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WO2007094371A1 - dispositif de mise a jour de données, procédé de mise à jour de données, programme de mise à jour de données et support d'enregistrement - Google Patents

dispositif de mise a jour de données, procédé de mise à jour de données, programme de mise à jour de données et support d'enregistrement Download PDF

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Publication number
WO2007094371A1
WO2007094371A1 PCT/JP2007/052635 JP2007052635W WO2007094371A1 WO 2007094371 A1 WO2007094371 A1 WO 2007094371A1 JP 2007052635 W JP2007052635 W JP 2007052635W WO 2007094371 A1 WO2007094371 A1 WO 2007094371A1
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WO
WIPO (PCT)
Prior art keywords
data
map data
current position
road
update
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/052635
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English (en)
Japanese (ja)
Inventor
Hiroaki Shibasaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Original Assignee
Pioneer Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp filed Critical Pioneer Corp
Publication of WO2007094371A1 publication Critical patent/WO2007094371A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/102—Map spot or coordinate position indicators; Map reading aids using electrical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation

Definitions

  • the present invention relates to a data update device, a data update method, a data update program, and a recording medium that display a current position of a mobile object.
  • the use of the present invention is not limited to the above-described data update device, data update method, data update program, and recording medium. Background art
  • map data used in navigation devices etc. has been recorded on HD (hard disk) etc. by replacing the disk itself such as DVD_R0M, CD-ROM, etc. where map data is recorded. This is done by updating a part of the map data with the updated data in which the latest information is recorded.
  • map data is, for example, updating any of the data types of road data, route search data, route guidance data, or background data among map data.
  • Patent Document 1 JP 2005-148004 A
  • map data cannot be updated without an instruction from the user.
  • the shape of the road changes every day due to the opening of new roads, and new versions of map data are created accordingly.
  • whether or not to update the map data of the navigation device is up to the user, and the latest map data is not necessarily used. Not necessarily.
  • map data is different from the actual road shape and the map data (road link data) of the navigation device.
  • map data road link data
  • An example is the problem of map matching based on the road above. For this reason, the position displayed by the navigation device and the position where the vehicle is actually traveling are different, and the user is confused as an example.
  • a data update device for updating map data used in a mobile unit, wherein the current position of the mobile unit is determined. And determining whether the current position acquired by the acquiring means deviates from a position indicating a road in the map data and is within a predetermined range from a position indicating a road around the current position. And the determination means determines that the current position is out of a position indicating a road in the map data and is not within a predetermined range from a position indicating a road around the current position. Updating means for updating data.
  • the data update method according to the invention of claim 5 is a data update method for updating map data used by a mobile object, an acquisition step of acquiring a current position of the mobile object, and an acquisition step of acquiring the current position of the mobile object
  • a data update program according to claim 6 causes a computer to execute the data update method according to claim 5.
  • a recording medium according to the invention of claim 7 is readable by a computer in which the data update program according to claim 6 is recorded.
  • FIG. 1 is a block diagram showing a functional configuration of a data updating apparatus according to an embodiment.
  • FIG. 2 is a flowchart showing a procedure of data update processing by the data update device.
  • FIG. 3 is a block diagram illustrating a hardware configuration of a navigation device that is effective in the embodiment.
  • FIG. 4 is a flowchart showing the procedure of map data update processing by the navigation device.
  • FIG. 5 is an explanatory diagram for explaining the determination in step S404 of FIG.
  • FIG. 6 is an explanatory diagram showing an example of an update area when the map data is partially updated.
  • FIG. 1 is a block diagram showing a functional configuration of a data updating apparatus that focuses on the embodiment.
  • the data update device 100 includes an acquisition unit 101, a determination unit 102, and an update unit 103.
  • the map data 110 used by the mobile object is updated.
  • the acquisition unit 101 acquires the current position of the moving object.
  • the acquisition unit 101 may be, for example, an autonomous positioning sensor (vehicle speed sensor, gyro sensor, acceleration sensor)
  • vehicle speed sensor vehicle speed sensor
  • gyro sensor gyro sensor
  • acceleration sensor vehicle speed sensor
  • the current position of the moving object is calculated using the output value of the degree sensor) and the GPS signal transmitted from the GPS satellite.
  • the determination unit 102 determines whether the current position acquired by the acquisition unit 101 deviates from a position indicating a road in the map data 110 and is within a predetermined range from positions indicating roads around the current position. ⁇ Judge. Specifically, the determination unit 102 determines, for example, whether or not the distance between the current position and a position indicating a road around the current position is a predetermined distance or more.
  • Update unit 103 is determined when determination unit 102 determines that the current position is out of a position indicating a road in map data 110 and is not within a predetermined range from a position indicating a road around the current position.
  • the map data 110 is updated. For example, when the distance between the current position and a position indicating a road around the current position is equal to or greater than a predetermined distance, the update unit 103 updates the map data 110. That is, the determination unit 102 updates the map data 110 when the moving body is moving beyond a predetermined distance from the road in the map data 110.
