Electronic Controls

Abstract

The electronic control device obtains path information to a destination based on first map information, and when a portion of the path to the destination is outside the map range of either the first map information or second map information having a map range different from that of the first map information, changes the destination and generates a path to the destination based on the second map information.

Description

Technical Field

[0001] The invention relates to an electronic control device. Background Art

[0002] Devices that use map information to search for a route to a destination and guide a vehicle along the searched route are widely used. In such devices, there is a problem that a route search cannot be performed when there is a place where map information cannot be obtained between the current location and the destination.

[0003] As a prior art related to the present invention, for example, Patent Document 1 is known. Patent Document 1 discloses a route search device in which detailed map data that is different from ordinary map data and that enables short-distance route search is pre-stored, and when the current location is separated from the route, a temporary destination is set a certain distance ahead along the road being traveled before a new route search is completed, and the temporary route is searched based on the detailed map data.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-110924 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The technology described in Patent Document 1 can eliminate the state of no route in a short time when the route is deviated, but cannot search for routes in places where map information cannot be obtained. Therefore, the above-mentioned problem cannot be solved and an appropriate route cannot be provided.

[0009] The present invention has been made in view of such a problem, and an object of the present invention is to provide an appropriate route even when there is a place where map information cannot be acquired.

[0010] Technical means of solving problems

[0011] The electronic control device of the present invention obtains path information to a destination based on first map information, and when a portion of the path to the destination is outside the map range of either the first map information or second map information having a map range different from that of the first map information, changes the destination and generates a path to the destination based on the second map information.

[0012] Effects of the Invention

[0013] According to the present invention, even when there is a place where map information cannot be acquired, an appropriate route can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a functional block diagram showing an example of the functional configuration of the route search system according to the first embodiment of the present invention.

[0015] Figure 2 It is a diagram showing an example of a map for explaining the operation of the route search system according to the first embodiment of the present invention.

[0016] Figure 3 This is a diagram showing an example of a conversion table used in the route search system according to the first embodiment of the present invention.

[0017] Figure 4 This is a flowchart of processing performed by the high-precision map management device in the route search system according to the first embodiment of the present invention.

[0018] Figure 5 It is a diagram for explaining the outline of the second embodiment of the present invention.

[0019] Figure 6 This is a flowchart of processing performed by the high-precision map management device in the route search system according to the second embodiment of the present invention.

[0020] Figure 7 This is a flowchart of processing performed by a server device in a route search system according to a third embodiment of the present invention.

[0021] Figure 8 This is a diagram showing an example of a conversion table used in the route search system according to the third embodiment of the present invention.

[0022] Fig. 9 This is a flowchart of processing performed by the high-precision map management device in the route search system according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present invention will be described using the drawings.

[0024] (First embodiment)

[0025] Figure 1It is a functional block diagram showing an example of the functional structure of the route search system 1 of the first embodiment of the present invention. The route search system 1 of the present embodiment is composed of a server device 10 and a high-precision map management device 20. The server device 10 is set in a specified place such as a data center. The high-precision map management device 20 is a type of electronic control unit (ECU: Electronic Control Unit) mounted on the vehicle, for example, it is composed of an MPU (Micro Processing Unit) or the like. The server device 10 and the high-precision map management device 20 are connected to each other via a public communication network such as a portable telephone line or the Internet. In this system, a plurality of vehicles equipped with high-precision map management devices 20 are managed.

[0026] The server device 10 includes a server map database (hereinafter referred to as "server map DB") 101, a path information generating unit 102, and a transceiver 103. The server map DB 101 stores the server map information used in the server device 10. The path information generating unit 102 uses the server map information stored in the server map DB 101 to search for a path from the current position of the vehicle to the destination via the departure point specified by the user, and generates path information representing the searched path. In addition, the path information generated by the path information generating unit 102 includes information on the searched path and information on the departure point and destination specified by the user. In addition, when a via point is set between the departure point and the destination, the information on the via point is also included. The transceiver 103 receives the information on the departure point and the destination specified by the user through the operation of an information terminal such as a smart phone and the position information of the vehicle to be managed, outputs it to the path information generating unit 102, and sends the path information generated by the path information generating unit 102 to the high-precision map management device 20. In this embodiment, an example of a case where the departure point and the current location of the vehicle are the same is described.

