Vehicle Systems

Abstract

A vehicle system includes: a map processing unit that creates local map data based on high-precision map data and the location of a host vehicle; and an autonomous driving control unit that creates a driving plan for autonomous driving of the host vehicle based on the local map data and controls the driving of the host vehicle according to the driving plan. The map processing unit creates multiple pieces of transmission data by dividing the local map data into regions corresponding to regions on a map, and transmits the multiple pieces of transmission data to the autonomous driving control unit. The map processing unit changes the shape and size of the region on the map corresponding to each piece of transmission data based on information determining the selection of a driving mode.

Description

Technical Field

[0001] The present invention relates to a vehicle system. Background Art

[0002] JP2019-184499A discloses a vehicle system comprising: a map processing unit that creates map information required for autonomous driving by processing high-precision map information; and an autonomous driving control unit that performs autonomous driving control based on the map information created by the map processing unit. Because the data transmitted from the map processing unit to the autonomous driving control unit based on the map information has a large data volume, the vehicle system of JP2019-184499A limits the map area included in the transmitted data to suppress the data volume.

[0003] During autonomous driving, the map processing unit continuously creates multiple pieces of transmission data based on the vehicle's location and transmits these pieces of data to the autonomous driving control unit. The autonomous driving control unit executes autonomous driving control based on map information. Therefore, before the vehicle reaches a specific area, the autonomous driving control unit must have received the transmission data corresponding to that area. However, the map information required for autonomous driving control varies depending on the vehicle's driving mode. Therefore, it is preferable to change the transmission data according to the driving mode. Summary of the Invention

[0004] In view of the above background, a main object of the present invention is to provide a vehicle system in which transmission data including map information is appropriately transmitted from a map processing unit to an autonomous driving control unit according to a driving mode of a vehicle.

[0005] In order to achieve the above-mentioned purpose, one aspect of the present invention provides a vehicle system 1, which includes: a map processing unit 33, which extracts data of an area near the vehicle from high-precision map data, and creates local map data based on the high-precision map data and the position of the vehicle; and an autonomous driving control unit 32, which receives the local map data from the map processing unit, creates a driving plan for autonomous driving of the vehicle based on the local map data, and controls the driving of the vehicle according to the driving plan, wherein the map processing unit creates multiple transmission data by dividing the local map data into areas corresponding to areas on a map and transmits the multiple transmission data to the autonomous driving control unit, and the map processing unit changes the shape and size of the area on the map corresponding to each transmission data based on the selection information of the driving mode.

[0006] According to this aspect, in a vehicle system, data including map information can be appropriately transmitted from the map processing unit to the autonomous driving control unit according to the vehicle's driving mode. For example, if overtaking is undesirable during autonomous driving, the amount of lane information transmitted to the autonomous driving control unit can be reduced, thereby reducing the amount of data transmitted.

[0007] In the above aspect, preferably, the selection information can be set by a user.

[0008] According to this aspect, the data amount of transmission data can be reduced according to the user's intention.

[0009] In the above aspect, preferably, the map processing unit creates the transmission data so that the transmission data is divided for each lane.

[0010] According to this aspect, it is possible to divide the transmission data for each lane and reduce the data volume. In addition, by reducing the lane information not used in autonomous driving control, the data volume of the transmission data can be reduced.

[0011] In the above aspect, the vehicle system also includes a map guidance unit, which sets a route to the destination based on the set destination, wherein the map processing unit determines a recommended lane in which the vehicle should travel based on the route to the destination, creates transmission data corresponding to the recommended lane based on the selection information and the recommended lane, and transmits the transmission data corresponding to the recommended lane to the autonomous driving control unit.

[0012] According to this aspect, since the lane information included in the transmission data is limited to the lane information of the recommended lane, the data amount of the transmission data can be reduced.

[0013] In the above aspect, preferably, in the high-precision map data, lanes are represented by multiple nodes and links connecting the multiple nodes, the links are provided with identification numbers, and the map processing unit stores road additional information corresponding to the identification numbers, separates links containing specific road additional information from other links, and creates transmission data by adding the road additional information.

[0014] According to this aspect, since the transmission data includes the road additional information, the autonomous driving control unit can perform autonomous driving control using the road additional information.

[0015] In the above aspect, preferably, the road additional information includes information indicating that the lane is an area where a reception level of a GNSS signal is lower than a prescribed level.

[0016] According to this aspect, the autonomous driving control unit can perform the autonomous driving control while recognizing the area where the reception level of the GNSS signal is reduced.

