Map information determination device, storage medium, and map information determination method

Abstract

The present disclosure relates to a map information determination device, a storage medium, and a map information determination method. In a case where a navigation route branches from a road included in a position estimation map to another road not included in the position estimation map, the branching position can be recognized. The map information determination device includes a road section detection unit that detects, among a plurality of road sections on the navigation route, a terminal road section located on a most destination position side; a first determination unit that determines whether the terminal road section is connected to another road section on the destination position side; a road link detection unit that detects a terminal road link on the navigation route associated with the terminal road section; a second determination unit that determines whether the terminal road link is connected to another road link representing the navigation route on the destination position side, the another road link not being associated with the road section; and an attribute assignment unit that assigns a predetermined attribute to the terminal road section in a case where the terminal road link is connected to the another road link representing the navigation route.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a map information determination device, a storage medium storing a map information determination computer program, and a map information determination method. BACKGROUND

[0002] An automatic control device mounted on a vehicle generates a navigation route of the vehicle based on a current position of the vehicle, a destination position of the vehicle, and a navigation map. The automatic control device estimates the current position of the vehicle using a position estimation map, and controls the vehicle to travel along the navigation route.

[0003] For example, in Patent Literature 1, a navigation device is proposed which realizes a process of linking a path search with vehicle control by performing matching processing of position information of a node on a path in path search map data (navigation map) with an intersection region in vehicle control map data (position estimation map), where the intersection region includes an intersection polygon indicating a shape of an intersection.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2018-179675 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] However, depending on the update period of the updated map information, the road information included in the navigation map and the road information included in the position estimation map sometimes do not coincide with each other. For example, in the case of a newly constructed road or the like, the road is included in the navigation map, but sometimes is not included in the position estimation map.

[0009] Therefore, for example, it is generally considered that in the case where the navigation route on the navigation map includes a branch position at which a road included in the position estimation map branches to another road not included in the position estimation map or the like, the automatic control device will not be able to recognize the branch position. As a result, the automatic control device controls the vehicle to continue traveling on the road included in the position estimation map, and the vehicle can possibly deviate from the navigation route.

[0010] Therefore, an object of the present disclosure is to provide a map information determination device which is able to recognize a branch position even in the case where a navigation route on a navigation map branches from a road included in a position estimation map to another road not included in the position estimation map, by assigning a predetermined attribute to an end road section among a plurality of road sections indicating roads of the position estimation map.

[0011] Solution to a problem

[0012] According to an embodiment, a map information determination device is provided. The map information determination device is capable of processing information of a plurality of road segments and information of a plurality of road sections in association with each other, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used for estimating a position of the vehicle, the map information determination device characterized by comprising: a road section detection unit that detects an end road section located on a most destination position side among the plurality of road sections on the navigation route; a first determination unit that determines whether or not the end road section is connected to another road section on the destination position side; a road segment detection unit that detects an end road segment on the navigation route associated with the end road section, in a case where the end road section is connected to the another road section on the destination position side; a second determination unit that determines whether or not the end road segment is connected to another road segment representing the navigation route, which is not associated with the road section, on the destination position side; and an attribute assignment unit that assigns a predetermined attribute to the end road section, in a case where the end road segment is connected to the another road segment representing the navigation route.

[0013] In the map information determination device, it is preferable that the map information determination device further comprises a notification control unit that notifies the driver of information indicating that the vehicle is located within a predetermined distance from the end road section to which the predetermined attribute is assigned, via a notification unit, in a case where the vehicle is located within the predetermined distance from the end road section to which the predetermined attribute is assigned.

[0014] Further, in the map information determination device, it is preferable that the predetermined attribute indicates that the end road section is a last road section in which the position of the vehicle can be estimated using the position estimation map in traveling of the vehicle along the navigation route.

[0015] Further, in the map information determination device, it is preferable that, in a case where the end road segment is not connected to the another road segment, the attribute assignment unit assigns an attribute indicating that the end road section includes the destination position of the vehicle to the end road section.