[0027] For example, the user can specify the current location as the departure location and any facility as the destination. The facility as the destination can be specified by, for example, inputting the facility name or specifying it on a map displayed on the information terminal. In this embodiment, the following case is used as an example for explanation: a taxi driving in an automatic driving mode is equipped with a high-precision map management device 20, and the user calls the taxi through the operation of the information terminal to move to any destination facility.

[0028] The high-precision map management device 20 has a high-precision map database (hereinafter referred to as "high-precision map DB") 201, a path information acquisition unit 202, a path restoration unit 203, a destination point conversion unit 204, a surrounding map information acquisition unit 205, a path generation unit 206 and a path synthesis unit 207.

[0029] The high-precision map DB 201 stores high-precision map information used in the high-precision map management device 20. The high-precision map information stored in the high-precision map DB 201 is map information used for automatic driving of a vehicle, etc., and represents a map with higher accuracy than the above-mentioned server map information used in the server device 10. For example, map information including detailed position information of each lane of each road, information on the direction of travel of each lane, access information within a facility, etc. is stored in the high-precision map DB 201 as high-precision map information.

[0030] The path information sent from the server device 10 is received in a communication device (TCU: Telematics Control Unit) not shown in the figure mounted on the vehicle, and is output to the high-precision map management device 20. The path information acquisition unit 202 acquires the path information received by the communication device via a prescribed communication interface provided between the communication device and the high-precision map management device 20. Then, the acquired path information is output to the path restoration unit 203, and the information of the destination facilities and the via points contained in the path information is output to the destination point conversion unit 204 and the surrounding map information acquisition unit 205. In addition, the above-mentioned prescribed communication interface uses, for example, CAN (Controller Area Network) or the like.

[0031] The path restoration unit 203 restores the path searched in the server device 10 based on the path information acquired by the path information acquisition unit 202. At this time, the path restoration unit 203 obtains the map data of the necessary range based on the high-precision map information stored in the high-precision map DB 201, and uses the map data to restore the path. As a result, the path searched on the server map in the server device 10 is restored to a path on the high-precision map that can be used for autonomous driving. The path restoration unit 203 outputs the restored path on the high-precision map obtained in this way to the path synthesis unit 207.

[0032] The destination point conversion unit 204 determines the location on the high-precision map corresponding to the facility designated as the destination by the user (hereinafter referred to as the "destination point") based on the information of the destination facility included in the route information acquired by the route information acquisition unit 202. Then, the information of the determined destination point is output to the route generation unit 206. Thus, the location corresponding to the facility determined on the server map in the route search of the server device 10 is converted into the destination point corresponding to the facility on the high-precision map. In addition, the details of the conversion from the destination facility to the destination point performed by the destination point conversion unit 204 will be described later.

[0033] The surrounding map information acquisition unit 205 determines whether high-precision map information (hereinafter referred to as "surrounding map information") around the destination facility is stored in the high-precision map DB 201 based on the information of the destination facility included in the route information acquired by the route information acquisition unit 202. As a result, if it is determined that the surrounding map information is not stored in the high-precision map DB 201, the surrounding map information is acquired and stored in the high-precision map DB 201. At this time, the surrounding map information acquisition unit 205 requests the surrounding map information from a server device (not shown) different from the server device 10, for example, and receives the surrounding map information distributed from the server device according to the request, thereby being able to acquire the necessary surrounding map information.

[0034] The path generation unit 206 generates a path (hereinafter referred to as "destination path") from the terminal point of the path represented by the path information to the destination point determined by the destination point conversion unit 204 based on the surrounding map information stored in the high-precision map DB 201. Thus, when the path to the destination facility cannot be found in the path search of the server device 10, but the path to the terminal point set before the destination facility is found, a destination path from the terminal point to the destination point is generated on the high-precision map. In addition, the details of the destination point path generated by the path generation unit 206 will be described later. The path generation unit 206 outputs the destination point path on the high-precision map obtained in this way to the path synthesis unit 207.

[0035] The path synthesis unit 207 generates an overall path from the departure point to the destination point based on the high-precision map information by synthesizing the restored path on the high-precision map obtained by the path restoration unit 203 and the destination point path on the high-precision map obtained by the path generation unit 206. Then, the driving path information representing the obtained overall path is sent to the unillustrated automatic driving control device mounted on the vehicle. In addition, the communication interface at this time is the same as the case where the path information is sent from the above-mentioned communication device to the path information acquisition unit 202, for example, CAN is used.

[0036] The route search system 1 of this embodiment realizes the above-mentioned functions in the server device 10 and the high-precision map management device 20. Thus, it is possible to obtain information on a route that can be driven automatically from a departure point designated by a user to a facility at a destination.