[0017] According to the above configuration, in the vehicle system, the data amount of transmission data transmitted from the map processing unit to the autonomous driving control unit can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a configuration diagram of a vehicle system according to an embodiment of the present invention;

[0019] Figure 2 is a flowchart showing the procedure of a map providing process performed by a map providing unit;

[0020] Figure 3 is a flowchart showing the procedure of transmission order determination processing performed by the map providing unit;

[0021] Figure 4 is an explanatory diagram showing an example of the transmission order of a plurality of pieces of transmission data;

[0022] Figure 5A is an explanatory diagram showing an area corresponding to a plurality of transmission data in a case where the congestion level is high;

[0023] Figure 5B is an explanatory diagram showing an area corresponding to a plurality of transmission data in a case where the congestion level is low; and

[0024] Figure 6 : is an explanatory diagram showing a case where a plurality of transmission data are created for each lane. DETAILED DESCRIPTION

[0025] Hereinafter, a vehicle system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0026] (Vehicle System)

[0027] like Figure 1 As shown, a vehicle system 1 is connected to a map server 3 via a network. The vehicle system 1 includes a powertrain 4, a braking device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a communication device 9, a GNSS receiver 10, a navigation device 11 (map guidance unit), an operation input member 12, a driving operation sensor 13, a human-machine interface (HMI) 14, and a control device 16. These components of the vehicle system 1 are connected to each other so that signals can be transmitted therebetween via a communication device such as a controller area network (CAN).

[0028] The powertrain 4 is a device configured to apply driving force to the vehicle. The powertrain 4 includes at least one of an internal combustion engine, such as a gasoline engine or a diesel engine, and an electric motor. The braking device 5 is a device configured to apply braking force to the vehicle. For example, the braking device 5 includes a brake caliper configured to press a brake pad against a brake rotor and an electric cylinder configured to supply oil pressure to the brake caliper. The braking device 5 may include a parking brake device configured to limit wheel rotation via a cable. The steering device 6 is a device for changing the steering angle of the wheels. For example, the steering device 6 includes a rack-and-pinion mechanism configured to steer the wheels and an electric motor configured to drive the rack-and-pinion mechanism. The powertrain 4, the braking device 5, and the steering device 6 are controlled by a control device 16.

[0029] External environment sensor 7 is a sensor that detects electromagnetic waves, sound waves, and the like from the vehicle's surroundings to detect objects outside the vehicle. External environment sensor 7 includes sonar 17 and external camera 18. External environment sensor 7 may include millimeter-wave radar and / or laser radar. External environment sensor 7 outputs detection results to control device 16.

[0030] Each sonar 17 includes a so-called ultrasonic sensor. The sonar 17 emits ultrasonic waves around the vehicle and captures the ultrasonic waves reflected by objects around the vehicle, thereby detecting the position (distance and direction) of the objects. Multiple sonars 17 are provided at each of the rear and front parts of the vehicle.

[0031] The external cameras 18 are devices configured to capture images of the vehicle's surroundings. For example, each external camera 18 comprises a digital camera using a solid-state imaging element such as a CCD or CMOS. Each external camera 18 may be a stereo camera or a monocular camera. The external cameras 18 may include a front camera for capturing images in front of the vehicle, a rear camera for capturing images behind the vehicle, and a pair of side cameras for capturing images on the left and right sides of the vehicle.

[0032] Vehicle sensors 8 are sensors that measure the vehicle's state. They include a vehicle speed sensor configured to detect vehicle speed; an acceleration sensor configured to detect vehicle acceleration; a yaw rate sensor configured to detect angular velocity about the vehicle's vertical axis; and a direction sensor configured to detect the vehicle's direction. For example, the yaw rate sensor includes a gyroscope. Vehicle sensors 8 may include a tilt sensor configured to detect vehicle body tilt and a wheel speed sensor configured to detect the rotational speed of one or more wheels.

[0033] The communication device 9 coordinates communication between the control device 16 and devices outside the vehicle (e.g., the map server 3). The communication device 9 includes a router for connecting the control device 16 to the Internet. The communication device 9 preferably has a wireless communication function that coordinates wireless communication between the control device 16 and the control device 16 of another vehicle around the host vehicle and / or between the control device 16 and roadside devices on the road.

[0034] The GNSS receiver 10 receives signals (hereinafter referred to as “GNSS signals”) from a plurality of satellites constituting a global navigation satellite system (GNSS). The GNSS receiver 10 outputs the received GNSS signals to the navigation device 11 and the control device 16 .