[0016] According to another embodiment, a map information determination computer program is provided. The map information determination computer program is capable of processing information of a plurality of road segments and information of a plurality of road sections in association with each other, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used for estimating the position of the vehicle, characterized in that the map information determination computer program causes a processor to perform the following actions: detecting a terminal road section located on a most destination position side among the plurality of road sections on the navigation route, determining whether the terminal road section is connected to another road section on the destination position side, detecting a terminal road segment on the navigation route in association with the terminal road section in a case where the terminal road section is connected to another road section on the destination position side, determining whether the terminal road segment is connected to another road segment representing the navigation route which is not associated with the road section on the destination position side, and assigning a predetermined attribute to the terminal road section in a case where the terminal road segment is connected to another road segment representing the navigation route.

[0017] According to another embodiment, a map information determination computer program is provided. The map information determination computer program is capable of processing information of a plurality of road segments and information of a plurality of road sections in association with each other, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used for estimating the position of the vehicle, characterized in that the map information determination computer program causes a processor to perform the following actions: detecting a terminal road section located on a most destination position side among the plurality of road sections on the navigation route, determining whether the terminal road section is connected to another road section on the destination position side, detecting a terminal road segment on the navigation route in association with the terminal road section in a case where the terminal road section is connected to another road section on the destination position side, determining whether the terminal road segment is connected to another road segment representing the navigation route which is not associated with the road section on the destination position side, and assigning a predetermined attribute to the terminal road section in a case where the terminal road segment is connected to another road segment representing the navigation route.

[0018] Effects of the Invention

[0019] With the map information determination apparatus of the present disclosure, even in a case where a navigation route on a navigation map branches to another road not included in a position estimation map, the branching position can be recognized by assigning a predetermined attribute to a terminal road section. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1is a diagram that explains an outline of the action of the vehicle control system of the embodiment.

[0021] Figure 2 is a diagram that explains an outline of the vehicle to which the vehicle control system of the embodiment is mounted.

[0022] Figure 3 is an action flowchart (1) related to the association establishment processing of the vehicle control system of the embodiment.

[0023] Figure 4 is a diagram that shows an example of a navigation route.

[0024] Figure 5 is an action flowchart (2) related to the association establishment processing of the vehicle control system of the embodiment.

[0025] Figure 6 is a diagram that explains the association establishment processing of the vehicle control system (1).

[0026] Figure 7 is a diagram that explains the association establishment processing of the vehicle control system (2).

[0027] Figure 8 is a diagram that explains an association table.

[0028] Figure 9 is an action flowchart related to the map information determination processing of the vehicle control system of the embodiment.

[0029] Figure 10 is a diagram that explains the map information determination processing of the vehicle control system.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] 1 vehicle control system; 2 camera; 3 positioning information receiver; 4 navigation device; 5 user interface; 5a display device; 10 vehicle; 11 map information storage device; 12 map information determination device; 13 position estimation device; 14 object detection device; 15 travel lane planning device; 16 drive planning device; 17 vehicle control device; 18 in-vehicle network; 21 communication interface; 22 memory; 23 processor; 231 road section detection section; 232 first determination section; 233 road segment detection section; 234 second determination section; 235 attribute assignment section; 236 notification control section. DETAILED DESCRIPTION

[0032] Figure 1 is a diagram that explains an outline of the action of the vehicle control system 1 of the embodiment. Hereinafter, the vehicle control system 1 of the embodiment will be described with reference to Figure 1A summary of the operation related to the map information determination processing of the vehicle control system 1 disclosed in this specification will be described.

[0033] In Figure 1 In the example shown, the vehicle 10 is traveling on the lane 31 of the road 30 having the two lanes 31 and 32. The lane 31 and the lane 32 are divided by the lane dividing line 33.

[0034] The vehicle control system 1 mounted on the vehicle 10 automatically controls the driving of the vehicle 10. The vehicle control system 1 generates a navigation route R of the vehicle 10 based on a current position of the vehicle 10, a destination position of the vehicle 10, and a navigation map.