[0037] Next, refer to Figure 2 A specific example of route search by the route search system 1 according to the present embodiment will be described. Figure 2 This is a diagram showing an example of a map for explaining the operation of the route search system 1 according to the first embodiment of the present invention.

[0038] exist Figure 2In the map of FIG. 1 , symbol 30 indicates a facility such as a shopping mall, a station, an airport, or a hotel, which has a facility entrance 35 that can be used as a parking lot for taxis. In the server map information used in the server device 10, a representative location indicated by symbol 31 is registered as a location indicating the facility 30. In addition, a vehicle passage is provided between the entrance 34 and the facility entrance 35 within the site of the facility 30, but the information of the vehicle passage is not recorded in the server map information. In such a situation, when the user specifies the facility 30 as the destination, the server device 10 sets the representative location 31 of the facility 30 as the destination, sets a location 32 on the road closest to the representative location 31 in the vicinity of the facility 30 as the terminal location, and searches for a path 33 to the terminal location 32.

[0039] When the path information about the path 33 searched in the server device 10 is transmitted from the server device 10 to the high-precision map management device 20, the destination point conversion unit 204 in the high-precision map management device 20 performs conversion from the representative point 31 to the destination point based on the information of the destination included in the path information. At this time, the destination point conversion unit 204 determines the facility entrance 35 as the intended destination point corresponding to the facility 30 set as the destination on the high-precision map by referring to a preset conversion table.

[0040] Figure 3 This is a diagram showing an example of a conversion table used in the destination point conversion unit 204 in the route search system 1 according to the first embodiment of the present invention. Figure 3 The conversion table 40 shown has fields for facility name 41, representative point 42, and intended destination point 43 for each record set for each facility. The name of each facility is stored in the facility name 41. The coordinate value of the representative point corresponding to each facility is stored in the representative point 42. The coordinate value of the intended destination point on the high-precision map corresponding to each facility is stored in the intended destination point 43.

[0041] in addition, Figure 3 The conversion table shown is an example and is not limited thereto. In the route search system 1 of this embodiment, if a location corresponding to an arbitrary facility on the server map can be converted to an intended destination location corresponding to the facility on the high-precision map, any form of conversion table can be used in the destination point conversion unit 204. In addition, the conversion table can be pre-stored in a place other than the destination point conversion unit 204, and can also be arbitrarily acquired from other devices in the same way as the surrounding map information acquired by the surrounding map information acquisition unit 205.

[0042] The destination point conversion unit 204 obtains the facility name of the facility 30 and the coordinate value of the representative point 31 as the destination information included in the route information, and searches the conversion table 40 for a record in which the facility name 41 and the representative point 42 that match these are set. Then, by referring to the intended destination point 43 of the record, the coordinate value of the facility entrance 35 is determined as the coordinate value of the destination point corresponding to the facility 30. Thus, the representative point 31 set as the destination as the location corresponding to the facility 30 on the server map is converted to another location corresponding to the facility 30, that is, the facility entrance 35, on the high-precision map.

[0043] As described above, when the destination is changed from the representative point 31 to the facility entrance 35, the route generation unit 206 uses the high-precision map information stored in the high-precision map DB 201 to search for a route from the terminal point 32 of the route 33 represented by the route information received from the server device 10 to the facility entrance 35 as the changed destination. Figure 2 As shown, a destination point route 36 is searched from a terminal point 32 through an entrance 34 to a facility entrance 35 of a destination point.

[0044] On the other hand, the path 33 indicated by the path information received from the server device 10 is restored by the path restoration unit 203 to a path from the departure point to the terminal point 32 based on the high-precision map information. The restored path 33 and the destination point path 36 from the terminal point 32 to the facility entrance 35 generated by the path generation unit 206 are synthesized in the path synthesis unit 207, thereby generating an entire path from the departure point to the facility entrance 35 on the high-precision map.

[0045] In the route search system 1 of this embodiment, by performing the above-described processing, even in the site of a facility 30 for which map information cannot be obtained in the server device 10 that performs route search in response to a request from a user, a route can be set on a high-precision map by the high-precision map management device 20 mounted on the vehicle side. Therefore, automatic driving of the vehicle can be realized by the route that is most suitable for sending the user to the facility 30.