[0035] The navigation device 11 is configured using a computer made of known hardware. The navigation device 11 identifies the vehicle's current location (latitude and longitude) based on the vehicle's most recent travel history and / or GNSS signals output from the GNSS receiver 10. The navigation device 11 includes RAM, a HDD, an SSD, etc., for storing data related to road information in regions and / or countries where the vehicle may travel (hereinafter referred to as "navigation map data").

[0036] The navigation device 11 sets a route from the vehicle's current position to a destination input by a vehicle occupant based on GNSS signals and navigation map data, and outputs the route to the control device 16. When the vehicle starts traveling, the navigation device 11 provides the occupant with route guidance to the destination.

[0037] As information related to roads on a map, the navigation device 11 stores information about points (nodes) on the road and line segments (links) connecting the nodes. Preferably, the nodes stored in the navigation device 11 are provided at characteristic points such as intersections and merge points. The navigation device 11 stores the distance between the nodes connected by each link in association with the information about each link. The navigation device 11 obtains an appropriate route from the vehicle's current position to the destination based on the distance between the nodes and outputs information indicating the route to the control device 16. The output information indicating the route includes the points (nodes) on the road corresponding to the route and the links corresponding to the vectors connecting the nodes.

[0038] The operation input member 12 is provided in the vehicle cabin to receive input operations for controlling the vehicle performed by the occupants. The operation input member 12 includes a steering wheel, an accelerator pedal, and a brake pedal. The operation input member 12 may also include a shift lever, a parking brake lever, a turn signal lever, etc.

[0039] The driving operation sensor 13 is a sensor that detects the amount of operation applied to the operation input member 12. The driving operation sensor 13 includes a steering angle sensor configured to detect the amount of steering wheel operation; an accelerator sensor configured to detect the amount of accelerator pedal operation; and a brake sensor configured to detect the amount of brake pedal operation. The driving operation sensor 13 outputs the detected amount of operation to the control device 16. The driving operation sensor 13 may include a grip sensor configured to detect the occupant's grip on the steering wheel. For example, the grip sensor may be a capacitance sensor disposed on the outer periphery of the steering wheel.

[0040] The HMI 14 notifies the occupants of various information through displays and / or voice commands, and receives input from the occupants. The HMI 14 includes, for example, a touch panel 23, which includes a liquid crystal display or an organic EL display and is configured to receive input from the occupants, and a sound generator 24, such as a buzzer or speaker. The HMI 14 can display a driving mode switch button on the touch panel 23. The driving mode switch button is a button for receiving occupant input to switch the vehicle's driving mode (e.g., autonomous driving mode and manual driving mode).

[0041] The HMI 14 also functions as an interface for controlling input and output to and from the navigation device 11. Specifically, when the HMI 14 receives a destination input operation from the occupant, the navigation device 11 begins setting a route to the destination. Furthermore, when the navigation device 11 is providing route guidance to the destination, the HMI 14 displays the vehicle's current location and the route to the destination.

[0042] The control device 16 is configured by one or more electronic control units (ECUs), each of which includes a CPU, ROM, RAM, and the like. The CPU executes processing according to a program, causing the control device 16 to perform various types of vehicle control. The control device 16 may be composed of a single piece of hardware or a unit comprising multiple pieces of hardware. Furthermore, the functions of the control device 16 may be at least partially performed by hardware such as an LSI, ASIC, or FPGA, or may be performed by a combination of software and hardware.

[0043] (Control device 16)

[0044] like Figure 1 As shown, the control device 16 includes an external environment recognition unit 31, an autonomous driving control unit 32 (Advanced Driver Assistance System, ADAS), and a map positioning unit (MPU) 33 serving as a map processing unit. These components can be configured by separate electronic control units connected to each other via a gateway (Central Gateway (CGW)). Alternatively, these components can be configured by an integrated electronic control unit.

[0045] The external environment recognition unit 31 recognizes target objects around the vehicle based on the detection results of the external environment sensor 7, thereby obtaining information related to the position and size of each target object. The target objects recognized by the external environment recognition unit 31 include dividing lines, lanes, roadsides, shoulders, obstacles, etc. drawn on the vehicle's travel path.

[0046] Dividing lines are drawn along the direction of vehicle travel. Lanes are areas demarcated by one or more dividing lines. A curb is the end of the roadway where a vehicle travels. The shoulder is the area between a curb and the dividing line adjacent to the curb across the width of the vehicle. Obstacles include, for example, guardrails, utility poles, surrounding vehicles, and pedestrians.

