device;  200 : map server device;  201 : processor;  202 : memory;  203 : auxiliary storage device;  204 : communication device;  209 : processing circuitry;  211 : software distribution unit;  212 : map data acquisition unit;  213 : map data distribution unit;  221 : storage unit;  222 : communication unit;  300 : in-vehicle device;  301 : processor;  302 : memory;  303 : auxiliary storage device;  304 : communication device;  305 : input/output interface;  309 : processing circuitry;  311 : software acquisition unit;  312 : measurement data acquisition unit;  313 : map data generation unit;  314 : map data provision unit;  315 : map data deletion unit;  321 : storage unit;  322 : communication unit;  323 : reception unit