[0046] Figure 4 This is a flowchart of the processing performed by the high-precision map management device 20 in the route search system 1 according to the first embodiment of the present invention. When the high-precision map management device 20 of this embodiment sends route information from the server device 10, it executes Figure 4 The process is shown in the flowchart.

[0047] In step S101 , the high-precision map management device 20 receives and acquires the route information transmitted from the server device 10 via the route information acquisition unit 202 .

[0048] In step S102 , the high-precision map management device 20 uses the route restoration unit 203 to restore the route using the high-precision map information stored in the high-precision map DB 201 based on the route information received in step S101 .

[0049] In step S103, the high-precision map management device 20 determines whether the end of the path restored in step S102 is the destination. If the end of the path is the destination, the process proceeds to step S109. If it is not the destination, that is, if a point before the destination is set as the end point of the path, the process proceeds to step S104.

[0050] In step S104, the high-precision map management device 20 determines whether the high-precision map information around the destination is stored in the high-precision map DB 201 through the surrounding map information acquisition unit 205 based on the path information received in step S101. Figure 2 If the map information on the site of the facility 30 described in is stored as surrounding map information in the high-precision map DB 201, the process proceeds to step S106; if not, the process proceeds to step S105.

[0051] In step S105, the high-precision map management device 20 downloads and acquires high-precision map information around the destination from a server device (not shown) via the surrounding map information acquisition unit 205. The downloaded high-precision map information is stored in the high-precision map DB 201 as surrounding map information.

[0052] In step S106, the high-precision map management device 20 uses the destination point conversion unit 204 to change the destination of the route represented by the route information received in step S101 to a desired destination point on the high-precision map. Figure 3 According to the conversion table described in , the facility entrance 35 corresponding to the facility 30 designated as the destination is determined as the intended destination point, and the facility entrance 35 is set as the destination after the change.

[0053] In step S107, the high-precision map management device 20 uses the high-precision map information stored in the high-precision map DB 201 through the route generation unit 206 to search for a route from the terminal point of the route restored in step S102 to the changed destination set in step S106. Figure 2 The facility 30 described in the figure uses the surrounding map information of the facility 30 in the high-precision map information stored in the high-precision map DB 201 to search for a path from the terminal point 32 to the facility entrance 35.

[0054] In step S108, the high-precision map management device 20 uses the path synthesis unit 207 to synthesize the path restored in step S102 and the path searched in step S107, thereby generating a whole path from the departure point to the changed destination. Figure 2 As described in , for the facility 30 designated as the destination, an entire route from the departure point through the entrance 34 to the facility entrance 35 is generated on the high-precision map.

[0055] In step S109, the high-precision map management device 20 outputs the driving path information for driving the vehicle to the destination by automatic driving to the automatic driving control device (not shown). At this time, if it is determined in step S103 that the terminal of the restored path is the destination, the information of the restored path is output as the driving path information. On the other hand, if it is determined in step S103 that the terminal of the restored path is not the destination, the information of the overall path obtained by synthesizing the restored path and the destination point path in step S108 is output as the driving path information.

[0056] After the processing of step S109 is completed, the high-precision map management device 20 ends Figure 4 The process is shown in the flowchart.

[0057] According to the first embodiment of the present invention described above, the following effects are achieved.

[0058] (1) The high-precision map management device 20 as an electronic control device obtains route information to the destination based on the server map information (first map information) (step S101), and when a part of the route to the destination is outside the map range of the server map information (step S103: No), changes the destination (step S106), and generates a route to the destination based on the high-precision map information (second map information) having a map range different from that of the server map information (step S107). In this way, even if there is a place in the server device 10 where the server map information cannot be obtained, an appropriate route can be provided.

[0059] (2) The high-precision map information used in the high-precision map management device 20 is map information with higher precision than the server map information. In this way, high-precision vehicle control can be achieved using the high-precision map information.

[0060] (3) The high-precision map information used in the high-precision map management device 20 is map information used for automatic driving of the vehicle. In this way, automatic driving of the vehicle can be realized using the high-precision map information.

[0061] (4) The path information acquired by the high-precision map management device 20 indicates the path to the facility 30 designated as the destination by the user. When a portion of the path to the destination is outside the map range of the server map information, the high-precision map management device 20 changes the destination from the location corresponding to the facility 30 on the server map information, i.e., the representative location 31, to another location corresponding to the facility 30 on the high-precision map information. In this way, the destination set on the server map information can be changed to another location that is intended when searching for a path on the high-precision map information.