[0035] Figure 1 An example of the navigation route R generated by the vehicle control system 1 is shown. The vehicle 10 is traveling on the road 30 at the current position PI, and is scheduled to exit from the branch position 40 to the road 50.

[0036] In the navigation map, a road is represented by connecting a plurality of road segments by nodes. The navigation route R is represented by connecting a plurality of road segments by nodes. In the navigation route R, a branch of a road is represented by selecting one road segment out of two or more road segments extending from one node.

[0037] In Figure 1 In the example shown, the navigation route R includes the branch position 40 at which the road 50 branches from the road 30. At the branch position 40, the navigation route R is represented by connecting the road segment T3 representing the road 30 and the road segment T4 representing the road 50 by the node N3. The road segment T4 is connected to other road segments representing the road 50 in the navigation route R by the node N4.

[0038] The vehicle control system 1 estimates the current position of the vehicle 10 using a position estimation map. The position estimation map has high-precision map information related to a road used for estimating the current position of the vehicle 10. In the position estimation map, a road is represented as a connection of a plurality of road sections.

[0039] In Figure 1 In the example shown, a part of the road 30 is represented as a connection of the road section S5, the road section S6, and the road section S7. Note that the road 50 branching from the road 30 is not included in the position estimation map.

[0040] The vehicle control system 1 associates the navigation route R with the position estimation map by associating a plurality of road segments representing the navigation route R of the vehicle 10 generated on the navigation map with a plurality of road sections representing roads represented by the position estimation map. The vehicle control system 1 estimates the current position of the vehicle 10 using the position estimation map, and controls the vehicle 10 to travel along the navigation route R.

[0041] In Figure 1 In the example shown, the vehicle control system 1 associates the road segment T3 with the road section S5 and the road section S6. Note that the position estimation map does not include the road 50, and thus the road segment T4 representing the road 50 is not associated with a road section of the position estimation map.

[0042] The vehicle control system 1 detects the terminal road section S6 located on the destination position side among the plurality of road sections on the navigation route R after associating the navigation route R with the road sections of the position estimation map.

[0043] The vehicle control system 1 determines whether the terminal road section S6 is connected to another road section on the destination position side in order to investigate whether the navigation route R branches from a road included in the position estimation map to another road not included in the position estimation map.

[0044] In Figure 1 In the example shown, the terminal road section S6 is connected to the road section S7 on the destination position side, and thus the vehicle control system 1 detects the terminal road segment T3 on the navigation route R associated with the terminal road section S6.

[0045] The vehicle control system 1 then determines whether the terminal road segment T3 is connected to another road segment representing the navigation route R not associated with a road section on the destination position side.

[0046] In Figure 1 In the example shown, the terminal road segment T3 is connected to the road segment T4 representing the navigation route R not associated with a road section on the destination position side, and thus it is known that the navigation route R branches from a road included in the position estimation map to another road not included in the position estimation map at the terminal road segment T3. The vehicle control system 1 imparts information indicating that the terminal road section S6 is the last road section in which the position of the vehicle 10 can be estimated using the position estimation map (hereinafter, also referred to as the last road section in which automatic control is possible) to the terminal road section S6. The information indicating the last road section in which automatic control is possible is an example of a predetermined attribute. The vehicle control system 1 can recognize a branching position in the position estimation map by imparting the predetermined attribute to the terminal road section.

[0047] The vehicle control system 1 notifies that it is not possible to exit from the road 30 to the road 50 by automatic control in a case where the current position of the vehicle 10 is close to the end road section S6 within a predetermined distance. Here, the vehicle control system 1 can also notify the driver of a change of the driving of the vehicle 10 from automatic control to manual control or notify the driver of a request to hold the steering wheel. Thus, in the vehicle control system 1, the driver can manually operate the steering wheel to cause the vehicle 10 to exit from the road 30 to the road 50 at the branch position 40.