[0047] The external environment recognition unit 31 analyzes the images captured by the external camera 18 to identify the relative positions of target objects around the vehicle. For example, the external environment recognition unit 31 can use known methods such as triangulation or kinematic stereo to determine the distance and direction from the vehicle to each target object when viewed from directly above the vehicle body. Furthermore, the external environment recognition unit 31 analyzes the images captured by the external camera 18 and determines the type of each target object (e.g., a dividing line, lane, roadside, shoulder, obstacle, etc.) using known methods.

[0048] The map positioning unit 33 includes a map acquisition unit 51 , a map storage unit 52 , a host vehicle position recognition unit 53 , a map connection unit 54 , an additional information storage unit 55 , a recommended lane setting unit 56 , a positioning function unit 57 , and a map providing unit 58 .

[0049] The map acquisition unit 51 accesses the map server 3 and acquires dynamic map data as high-precision map information from the map server 3. For example, when the navigation device 11 has set a route, the map acquisition unit 51 preferably acquires the latest dynamic map data of the area corresponding to the route from the map server 3 via the communication device 9.

[0050] Dynamic map data is more detailed than the map data stored in the navigation device 11 and includes static information, semi-static information, semi-dynamic information, and dynamic information. Static information includes three-dimensional map data with higher accuracy than navigation map data. Semi-static information includes traffic restriction information, road construction information, and wide-area weather information. Semi-dynamic information includes accident information, traffic congestion information, and narrow area weather information. Dynamic information includes traffic light information, surrounding vehicle information, and pedestrian information.

[0051] The static information (high-precision map) of the dynamic map data includes information related to lanes on the travel road (e.g., the number of lanes) and information related to dividing lines on the travel road (e.g., the type of dividing line). For example, each dividing line in the static information is represented by a node located at a distance smaller than the distance between the node in the navigation map data and the link connecting the nodes.

[0052] Each road in the static information is also represented by nodes (hereinafter referred to as road nodes) arranged at regular intervals and links connecting the nodes (hereinafter referred to as road links). Each road node is created between the node set at the dividing line at the left end of the road and the node set at the dividing line at the right end of the road. The nodes of each road link are arranged at regular intervals along the road.

[0053] The map storage unit 52 includes one or more storage devices such as HDD and SSD, and stores various information required for the vehicle to autonomously travel in the autonomous driving mode. The map storage unit 52 stores dynamic map data that the map acquisition unit 51 has acquired from the map server 3.

[0054] The present vehicle position identification unit 53 identifies the position (latitude and longitude) of the vehicle based on the GNSS signal output from the GNSS receiver 10 .

[0055] Furthermore, the vehicle position identification unit 53 uses detection results from the vehicle's sensors 8 (such as an inertial measurement unit (IMU)) to calculate the vehicle's movement (distance and direction of movement) using dead reckoning (e.g., mileage). The vehicle's movement calculated using dead reckoning is hereinafter referred to as DR movement. For example, when GNSS signals cannot be received, the vehicle position identification unit 53 identifies the vehicle's position based on the DR movement. Furthermore, the vehicle position identification unit 53 can correct the vehicle's position identified from the GNSS signals based on the DR movement, thereby improving the accuracy of identifying the vehicle's position.

[0056] The map connection unit 54 extracts a corresponding route from the high-precision map stored in the map storage unit 52 based on the route output from the navigation device 11 , and outputs the extracted route to the positioning function unit 57 .

[0057] The additional information storage unit 55 stores a plurality of road additional information associated with the links of the dynamic map. Each link of the dynamic map is given an identification number, and the road additional information associated with a certain link is identified by the identification number of the link. Each road additional information preferably includes unique information that is not included in the dynamic map. For example, a piece of road additional information may include information indicating that the relevant lane is an area where the reception level of the GNSS signal is lower than a specified level. More specifically, a piece of road additional information may preferably indicate that the relevant link is located under an elevated road, the relevant link is located in a tunnel, or the relevant link is surrounded by high-rise buildings.

[0058] The recommended lane setting unit 56 selects a recommended lane link suitable for vehicle travel from the lane links output by the map connection unit 54 based on the route, information, etc. stored in the dynamic map. For example, when the route extracted by the map connection unit 54 includes a branch road, the recommended lane setting unit 56 adds data indicating that the lane is suitable for vehicle travel to the recommended lane information of the lane link corresponding to the lane suitable for entering the branch road (for example, the lane link of the lane 2 km before entering the branch road and closest to the branch road), and causes the map storage unit 52 to store the data.