[0062] (5) The high-precision map management device 20 includes a route information acquisition unit 202, a route restoration unit 203, a destination point conversion unit 204, a route generation unit 206, and a route synthesis unit 207. The route information acquisition unit 202 acquires route information including information of a destination specified by a user and information of a route to a terminal location 32 set around a facility 30 based on server map information. The route restoration unit 203 restores a route 33 (first partial route) to the terminal location 32 based on information of the route to the terminal location 32 included in the route information and high-precision map information stored in the high-precision map DB 201. The destination point conversion unit 204 converts a representative location 31 corresponding to the facility 30 on the server map information into a destination point corresponding to the facility 30 on the high-precision map information, i.e., a facility entrance 35, based on the destination information included in the route information. The route generation unit 206 generates a destination point route 36 (second partial route) from the terminal location 32 to the facility entrance 35 based on the high-precision map information. The route synthesis unit 207 synthesizes the route 33 and the destination point route 36 to generate a route to the destination. In this way, for the facility 30 designated as the destination, an entire route from the departure point through the entrance 34 to the facility entrance 35 can be generated on the high-precision map information.

[0063] (6) The high-precision map management device 20 changes the destination information in the server map information included in the route information to the destination information in the high-precision map information. In this way, the destination set in the server map information can be changed to an appropriate destination in the high-precision map information.

[0064] (Second embodiment)

[0065] Next, a route search system according to a second embodiment of the present invention will be described. Figure 1 The route search system 1 of the first embodiment described in the above has the same functional configuration. Figure 1 The route search system of this embodiment is described with reference to the functional structure of FIG.

[0066] Figure 5FIG. 2 is a diagram for explaining an outline of a second embodiment of the present invention. Figure 5 In the figure, the range indicated by symbol 61 represents the map range covered by the server map information stored in the server map DB 101 in the server device 10 (hereinafter referred to as the "server map range"). In addition, the range indicated by symbol 62 represents the map range covered by the high-precision map information stored in the high-precision map DB 201 in the high-precision map management device 20 (hereinafter referred to as the "high-precision map range"). Figure 5 As shown, in a situation where the high-precision map range 62 is narrower than the server map range 61, assuming that the user-specified destination 50 is set outside the high-precision map range 62 and within the server map range 61, the outline of this embodiment is described.

[0067] exist Figure 5 In the case of , the server device 10 uses the server map information to search for the path 51 from the departure point to the destination 50, and sends the path information representing the path 51 to the high-precision map management device 20. When the high-precision map management device 20 receives the path information through the path information acquisition unit 202, the path restoration unit 203 restores the path 51 on the high-precision map. However, since the destination 50 is outside the range of the high-precision map range 62, the partial path 52 of the path 51 to the boundary of the high-precision map range 62 can be restored, but the remaining partial path 53 cannot be restored on the high-precision map.

[0068] The high-precision map management device 20 of this embodiment, as described above, changes the destination so that it is within the range of the high-precision map when a part of the path represented by the path information received from the server device 10 cannot be restored on the high-precision map, and searches for a path from the middle of the restored path to the changed destination. Specifically, in the destination point conversion unit 204, the destination 50 is changed from outside the range of the high-precision map range 62 to the nearest destination point 54 on the outer periphery of the high-precision map range 62. Then, in the path generation unit 206, the path 55 from the middle of the partial path 52 to the destination point 54 is searched as the destination point path. The path synthesis unit 207 generates the entire path from the departure point to the destination point 54 by synthesizing the restored partial path 52 and the destination point path 55.

[0069] In the route search system 1 of this embodiment, by performing the above-described processing, a route can be set on the high-precision map even if the destination 50 specified by the user is outside the range of the high-precision map range 62. Therefore, automatic driving of the vehicle can be achieved within a possible range when sending the user to the destination 50.

[0070] Figure 6This is a flowchart of the processing performed by the high-precision map management device 20 in the route search system 1 according to the second embodiment of the present invention. When the high-precision map management device 20 of this embodiment sends route information from the server device 10, it executes Figure 6 In addition, Figure 6 In the flowchart of Figure 4 The same processing parts as in the flowchart are set as Figure 4 Therefore, the following steps are omitted. Figure 4 Same step number, description Figure 6 Flowchart of the process.

[0071] exist Figure 6 In step S106A, if it is determined in step S103 that the path terminal is not the destination, the process proceeds to step S106A. In step S106A, the high-precision map management device 20 determines, through the destination point conversion unit 204, a destination point corresponding to the destination of the path indicated by the path information received in step S101 on the high-precision map. Figure 5 As described above, the point 54 closest to the destination 50 on the outer periphery of the high-precision map range 62 is determined as the destination point corresponding to the destination 50 .

