Abstract: A map generation apparatus including a detection device that detects an external situation around a subject vehicle, and an electronic control unit including a microprocessor and a memory. The microprocessor is configured to perform generating a first map for a current lane on which a subject vehicle travels, based on the external situation detected by the detection device, and acquiring a map information on an opposite lane map for an opposite lane generated by another vehicle traveling on the opposite lane opposite to the current lane. The microprocessor is configured to perform the generating further including generating a second map for the current lane corresponding to a point where the map information on the opposite lane map has been acquired, by inverting the opposite lane map.

Abstract: A map generation apparatus including a detection device that detects an external situation around a subject vehicle, and an electronic control unit including a microprocessor and a memory. The microprocessor is configured to perform generating a first map for a current lane on which a subject vehicle travels, based on the external situation detected by the detection device, and acquiring a map information on an opposite lane map for an opposite lane generated by another vehicle traveling on the opposite lane opposite to the current lane. The microprocessor is configured to perform the generating further including generating a second map for the current lane corresponding to a point where the map information on the opposite lane map has been acquired, by inverting the opposite lane map.