  • the updating unit 103 updates the map data 110 when the determining unit 102 determines that the current position is not within a predetermined range from a position indicating a road around the current position for a predetermined time or longer. It is good as well.
  • the updating unit 103 may update a part of the map data 110 including the current position of the mobile object.
  • FIG. 2 is a flowchart showing a procedure of data update processing by the data update device.
  • the data updating apparatus 100 first acquires the current position of the moving body by the acquisition unit 101 (step S 201).
  • the determination unit 102 determines whether or not the distance between the current position of the mobile body and a position indicating the road around the current position is equal to or greater than a predetermined distance (step S202). If it is longer than the predetermined distance (step S202: Yes), it is determined whether or not the state beyond the predetermined distance continues for a predetermined time (step S203).
  • step S203 If the state beyond the predetermined distance continues for a predetermined time or longer (step S203: Yes), the updating unit 103 updates the map data 110 (step S204), and the processing according to this flowchart is terminated.
  • step S202 the current position of the moving object and the map If the distance from the position indicating the road in the data 110 is not greater than or equal to the predetermined distance (step S202: No), and in step S203, if the distance greater than the predetermined distance has not continued for the predetermined time (step S203: No), return to step S201 and continue the subsequent processing.
  • the map data used by the moving body is updated.
  • FIG. 3 is a block diagram showing a hardware configuration of a navigation apparatus that is effective in the embodiment.
  • the navigation device 300 includes a CPU 301, a ROM 302, a RAM (memory) 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, and an audio.
  • I / F (interface) 308, microphone 309, speaker 310, people A cadet / chair 311, a video I / F 312, a camera 313, a display 314, a communication I / F 315, a GPS unit 316, and various sensors 317 are provided.
  • Each component 301 to 317 is connected by a bus 320.
  • the CPU 301 governs overall control of the navigation device 300.
  • the ROM 302 records programs such as a boot program, a communication program, a database creation program, and a data analysis program.
  • the RAM 303 is used as a work area for the CPU 301.
  • the magnetic disk drive 304 controls reading and writing of data with respect to the magnetic disk 305 according to the control of the CPU 301.
  • the magnetic disk 305 records data written under the control of the magnetic disk drive 304.
  • the magnetic disk 305 for example, HD (node disk) or FD (flexible disk) can be used.
  • the optical disc drive 306 controls reading / writing of data with respect to the optical disc 307 according to the control of the CPU 301.
  • the optical disc 307 is a detachable recording medium from which data is read according to the control of the optical disc drive 306.
  • the optical disk 307 can also use a writable recording medium.
  • the removable recording medium may be the power of the optical disk 307, MO, memory card, or the like.
  • map data used for route search and route guidance.
  • the map data includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road.
  • Two-dimensional or three-dimensional data is displayed on the display screen of the display 314. Is drawn on.
  • the navigation device 300 is guiding a route, the map data and the current position of the vehicle calculated by the CPU 301 are displayed in an overlapping manner.
  • the background data further includes background shape data representing the shape of the background and background type data representing the type of the background.
  • the background shape data includes, for example, the coordinates of the feature representative point 'polyline' polygon 'feature.
  • the background type data includes, for example, the name and address of the feature “text data representing the telephone number” and the type data of the feature such as the surface of the building “river”.
  • Information such as the presence or absence of a parking lot is provided as facility information.
  • facilities provided for a predetermined purpose such as “gas station” and “convenience store”, are classified by genre.
  • genre information the representative point and coordinate data of the feature and the facility information “genre information” are associated with each other.
  • the genre in which the facilities are classified at this time includes, for example, parking lots and stations in addition to the above-mentioned gas stations and convenience stores.
  • the road shape data further includes traffic condition data.
  • the traffic condition data includes, for example, the presence or absence of traffic lights or pedestrian crossings for each node, the presence or absence of highway entrances and junctions, the length (distance) for each link, road width, traveling direction, road type (highway) , Toll roads, general roads, etc.).
  • the traffic condition data includes lane number information for main nodes.
  • the lane number information is composed of the number of vehicles on each of the uplink / downlink of each link and the coordinates of the point where the number of lanes changes.
  • the standard road width information may include information on the average width of the road.
  • the standard road width information may be a uniform value for all roads, or may include information for each type of road (such as a highway 'national road' prefectural road 'city road).
  • the traffic condition data may include past traffic jam information obtained by statistically processing past traffic jam information based on the season 'day of the week' large holiday 'time or the like.
  • the navigation device 300 obtains information on the current traffic jam from the road traffic information received by the communication I / F 315, which will be described later, but it can predict the traffic jam situation at the specified time based on the past traffic jam information. It becomes possible.
  • the map data is updated by connecting to the map database server via communication IZF 315 described later and downloading the update data for the latest version of the map.
  • the map data can be updated not only for the map data in a batch but also for each predetermined data unit.