[0072] In step S106B, the high-precision map management device 20 changes the destination of the route indicated by the route information received in step S101 to the destination point determined in step S106A through the destination point conversion unit 204. Figure 5 The destination 50 shown as being outside the high-precision map range 62 is changed to a destination point 54 that is within the high-precision map range 62 .

[0073] If the process of step S106B is executed, the process proceeds to step S107, and the same process as that described in the first embodiment is performed. Figure 5 As described in , for a destination 50 designated by a user outside the high-precision map range 62 , an entire route from the departure point to the destination point 54 is generated on the high-precision map.

[0074] After the processing of step S109 is completed, the high-precision map management device 20 ends Figure 6 The process is shown in the flowchart.

[0075] According to the second embodiment of the present invention described above, the following effects are achieved.

[0076] (1) The high-precision map management device 20 as an electronic control device obtains the path information to the destination based on the server map information (first map information) (step S101), and when a part of the path to the destination is outside the map range of the high-precision map information (second map information) having a map range different from the server map information (step S103: No), the destination is changed (steps S106A, 106B), and a path to the destination based on the high-precision map information is generated (step S107). In this way, even if there is a place where the high-precision map information cannot be obtained in the high-precision map management device 20, an appropriate path can be provided.

[0077] (2) The high-precision map information used in the high-precision map management device 20 is map information with higher accuracy than the server map information. In this way, as in the first embodiment, high-precision vehicle control can be achieved using the high-precision map information.

[0078] (3) The high-precision map information used in the high-precision map management device 20 is map information used for automatic driving of the vehicle. In this way, similar to the first embodiment, automatic driving of the vehicle can be realized using the high-precision map information.

[0079] (4) When a portion of the path 51 to the destination 50 is outside the map range of the high-precision map information, that is, the high-precision map range 62, the high-precision map management device 20 changes the destination to a destination location 54 that is a location within the high-precision map range 62. In this way, even if the destination set on the server map information is outside the map range of the high-precision map information, it can be changed to a location that can be represented on the high-precision map information.

[0080] (5) The high-precision map management device 20 has a path information acquisition unit 202, a path restoration unit 203, a destination point conversion unit 204, a path generation unit 206, and a path synthesis unit 207. The path information acquisition unit 202 acquires path information including information of a path 51 to the destination 50 based on the server map information. The path restoration unit 203 restores the partial path 52 (first partial path) to the boundary of the high-precision map range 62 in the path 51 to the destination 50 based on the path information acquired by the path information acquisition unit 202 and the high-precision map information stored in the high-precision map DB 201. The destination point conversion unit 204 converts the destination 50 into a destination point 54 closest to the destination 50 on the periphery of the high-precision map range 62. The path generation unit 206 generates a destination point path 55 (second partial path) to the destination point 54 based on the high-precision map information. The path synthesis unit 207 synthesizes the partial path 52 and the destination point path 55 to generate a path to the destination. In this way, for a destination specified outside the map range of the high-precision map information, an entire route can be generated within the range that can be represented on the high-precision map information.

[0081] (6) The high-precision map management device 20 changes the destination information in the server map information included in the route information to the destination information in the high-precision map information. In this way, as in the first embodiment, the destination set in the server map information can be changed to an appropriate destination in the high-precision map information.

[0082] (Third embodiment)

[0083] Next, a route search system according to a third embodiment of the present invention will be described. The route search system according to this embodiment has Figure 1 The route search system 1 of the first embodiment described in the above has the same functional configuration. Figure 1 The route search system of this embodiment is described based on the functional configuration of FIG. 1. Hereinafter, the description of the case where the same processing as that of the first embodiment is performed is omitted. In this embodiment, an example of a case where the departure point and the current point of the vehicle are different is described.

[0084] In this embodiment, a case where a user calls a taxi to an arbitrary departure facility and moves to an arbitrary destination facility by operating an information terminal is used as an example. The user can designate any facility as the departure point as well as the destination. The facility as the departure point can be designated, for example, by inputting the facility name or designating it on a map displayed on the information terminal.

[0085] When receiving the information of the departure point and destination specified by the user through the operation of an information terminal such as a smartphone and the location information of the vehicle to be managed, the server device 10 outputs the information to the path information generation unit 102, and sends the path information generated by the path information generation unit 102 to the high-precision map management device 20. Here, the vehicle location information is the location information of all vehicles managed by this system, including the service status as a taxi.