[0048] Figure 2 is a schematic configuration diagram of the vehicle 10 on which the vehicle control system 1 is mounted. The vehicle 10 has a camera 2, a positioning information receiver 3, a navigation device 4, a user interface (UI) 5, a map information storage device 11, a map information determination device 12, a position estimation device 13, an object detection device 14, a travel lane planning device 15, a driving plan device 16, a vehicle control device 17, and the like. Also, the vehicle 10 can have a ranging sensor (not shown) such as a LiDAR sensor for measuring a distance to a surrounding object of the vehicle 10.

[0049] The camera 2, the positioning information receiver 3, the navigation device 4, the UI 5, the map information storage device 11, the map information determination device 12, the position estimation device 13, the object detection device 14, the travel lane planning device 15, the driving plan device 16, and the vehicle control device 17 are connected to be communicable via an in-vehicle network 18 that complies with a standard such as a controller area network.

[0050] The camera 2 is an example of an imaging section provided to the vehicle 10. The camera 2 is mounted to the vehicle 10 in a manner so as to face a front of the vehicle 10. The camera 2, for example, captures a camera image that represents an environment of a predetermined area in front of the vehicle 10 at a predetermined cycle. In the camera image, a road and a lane division line and the like on the road surface included in the predetermined area in front of the vehicle 10 can be represented. The camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements having sensitivity to visible light such as a CCD or a C-MOS and an imaging optical system that images an image of an area as a capturing target on the two-dimensional detector.

[0051] The camera 2 outputs the camera image and a camera image capturing time at which the camera image is captured to the position estimation device 13, the object detection device 14, and the like via the in-vehicle network 18 each time the camera image is captured. The camera image is used in the position estimation device 13 for processing to estimate a position of the vehicle 10. Also, the camera image is used in the object detection device 14 for processing to detect other objects around the vehicle 10.

[0052] The positioning information receiver 3 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 3 can be configured as a GNSS receiver. The positioning information receiver 3 outputs the positioning information and the positioning information acquisition time at which the positioning information is acquired, to the navigation device 4, the map information storage device 11, and the like, each time the positioning information is acquired at a predetermined reception cycle.

[0053] The navigation device 4 generates a navigation route R from the current position of the vehicle 10 to a destination position based on the navigation map information, the destination position input from the UI 5, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 3. The navigation route R includes information on positions such as right turns, left turns, merges, diverges, and the like. In the navigation map, roads are represented by connecting a plurality of road segments by nodes. Each node and each road segment is identified using identification information. The positions of the road segments and the nodes are represented by, for example, a world coordinate system having a predetermined position as an origin. The navigation device 4 newly generates the navigation route R of the vehicle 10 in a case where the destination position is newly set, or in a case where the current position of the vehicle 10 deviates from the navigation route R, and the like. The navigation device 4 outputs the navigation route R each time the navigation route R is generated, to the position estimation device 13, the map information determination device 12, and the like, via the in-vehicle network 18.

[0054] The UI 5 is an example of a notification portion. The UI 5 is controlled by the navigation device 4, the map information determination device 12, the vehicle control device 17, and the like, and notifies the driver of travel information of the vehicle 10, information indicating the last road section that can be automatically controlled, and the like. In addition, the UI 5 generates an operation signal corresponding to an operation performed by the driver on the vehicle 10. The travel information of the vehicle 10 includes the current position of the vehicle, information on the current and future path of the vehicle, and the like. The UI 5 has a display device 5a such as a liquid crystal display or a touch panel in order to display the travel information and the like. In addition, the UI 5 can have an audio output device (not shown) for notifying the driver of the travel information and the like. In addition, as an input device for inputting operation information from the driver to the vehicle 10, the UI 5 has, for example, a touch panel or an operation button. As the operation information, for example, a destination position, a via, a vehicle speed, and other control information of the vehicle 10 can be cited. The UI 5 outputs the input operation information to the navigation device 4, the vehicle control device 17, and the like, via the in-vehicle network 18.