  • Audio I / F 308 is connected to microphone 309 for audio input and speaker 310 for audio output.
  • the sound received by the microphone 309 is A / D converted in the sound IZF308.
  • sound is output from the speaker 310.
  • the audio input from microphone 309 Audio data can be recorded on the magnetic disk 305 or the optical disk 307.
  • Examples of the input device 311 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like. Furthermore, the input device 311 can be connected to other information processing terminals such as a digital camera or a mobile phone terminal to input / output data.
  • the video I / F 312 is connected to a camera 313 for video input and a display 314 for video output.
  • the video IZF312 is output from, for example, a graphic controller that controls the entire display 314, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. It is configured by a control IC that controls display of the display 314 based on image data.
  • the camera 313 captures images inside and outside the vehicle and outputs them as image data.
  • An image taken by the camera 313 can be recorded on the magnetic disk 305 or the optical disk 307 as image data.
  • the image taken by the camera 313 is used to analyze the image by the CPU 301 or the like to obtain information such as road conditions around the vehicle.
  • the display 314 displays icons, cursors, menus, windows, or various data such as characters and images.
  • this display 314 for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.
  • the communication I / F 315 is connected to a network via radio and functions as an interface between the navigation device 300 and the CPU 301.
  • the communication I / F 315 is further connected to a communication network such as the Internet via radio, and functions as an interface between the communication network and the CPU 301.
  • Communication networks include LANs, WANs, public line networks and mobile phone networks.
  • the communication I / F 315 is composed of, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices, and traffic congestion distributed from the VICS center.
  • Road traffic information such as traffic regulations.
  • VICS is a registered trademark.
  • the GPS unit 316 receives radio waves from GPS satellites and detects the current position of the vehicle (navigation). Information indicating the current position of the device 300 is calculated. The output information of the GPS unit 316 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 317 described later. The information indicating the current position is information that identifies one point on the map data, such as latitude / longitude and altitude.
  • Various sensors 317 output information such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor that can determine the position and behavior of the vehicle.
  • the output values of the various sensors 317 are used for calculation of the current position of the vehicle by the CCU 301 and measurement of changes in speed and direction.
  • the acquisition unit 101 is based on the GPS unit 316 and various sensors 317
  • the semi-IJ disconnection unit 102 is based on the CPU 301
  • the update unit 103 is based on the CPU 301
  • the function is realized by communication I / F315.
  • the map data 110 is recorded on the magnetic disk 305 or the optical disk 307.
  • the navigation device 300 guides the route to the destination while displaying the current position of the vehicle superimposed on the map data.
  • the shape of the road changes day by day, and new versions of map data are issued at regular intervals.
  • the recorded map data is not updated unless the user gives an instruction, and the latest version of the map data is not necessarily recorded in the navigation device 300. It ’s not limited. In other words, the actual roads and map data do not necessarily match.
  • map data that allows users to perform complicated update work. Data can be kept up to date.
  • FIG. 4 is a flowchart showing the procedure of map data update processing by the navigation device.
  • the navigation device 300 first waits until the vehicle on which the device is mounted starts running (step S401: No loop). Whether or not the vehicle has started traveling is determined, for example, based on whether or not an output force indicating a predetermined speed or higher is provided from the vehicle speed sensor.
  • the navigation device 300 acquires positioning data from the GPS unit 316 and various sensors 317 (step S402), and calculates a positioning position (step S403).
  • the positioning data to be acquired can be any of the GPS unit 316 or the various sensors 317.
  • the navigation apparatus 300 determines whether or not the positioning position is at least a predetermined distance away from the road (existing road) on the map data (step S404).
  • the distance between the positioning position and the road on the map data may be the distance from the center position of the road to the positioning position, or may be the distance from the end position of the road in consideration of the road width.
  • the predetermined distance is an index for determining whether or not the vehicle is traveling off an existing road. Considering the average lane width for each lane type and the measurement error of the positioning position. Distance.
  • step S404 If it is more than the predetermined distance from the existing road (step S404: Yes), update to update the map data by connecting to the map database server that manages the map data via the communication I / F 315 Data is downloaded (step S405). Then, the map data recorded on the magnetic disk 305 or the optical disk 307 is updated using the downloaded update data (step S406).
  • step S404 determines whether the distance from the existing road is not more than the predetermined distance. If it is determined in step S404 that the distance from the existing road is not more than the predetermined distance (step S404: No), the process returns to step S402 and the subsequent processing is continued. At this time, if the distance is not more than a predetermined distance from the existing road, but is outside the existing road, map matching is performed according to the existing road.
  • the navigation device 300 refers to the updated map data and updates the new road corresponding to the road that is currently running at the current position of the vehicle. It is determined whether there is a road (step S407). The power that the vehicle is currently driving In the case of a road that was established after the last update, there should be a new road that corresponds to the current position of the vehicle in the map data.