[0086] Figure 7 This is a flowchart of the processing performed by the server device 10 in the route search system 1 according to the third embodiment of the present invention. Upon receiving the information of the departure point and the destination and the position information of the vehicle to be managed, the route information generating unit 102 of the server device 10 of the present embodiment executes the processing in response to the information. Figure 7 The process is shown in the flowchart.

[0087] In step S201, among vehicles that are not in the service implementation state, the departure point set by the user and the received current position of the vehicle are compared to extract the position of the nearest vehicle.

[0088] In step S202, it is determined whether the extracted vehicle location information is the same as the departure point set by the user. If the departure point is the same as the extracted vehicle location information ("Yes" in step S202), the process proceeds to step S204; if they are not the same ("No" in step S202), the process proceeds to step S203.

[0089] In step S203, a path from the extracted current position of the vehicle to the departure point set by the user is searched and output as path information. In the path information here, the extracted current position of the vehicle is the departure point, and the departure point set by the user is the destination. Among them, the destination is given information indicating that it is the departure point set by the user. Hereinafter, the path information generated in step S203 is referred to as the vehicle-meeting path information.

[0090] In step S204, a route from the departure point set by the user to the destination set by the user is searched and output as route information.

[0091] After the processing of step S204 is completed, the path information generating unit 102 ends Figure 7 The process is shown in the flowchart.

[0092] When receiving the oncoming route information, the high-precision map management device 20 converts the destination and calculates the travel route information in the same manner as in the first embodiment, and outputs the result.

[0093] Figure 82 is a diagram showing an example of a conversion table used in the destination point conversion unit 204 of the high-precision map management device 20 in the route search system 1 according to the third embodiment of the present invention. Figure 8 In the table, the same as described in the first embodiment Figure 3 The same parts of the table are used as Figure 3 Therefore, the following will omit the Figure 3 Same number, description Figure 8 Table of contents.

[0094] Figure 8 The conversion table 40A shown has fields for facility name 41, representative point 42, intended departure point 43A, and intended destination point 43 for each record set for each facility. Intended departure point 43A stores the coordinate value of the intended departure point on the high-precision map corresponding to each facility. The intended departure point is a place that can be entered to pick up the user, such as a taxi stand at a facility such as a shopping mall, a station, or a hospital.

[0095] in addition, Figure 8 The conversion table shown is an example and is not limited thereto. In the route search system 1 of the present embodiment, if a location corresponding to an arbitrary facility on the server map can be converted to an intended departure location corresponding to the facility on the high-precision map, any form of conversion table can be used in the destination point conversion unit 204. In addition, the conversion table can be pre-stored in a place other than the destination point conversion unit 204, and can also be arbitrarily acquired from other devices in the same manner as the surrounding map information acquired by the surrounding map information acquisition unit 205.

[0096] Fig. 9 This is a flowchart of the processing performed by the high-precision map management device 20 in the route search system 1 according to the third embodiment of the present invention. When the high-precision map management device 20 of this embodiment sends route information from the server device 10, it executes Fig. 9 In addition, Fig. 9 In the flowchart of Figure 4 The same processing parts as in the flowchart are set as Figure 4 Therefore, the following steps are omitted. Figure 4 Same step number, description Fig. 9 Flowchart of the process.

[0097] exist Fig. 9In the case where it is determined in step S103 that the path terminal is not the destination, after downloading the high-precision map information around the destination as needed, the process proceeds to step S106C. In step S106C, the high-precision map management device 20 determines whether the destination of the received path information matches the departure point set by the user through the destination point conversion unit 204. When the destination matches the departure point set by the user, that is, when the path information received from the server device 10 is the oncoming vehicle path information ("Yes" in step S106C), the process proceeds to step S106D. When the destination does not match the departure point set by the user, that is, when it matches the destination set by the user ("No" in step S106C), the process proceeds to step S106.

[0098] In step S106D, the high-precision map management device 20 uses the above-mentioned Figure 8 The conversion table described in , changes the destination of the path represented by the path information received in step S101 to the intended departure point on the high-precision map. In addition, when the destination is changed, the congestion condition of the intended departure point of the facility can be obtained from a server not shown in the figure, and other places, such as the intended destination point, can be set as the destination in the case of congestion.