[0059] The positioning function unit 57 acquires a high-precision map of a relatively narrow area around the vehicle and in the vehicle's traveling direction based on the vehicle's position identified by the vehicle position identification unit 53 and the route extracted by the map connection unit 54. Thereafter, the positioning function unit 57 identifies the driving lane and the vehicle's position in the driving lane from the position of the dividing line identified by the external environment recognition unit 31 and the like, by using the acquired high-precision map and the vehicle's position identified by the vehicle position identification unit 53. Furthermore, the positioning function unit 57 continuously creates a local map by adding information about the vehicle's surroundings (e.g., information about obstacles) identified by the external environment recognition unit 31 to the acquired high-precision map.

[0060] The positioning function unit 57 can add the road additional information stored in the additional information storage unit 55 to the local map. In this case, the positioning function unit 57 identifies the link whose road additional information is to be added based on the identification number. Thus, the link included in the local map is associated with the corresponding road additional information.

[0061] The map providing unit 58 divides the local map data into regions corresponding to the regions on the map, thereby creating a plurality of pieces of transmission data, and sequentially transmits the plurality of pieces of transmission data to the autonomous driving control unit 32 .

[0062] The autonomous driving control unit 32 includes an action planning unit 41 , a travel control unit 42 , and a mode setting unit 43 .

[0063] Based on the transmitted data containing map information received from the map positioning unit 33 and external environment information received from the external environment recognition unit 31, the action planning unit 41 creates an action plan that defines the vehicle's future actions. The action plan can include events such as following a preceding vehicle, changing lanes, overtaking, and turning onto a side road. For each event, a target trajectory for the vehicle is set. The action planning unit 41 outputs a travel control signal corresponding to the created action plan to the travel control unit 42.

[0064] The travel control unit 42 controls the powertrain 4, the brake device 5, and the steering device 6 based on the travel control signal from the action planning unit 41. That is, the travel control unit 42 causes the vehicle to travel according to the action plan created by the action planning unit 41.

[0065] Hereinafter, a method in which the map providing unit 58 creates transmission data from the local map and transmits the transmission data to the autonomous driving control unit 32 will be described. Figure 2 The map providing process shown. In the map providing process, the map providing unit 58 first obtains the road traffic information at the location of the vehicle based on the location of the vehicle and the dynamic map (S1). The dynamic map includes road traffic information as dynamic information. The road traffic information includes traffic jam information, construction information and lane restriction information. In this embodiment, the map providing unit 58 obtains traffic jam information in the area corresponding to the location of the vehicle. The map providing unit 58 can obtain road traffic information including traffic jam information from a local map instead of a dynamic map. Since the local map is created based on the dynamic map, the local map can include road traffic information contained in the dynamic information of the dynamic map.

[0066] Subsequently, the map providing unit 58 sets an upper limit value for the area of ​​the region corresponding to each piece of transmission data on the map based on the road traffic information (S2). For example, the map providing unit 58 obtains the congestion level of the road on which the vehicle is traveling based on the road traffic information, and sets a smaller upper limit value for the area of ​​the region corresponding to each piece of transmission data on the map as the congestion level increases.

[0067] The map providing unit 58 then divides the local map data into regions corresponding to the map, thereby creating a plurality of transmission data (S3). Each transmission data piece includes a plurality of nodes and at least one link. The region corresponding to each transmission data piece includes a plurality of nodes arranged in the direction in which the lanes extend and at least one link connecting the plurality of nodes. Furthermore, each transmission data piece may include a plurality of nodes and a plurality of links corresponding to a plurality of lanes arranged in parallel. Adjacent regions corresponding to the respective transmission data pieces are connected to each other at the nodes. A plurality of nodes are arranged at the boundaries of the region corresponding to each transmission data piece.

[0068] The shape of the area corresponding to each transmission data is preferably a quadrilateral, such as a rectangle or a square. In another embodiment, the shape of the area corresponding to each transmission data can be any polygon, such as a triangle or a pentagon, according to the shape formed by multiple nodes and links.

[0069] Preferably, the map providing unit 58 creates each piece of transmission data so that the attributes assigned to each link included in each piece of transmission data are identical. The map providing unit 58 sets the multiple pieces of transmission data so that the area of ​​the map corresponding to each piece of transmission data is less than or equal to the upper limit set in step S2. In other words, the map providing unit 58 changes the area of ​​the map corresponding to each piece of transmission data based on road traffic information. Furthermore, the map providing unit 58 preferably creates the multiple pieces of transmission data by dividing the area within a specified distance from the vehicle's position. By including links with identical attributes in a single piece of transmission data, the data volume can be reduced.