  • step S407 If there is a corresponding new road (step S407: Yes), map matching processing is performed in accordance with the new road (step S408). On the other hand, if there is no corresponding new road (step S407: No), map matching processing is performed according to the existing road (step S409). Then, the position of the vehicle is displayed at the position after each map matching process (step S410).
  • the map database server may determine whether a new road exists at a location corresponding to the current position of the vehicle. Yo! In this case, information indicating the determination result of the map database server is transmitted to the vehicle, and it is determined whether or not the update data is downloaded on the vehicle side. Then, when a determination result indicating that a new road exists is transmitted, update data is downloaded. If update data is not downloaded, map matching is performed according to the existing road, and if update data is downloaded, map matching is performed according to the new road. By doing so, it becomes unnecessary to determine whether or not there is a new road in step S407 described above, and quick processing becomes possible.
  • step S411: No Until the traveling is finished (step S411: No), the process returns to step S402 and the subsequent processing is repeated. Further, when the traveling is finished (step S411: Yes), the processing according to this flowchart is finished.
  • FIG. 5 is an explanatory diagram for explaining the determination in step S404 of FIG.
  • road R is the road on which the vehicle runs.
  • the center line L1 indicated by the dotted line is the center line of the road R.
  • the reference lines L2 and L3 at both ends are separated from the center line L1 by a distance P and are reference lines indicating both ends of the road R.
  • the distance P is an error in the positioning position based on the width of the road R. This is the distance considered.
  • Arrow T indicates the direction of travel of the vehicle. For this reason, the region assumed to be located when the vehicle travels on the road R is a region (hereinafter referred to as a travel region) indicated by the center line L1 and the both-end reference line L2.
  • the points sl to sl9 plotted around the road R are obtained by plotting the positioning position of the vehicle for each unit time.
  • the plotting may be performed every unit time, or may be performed every certain distance when the moving speed of the vehicle is low.
  • the navigation device 300 determines that the vehicle is away from the existing road by a predetermined distance or more, and downloads the update data. In this case, the navigation device 300 starts downloading the update data at a time indicated by a point s8 in FIG.
  • the navigation device 300 starts downloading the update data at the time indicated by the point s l 3 in FIG.
  • the state of being out of the travel area is equal to or greater than a predetermined ratio (Q3) of a predetermined number of consecutive measurements (Q2 or may be a predetermined time or a predetermined distance).
  • Q3 a predetermined ratio
  • the navigation device 300 has a total of 7 out of the past 10 positioning positions, that is, when it is out of the travel area, that is, in FIG. Download of update data starts at the point indicated by point si5.
  • a state where the vehicle is out of the traveling area is a predetermined minimum number of times of measurement (Q4).
  • the vehicle is separated by a predetermined distance or more from an existing road if the predetermined minimum time and the predetermined minimum distance (exceeding a predetermined minimum time) exceed a predetermined ratio (Q5).
  • Q5 a predetermined ratio
  • the navigation device 300 starts counting from the time when it is out of the travel area (point s8), and the time when the number of measurements is 4 times (point si 1). ), The number of measurements that deviated from the running area force is 80. Calculate the ratio until it is greater than / o.
  • the update data downloaded in step S405 of FIG. 4 may be a partial update of the map data that does not update the entire map data.
  • the present invention can be applied to a system that charges the purchase amount of map data for each area and the amount of data using map data.
  • FIG. 6 is an explanatory diagram showing an example of an update area when the map data is partially updated.
  • map M is an excerpt of the vicinity of vehicle positioning positions Ql and Q2 in the map data.
  • the map M is divided into xl to x5 in the horizontal direction and yl to y4 in the vertical direction, and each area is represented as (xl, yl), (xl, ⁇ 2) ⁇ ⁇ ⁇ ( ⁇ 5, y4) Is done.
  • the vehicle is traveling along the trajectory t, and the positioning position Q1 indicates the positioning position (for example, the point s8 in FIG. 5) at the time when the vehicle starts to move out of the traveling area.
  • the positioning position Q2 is a point (for example, point sl3 in Fig. 5) where update data download starts.
  • the area where update data is downloaded is, for example, an area covered by a circle C2 having a radius of a predetermined distance r from the positioning position Q2, which is a point where download of update data starts.
  • (xl, yl), (xl, y2), (xl, y3), (x2, yl), (x2, y2), (x2, y3), (x3, yl), (x3, y2) Download the update data of (x3, y3).
  • update data of an area in the vicinity of the positioning position Q1 at the time when the vehicle starts to leave the traveling area instead of the positioning position Q2 may be downloaded.
  • update data for both the area where the circle CI with the radius r from the positioning position Ql and the area with the circle C2 whose radius is the radius r from the positioning position Q2 are downloaded. Moyole.
  • the update data to be downloaded may be update data of the road shape data necessary for map matching, excluding background data and traffic condition data. As a result, it is possible to reduce the power required for updating map data and communication costs.
  • the map data used in the navigation device 300 is updated when the vehicle is moving in an area other than the road in the map data.
  • the map data can be updated at an appropriate timing if the map data does not correctly reflect the actual road conditions, that is, if the map data version may be out of date.
  • the data update method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer.
  • this program may be a transmission medium that can be distributed via a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
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Abstract