[0099] After the processing of step S109 is completed, the high-precision map management device 20 ends Fig. 9 The process is shown in the flowchart.

[0100] According to the third embodiment of the present invention described above, the following effects are achieved.

[0101] The high-precision map management device 20 obtains the pick-up route information indicating the route to the facility designated by the user as the departure point as the route information to the destination (step S101). When a part of the route to the departure point is outside the map range of the server map information (step S103: No, step S106C: Yes), the destination is changed from the location corresponding to the facility on the server map information to another location corresponding to the facility on the high-precision map information (step S106D). In this way, when the vehicle goes to the departure point set by the user, it can pick up the user at an appropriate location.

[0102] In addition, in each of the embodiments described above, an example is described in which a high-precision map management device 20 having high-precision map information for automatic driving is mounted on a vehicle, and in the high-precision map management device 20, a path to a destination is restored based on path information received from the server device 10, but the present invention is not limited to this. For example, instead of the high-precision map management device 20, a navigation device is mounted on the vehicle to guide the driver of the vehicle on a path to a destination, and when the path is restored in the navigation device, the same processing can be applied. That is, the present invention is not only applicable to vehicles that perform automatic driving, but can also be applied to vehicles that use path information to a destination in any manner to provide an appropriate path.

[0103] The embodiments and various modifications described above are merely examples, and the present invention is not limited to these contents unless the features of the invention are impaired. The present invention is not limited to the embodiments or modifications described above, and various changes can be made within the scope of the gist of the present invention.

[0104] The disclosure of the following priority application is incorporated herein by reference. Japanese Patent Application No. 2019-155866 (filed on August 28, 2019)

[0105] Explanation of symbols

[0106] 1 Path Search System

[0107] 10 Server Device

[0108] 20 High-precision map management device

[0109] 101 Server Map Database

[0110] 102 Path information generation unit

[0111] 103 Transceiver Department

[0112] 201 High-precision map database

[0113] 202 Route information acquisition unit

[0114] 203 Path Restoration Department

[0115] 204 Destination point conversion unit

[0116] 205 Surrounding map information acquisition department

[0117] 206 Path Generation Department

[0118] 207 Path Synthesis Unit.

Claims

1. An electronic control device, characterized in that: During the route search, route information to a destination set at a representative location corresponding to a facility on the first map information is obtained, the route information also including information on a route to a terminal location set around the facility based on the first map information. In a case where a portion of the route to the destination is outside the map range of the first map information, Restore a first portion of the path to the terminal location based on the information of the path to the terminal location included in the path information and the second map information, determining whether the second map information contains map information about the surrounding area of ​​the destination, Download the second map information around the destination when not keeping, Referring to a conversion table in which coordinate values ​​of facility names, representative locations, intended departure locations, and intended destination points of each facility are set, the location corresponding to the facility on the first map information is changed to the intended destination point corresponding to the facility on the second map information, and a changed route to the destination is generated. The second map information is used for automatic driving of the vehicle and has higher accuracy than the first map information.

2. The electronic control device according to claim 1, characterized in that: have: a path information acquisition unit, which acquires the path information; a destination point conversion unit that converts the location corresponding to the facility on the first map information into a destination point corresponding to the facility on the second map information based on the information of the destination included in the route information; a route generating unit for generating a second partial route from the terminal location to the destination point based on the second map information; as well as The path combining unit combines the first partial path and the second partial path to generate a path to the destination.

3. The electronic control device according to claim 1, characterized in that: When a portion of the route to the destination is outside the map range of the second map information, the destination is changed to a point within the map range of the second map information.

4. The electronic control device according to claim 3, characterized in that: have: a path information acquisition unit, which acquires the path information; a route restoring unit configured to restore a first portion of the route to the destination, the portion reaching a boundary of a map range in the second map information, based on the route information acquired by the route information acquiring unit and the second map information; a destination point conversion unit that converts the destination into a destination point closest to the destination on the periphery of the map range in the second map information; a route generating unit, which generates a second partial route to the destination point based on the second map information; as well as The path combining unit combines the first partial path and the second partial path to generate a path to the destination.

5. The electronic control device according to claim 1, characterized in that: The conversion table stores coordinate values ​​of intended departure points on the second map corresponding to each facility. When the route information indicates a route to a facility designated by the user as a departure point, When a portion of the route to the departure point is outside the map range of the first map information, the destination is changed from a location corresponding to the facility on the first map information to an intended departure location corresponding to the facility on the second map information using the conversion table.

Images