[0070] In addition, the map providing unit 58 preferably creates each piece of transmission data so that the road additional information associated with each link is the same. That is, preferably, links with different road additional information are included in different pieces of transmission data. By including links with the same road additional information in a single piece of transmission data, the amount of data can be compressed.

[0071] Then, the map providing unit 58 performs a transmission order determination process to determine the order in which the created plurality of transmission data are transmitted to the autonomous driving control unit 32 (S4). Figure 3 The transmission order determination processing is performed by the process shown in the flowchart.

[0072] In the transmission order determination process, first, the map providing unit 58 extracts a plurality of pieces of transmission data corresponding to areas located within a prescribed distance from the host vehicle ( S11 ). Figure 4 : is an explanatory diagram showing a plurality of transmission data and a priority order of the plurality of transmission data based on route setting. Figure 4, the routes include a route R1 to the destination, a branch route R2 that branches from route R1 to the destination, and a merged route R3 that merges with the route R1 to the destination. The route R1 to the destination, the branch route R2, and the merged route R3 have multiple nodes N and links L representing points on the lanes, each link connecting two nodes N that are adjacent to each other in the extension direction of the lane. The direction of the arrow of each link L represents the driving direction of the vehicle. The vehicle can enter the branch route R2 from route R1 to the destination, but the vehicle cannot enter the merged route R3 from route R1 to the destination. For example, if the route R1 to the destination is a highway, the branch route includes the exit ramp of the highway, and the merged route includes the entrance ramp of the highway. The position of the vehicle is indicated by a white triangle. The route R1 to the destination includes three parallel lanes.

[0073] The transmission data for route R1 to the destination is divided into blocks B1 to B5 on the map, the transmission data for branch route R2 is divided into blocks B6 to B9, and the transmission data for merged route R3 is divided into blocks B10 to B13. Through the processing of step S11, the map providing unit 58 extracts the transmission data pieces corresponding to blocks B1 to B13, that is, the transmission data pieces corresponding to the areas within the prescribed distance from the host vehicle.

[0074] Subsequently, the map providing unit 58 extracts a plurality of pieces of transmission data corresponding to an area including a route to the destination from the plurality of pieces of transmission data extracted in step S11, and sets them as first transmission data (S12). Figure 4 In the example shown in FIG. 1 , the pieces of transmission data corresponding to blocks B1 to B5 are set as the first transmission data. The plurality of pieces of transmission data included in the first transmission data are given a priority order such that a piece of transmission data corresponding to an area closer to the location of the host vehicle is given a higher priority order. Therefore, the plurality of pieces of transmission data included in the first transmission data corresponding to blocks B1 to B5 are given a priority order such that the priority order is higher in the order of B1 to B5.

[0075] Then, the map providing unit 58 extracts a plurality of pieces of transmission data corresponding to the area including the branch route from the plurality of pieces of transmission data extracted in step S11, and sets them as second transmission data (S13). Figure 4 In the example shown in FIG, the transmission data pieces corresponding to blocks B6 to B9 are set as the second transmission data. The plurality of transmission data pieces included in the second transmission data are given a priority order such that a piece of transmission data corresponding to an area closer to a branch point from the route to the destination is given a higher priority order. Therefore, the priority order is set for the plurality of transmission data pieces included in the second transmission data corresponding to blocks B6 to B9 such that the priority order is higher in the order of B6 to B9.

[0076] Furthermore, the map providing unit 58 extracts pieces of transmission data corresponding to the area including the merged route from the pieces of transmission data extracted in step S11 and sets them as third transmission data (S14). Figure 4 In the example shown in FIG. 1 , the pieces of transmission data corresponding to blocks B10 to B13 are set as the third transmission data. The plurality of pieces of transmission data included in the third transmission data are prioritized such that a piece of transmission data corresponding to an area closer to a merging point with a route to the destination is prioritized higher. Therefore, the plurality of pieces of transmission data included in the third transmission data corresponding to blocks B10 to B13 are prioritized such that the priority order is higher in the order of B10 to B13.

[0077] After executing the transmission order determination process, the map providing unit 58 starts measuring time (S5). In another embodiment, the map providing unit 58 may start measuring the travel distance instead of measuring the time.