Selon l'invention, des données cartographiques sont mises à jour même si elles ne sont pas désignées par un utilisateur. Un dispositif de mise a jour de données (100) met à jour des données cartographiques (110) utilisées dans un mobile. Une section d'acquisition (101) acquiert la position actuelle du mobile. Une section d'évaluation (102) évalue si la position actuelle acquise au niveau de la section d'acquisition (101) dévie d'une position indiquant une route sur les données cartographiques (110) et se trouve à une distance prédéterminée depuis une position indiquant une route sur la périphérie de la position actuelle ou non. Lorsque la section d'évaluation (102) évalue que la position actuelle dévie de la position indiquant une route sur les données cartographiques (110) et ne se trouve pas à une distance prédéterminée de la position indiquant une route sur la périphérie de la position actuelle, une section de mise à jour (103) met à jour les données cartographiques (110).
PCT/JP2007/052635 2006-02-16 2007-02-14 dispositif de mise a jour de données, procédé de mise à jour de données, programme de mise à jour de données et support d'enregistrement Ceased WO2007094371A1 (fr)

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JP2006-039782 2006-02-16
JP2006039782 2006-02-16

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WO2007094371A1 true WO2007094371A1 (fr) 2007-08-23

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Cited By (3)

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JP2014122894A (ja) * 2012-12-19 2014-07-03 Toyota Motor Engineering & Manufacturing North America Inc 車両のための装置及び方法、及び、その方法を実行するための命令を含む記憶媒体
EP3165879A1 (fr) * 2015-11-04 2017-05-10 Toyota Jidosha Kabushiki Kaisha Système de détermination de mise à jour cartographique
US11243086B2 (en) * 2018-07-04 2022-02-08 Apollo Intelligent Driving Technology (Beijing) Co., Ltd. Method, device and apparatus for acquiring map, and computer readable storage medium

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JP2004233174A (ja) * 2003-01-30 2004-08-19 Alpine Electronics Inc ナビゲーション装置

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Publication number Priority date Publication date Assignee Title
JP2014122894A (ja) * 2012-12-19 2014-07-03 Toyota Motor Engineering & Manufacturing North America Inc 車両のための装置及び方法、及び、その方法を実行するための命令を含む記憶媒体
EP3165879A1 (fr) * 2015-11-04 2017-05-10 Toyota Jidosha Kabushiki Kaisha Système de détermination de mise à jour cartographique
CN106996793A (zh) * 2015-11-04 2017-08-01 丰田自动车株式会社 地图更新判定系统
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CN106996793B (zh) * 2015-11-04 2020-11-03 丰田自动车株式会社 地图更新判定系统
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