[0055] The map information storage device 11 stores a wide-area position estimation map including a relatively wide range (for example, a range of 10 km to 30 km square) of the current position of the vehicle 10. The position estimation map has high-precision map information including three-dimensional information of a road surface, information indicating the kind and position of a road feature such as a lane division line on a road, a structure, and a legal speed of a road. The road is represented as a concatenation of a plurality of road sections. In a topography where a plurality of roads are connected at a branch position, a merging position, and an intersection, and the like, it is preferable that the road sections be represented in a manner that the branch position, the merging position, or the intersection is included in one road section. Each road section is identified using identification information. One or a plurality of lanes included in a road are associated with road sections by road section. The position of a lane, a road section, and the like included in the position estimation map is represented by, for example, a world coordinate system having a predetermined position as an origin. Note that one lane of a road can be represented as a concatenation of a plurality of road sections. In this case, a plurality of lanes included in one road section are represented by different road sections, respectively.

[0056] The map information storage device 11 receives wide-area map information from an external server via a base station through wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 and stores the map information in the storage device in accordance with the current position of the vehicle 10. In addition, the map information storage device 11 is an example of an association establishing portion that associates a plurality of road segments of a navigation route R with corresponding road sections included in the position estimation map, respectively, each time the navigation route R is input. Details of this association establishing process will be described later.

[0057] The map information storage device 11 refers to the stored wide-area position estimation map each time the positioning information is input from the positioning information receiver 3 and outputs a position estimation map including a relatively narrow area (for example, a range of 100 m to 10 km square) of the current position indicated by the positioning information to the map information determination device 12, the position estimation device 13, the object detection device 14, the travel lane planning device 15, the driving planning device 16, the vehicle control device 17, and the like via the in-vehicle network 18.

[0058] The map information determination device 12 executes a road section detection process of detecting an end road section located on the most destination position side among a plurality of road sections on the navigation route R. In addition, the map information determination device 12 executes a first determination process of determining whether the end road section is connected to other road sections on the destination position side and a road section detection process of detecting an end road section on the navigation route R associated with the end road section. In addition, the map information determination device 12 executes a second determination process of determining whether the end road section is connected to other road sections on the destination position side which are not associated with road sections and represent other road sections of the navigation route R and an attribute assignment process of assigning a predetermined attribute to the end road section in a case where the end road section is connected to the other road sections representing the other road sections of the navigation route R. Furthermore, in a case where the vehicle 10 approaches within a predetermined distance with respect to the end road section to which the predetermined attribute is assigned, the map information determination device 12 executes a notification process of notifying the driver of information indicating that the vehicle 10 approaches within the predetermined distance using the UI 5. Therefore, the map information determination device 12 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the map information determination device 12 to the in-vehicle network 18.

[0059] All or a part of the functions of the map information determination device 12 are, for example, function modules realized by a computer program that operates on the processor 23. The processor 23 has a road section detection unit 231, a first determination unit 232, a road section detection unit 233, a second determination unit 234, an attribute assignment unit 235, and a notification control unit 236. Alternatively, the function modules of the processor 23 can be dedicated arithmetic circuits provided to the processor 23. The processor 23 has one or a plurality of CPUs (Central Processing Units) and peripheral circuits thereof. The processor 23 can further have other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphic processing unit. The memory 22 is an example of a storage unit, and has, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. Furthermore, the memory 22 stores computer programs of applications and various data used in information processing executed by the processor 23. Details of the operation of the map information determination device 12 will be described later.

[0060] The position estimation device 13 estimates the position of the vehicle 10 at the time of capturing the camera image, based on the road features around the vehicle 10 represented in the camera image. For example, the position estimation device 13 compares the lane division line recognized in the camera image with the lane division line represented in the map for position estimation input from the map information storage device 11, and calculates the estimated position and the estimated azimuth angle of the vehicle 10 at the time of capturing the camera image. In addition, the position estimation device 13 estimates the travel lane on the road where the vehicle 10 is located, based on the lane division line represented in the map information and the estimated position and the estimated azimuth angle of the vehicle 10. The position estimation device 13 outputs the estimated position, the estimated azimuth angle, and the travel lane of the vehicle 10 at the time of capturing the camera image to the object detection device 14, the travel lane plan device 15, the driving plan device 16, the vehicle control device 17, and the like each time the estimated position, the estimated azimuth angle, and the travel lane are calculated.