[0078] Subsequently, the map providing unit 58 identifies a single piece of transmission data having the highest priority order from the plurality of transmission data (S6). The transmission order is determined based on the high priority order in the order of the first transmission data, the second transmission data, the third transmission data and the other data. As described above, the plurality of transmission data included in the first transmission data are given a priority order so that a piece of transmission data corresponding to an area closer to the position of the vehicle is given a higher priority order. The plurality of transmission data included in the second transmission data are given a priority order so that a piece of transmission data corresponding to an area closer to a branch point from the route to the destination is given a higher priority order. The plurality of transmission data included in the third transmission data are given a priority order so that a piece of transmission data corresponding to an area closer to a merging point with a route to the destination is given a higher priority order. For the transmission data pieces classified in the other transmission data, preferably, a piece of transmission data corresponding to an area closer to the position of the vehicle is given a higher priority order. Therefore, in Figure 4 In the example of , the transmission data strips are given a priority order such that the priority order is high in the order of block B1 to block B13.

[0079] Then, the map providing unit 58 determines whether the transmission data piece with the highest priority order identified in step S6 matches the transmission data already transmitted to the autonomous driving control unit 32 (S7). If all of the transmission data piece with the highest priority order identified in step S6 is included in the transmission data already transmitted to the autonomous driving control unit 32, the map providing unit 58 determines that the transmission data piece with the highest priority order identified in step S6 matches the transmission data already transmitted to the autonomous driving control unit 32. If at least a portion of the transmission data piece with the highest priority order identified in step S6 is not included in the transmission data already transmitted to the autonomous driving control unit 32, the map providing unit 58 determines that the transmission data piece with the highest priority order identified in step S6 does not match the transmission data already transmitted to the autonomous driving control unit 32. Thus, the transmission of overlapping transmission data to the autonomous driving control unit 32 is prevented.

[0080] If the result of the determination in step S7 is NO, the map providing unit 58 transmits the transmission data piece having the highest priority order identified in step S6 to the autonomous driving control unit 32 ( S8 ).

[0081] Afterwards, the map providing unit 58 determines whether the elapsed time measured starting in step S5 has become equal to or greater than a predetermined determination time (S9). If the elapsed time is less than the determination time (S9 determines no), the map providing unit 58 returns to step S6 and identifies the transmission data piece with the next highest priority. If the elapsed time is equal to or greater than the determination time (S9 determines yes), the map providing unit 58 repeats the process from step S1 onward. Thus, the map providing unit 58 can transmit appropriate transmission data to the autonomous driving control unit 32 according to the vehicle's travel.

[0082] By means of the map providing process, the map providing unit 58 transmits the first transmission data to the autonomous driving control unit 32 in priority over the other transmission data. Furthermore, the map providing unit 58 transmits the second transmission data to the autonomous driving control unit 32 in priority over the other transmission data except the first transmission data. Furthermore, the map providing unit 58 transmits the third transmission data to the autonomous driving control unit 32 in priority over the other transmission data except the first transmission data and the second transmission data.

[0083] According to this aspect, in the vehicle system 1, it is possible to select an area where the vehicle is likely to travel and output the corresponding map information to the autonomous driving control unit 32. Because the map providing unit 58 creates transmission data for the area including route R1 to the destination and transmits it to the autonomous driving control unit 32 prior to transmission data for other areas, the autonomous driving control unit 32 can prioritize obtaining the map information required for autonomous driving. Furthermore, because the map providing unit 58 creates transmission data for the area including branch route R2 and transmits it to the autonomous driving control unit 32 prior to transmission data for the area including route R1 to the destination, the autonomous driving control unit 32 can continue autonomous driving even if route R1 to the destination changes. Furthermore, by identifying the merging route R3, the autonomous driving control unit 32 can identify and infer the behavior of the vehicle traveling on the merging route R3.

[0084] In step S3, the map providing unit 58 can create multiple pieces of transmission data so that the data size of each piece of transmission data is within a specified range. In other words, the map providing unit 58 can make the data size of each piece of transmission data consistent. According to this aspect, since the data size of each piece of transmission data is made consistent, the map providing unit 58 and the autonomous driving control unit 32 can efficiently process multiple pieces of transmission data.

[0085] According to the map providing processing performed by the map providing unit, the data size of each transmission data is changed based on the vehicle congestion level or traffic jam level included in the road traffic information. For example, when the congestion level is low, the blocks B21 and B22 (areas) on the map corresponding to each single transmission data are set to be relatively long in the lane extending direction (see FIG. Figure 5A On the other hand, when the congestion level is high, blocks B31 to B36 on the map corresponding to each single transmission data are set to be shorter in the lane extending direction compared to the case where the congestion level is low (see Figure 5B Thus, when traffic congestion is high, the data size of each piece of transmission data is set smaller than when traffic congestion is low. If the area of ​​the block represented by a single piece of transmission data increases, data compression becomes possible. Furthermore, since the number of transmission data pieces that need to be prioritized during transmission decreases, the computational load is reduced. When the area of ​​the block represented by a single piece of transmission data decreases, the priority order during transmission can be finely set.

[0086] In step S3 , the map providing unit 58 may create transmission data divided for each lane, and may transmit a plurality of transmission data corresponding to only some of the plurality of parallel lanes to the autonomous driving control unit 32 . Figure 6The example in which blocks B41 to B43 are set to correspond to the respective lanes is shown. Thus, the amount of data of each piece of transmission data transmitted from the map providing unit 58 to the autonomous driving control unit 32 can be reduced.

[0087] Preferably, the map providing unit 58 creates transmission data for each lane division and transmits a piece of transmission data corresponding to the recommended lane set by the recommended lane setting unit 56 to the autonomous driving control unit 32. In this case, preferably, the map providing unit 58 transmits only a piece of transmission data corresponding to the recommended lane R4 of the plurality of parallel lanes to the autonomous driving control unit 32.

[0088] The map providing unit 58 can change the shape and size of the area on the map corresponding to each piece of transmission data based on selection information used to determine the vehicle's driving mode. For example, the selection information may indicate the frequency of overtaking during autonomous driving control, preferably selected from "frequent overtaking" and "infrequent overtaking." Preferably, the selection information can be set by the user. The selection information is preferably input from the touch panel 23, for example, through user operation. The input selection information is preferably stored in the storage device of the control device 16.

[0089] When the selection information is set to "frequent overtaking," the map providing unit 58 preferably does not divide the area including the parallel lanes into a plurality of areas corresponding to the respective lanes, and creates transmission data based on the entire (undivided) area. On the other hand, when the selection information is set to "infrequent overtaking," the map providing unit 58 preferably divides the area into a plurality of areas corresponding to the respective parallel lanes, and creates transmission data based only on the area corresponding to the recommended lane.

[0090] Preferably, the map providing unit 58 creates the transmission data divided for each lane in step S3 of the map providing process, and sets the priority order of the area corresponding to the recommended lane higher than the priority order of the first transmission data in the transmission order determination process in step S4. Thus, the autonomous driving control unit 32 can obtain map information for the area corresponding to the recommended lane.

[0091] The specific embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments and may be modified or changed in various ways.

Claims

1. A vehicle system, comprising: a map processing unit that extracts data of an area near the host vehicle from the high-precision map data and creates local map data based on the high-precision map data and the position of the host vehicle; an autonomous driving control unit that receives the local map data from the map processing unit, creates a driving plan for autonomous driving of the host vehicle based on the local map data, and controls driving of the host vehicle according to the driving plan; as well as a map guidance unit that sets a route to the destination based on the set destination, wherein the map processing unit creates a plurality of transmission data by dividing the local map data into regions corresponding to regions on a map and transmits the plurality of transmission data to the autonomous driving control unit, and The map processing unit changes the shape and size of one of the areas corresponding to the respective pieces of transmission data on the map based on the frequency of overtaking in the autonomous driving control, The map processing unit determines a recommended lane in which the host vehicle should travel based on the route to the destination, In a case where the overtaking frequency is set to "frequent overtaking", the map processing unit does not divide the area including the parallel lanes into a plurality of areas corresponding to the respective lanes, and creates transmission data based on the undivided overall area, and In a case where the overtaking frequency is set to “infrequent overtaking”, the map processing unit divides an area including parallel lanes into a plurality of areas corresponding to respective parallel lanes, and creates the transmission data based only on areas corresponding to the recommended lanes.

2. The vehicle system according to claim 1, wherein: The overtaking frequency can be set by the user.

3. The vehicle system according to claim 1 or 2, wherein: In the high-precision map data, lanes are represented by a plurality of nodes and links connecting the plurality of nodes, the links are provided with identification numbers, and The map processing unit stores the road additional information corresponding to the identification number, divides a link containing specific road additional information from other links, and creates transmission data by adding the road additional information.

4. The vehicle system according to claim 3, wherein: The road additional information includes information indicating that the lane is an area where a reception level of a GNSS signal is lower than a prescribed level.

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