[0061] The object detection device 14 detects other objects around the vehicle 10 and their kinds (e.g., vehicles), based on the camera image and the reflected wave information. The other objects include other vehicles traveling around the vehicle 10. The object detection device 14 tracks the detected other objects, and calculates the trajectories of the other objects. The object detection device 14 determines the travel lanes on which the other objects travel, based on the lane division line represented in the map information and the positions of the other objects. The object detection device 14 outputs object detection information including information representing the kinds of the detected other objects, information representing their positions, and information representing the travel lanes, to the travel lane plan device 15, the driving plan device 16, and the like.

[0062] The travel lane plan device 15 generates a travel lane plan representing a predetermined travel lane in which the vehicle 10 travels, based on the map information, the navigation route and the surrounding environment information, and the current position of the vehicle 10, at a travel lane plan generation time set at a predetermined cycle, in a nearest driving section (e.g., 10 km) selected from the navigation route. The travel lane plan device 15 generates the travel lane plan, for example, in such a manner that the vehicle 10 travels in a lane other than an overtaking lane. The travel lane plan device 15 outputs the travel lane plan to the driving plan device 16 each time the travel lane plan is generated.

[0063] Further, the travel lane planning device 15 determines whether or not a lane change is required, based on the map information, the navigation route R, and the current position of the vehicle 10, in the nearest driving section selected from the navigation route R. The travel lane planning device 15 can further utilize the surrounding environment information or the vehicle state information in the determination of whether or not a lane change is required. The surrounding environment information includes the positions and speeds of other vehicles traveling around the vehicle 10, and the like. The vehicle state information includes the current position, the vehicle speed, the acceleration, and the travel direction of the vehicle 10, and the like. Specifically, the travel lane planning device 15 determines whether or not a lane change is required for the vehicle 10 to move to a lane toward the destination position, based on the navigation route R and the current position of the vehicle 10. The travel lane planning device 15 determines whether or not the vehicle 10 enters another road (merges) from the travel road on which the vehicle 10 is currently traveling, and whether or not the vehicle 10 exits from the travel road to another road (branches) toward a branch destination. In the merging and the branching, the vehicle moves from a lane of the travel road to a lane of another road, and thus a lane change is performed.

[0064] The driving planning device 16 executes a driving plan generation process of generating a driving plan, which indicates a predetermined travel trajectory of the vehicle 10 until a predetermined time (for example, 5 seconds) after a current time, based on the travel lane plan, the map information, the current position of the vehicle 10, the surrounding environment information, and the vehicle state information, at a driving plan generation timing set at a predetermined cycle. The driving plan is indicated as a set of a target position of the vehicle 10 and a target vehicle speed at the target position at each time from the current time until the predetermined time after. The cycle of generating the driving plan is preferably shorter than the cycle of generating the travel lane plan. In a case where the travel lane plan includes a lane change in which the vehicle 10 moves between lanes, the driving planning device 16 generates a driving plan including the lane change in a manner that a predetermined distance or more can be maintained between the vehicle 10 and another vehicle. In a case where the travel lane plan includes a lane change in which the vehicle 10 moves between lanes, but it is not possible to secure a predetermined distance or more between the vehicle 10 and another vehicle, the driving planning device 16 generates a driving plan in a manner that the vehicle 10 stops. The driving planning device 16 outputs the driving plan to the vehicle control device 17 each time the driving plan is generated.

[0065] The vehicle control device 17 controls each part of the vehicle 10 based on the current position of the vehicle 10, the vehicle speed and the yaw rate, and the driving plan generated by the driving plan device 16, to cause the vehicle 10 to travel along the navigation route R. For example, the vehicle control device 17 calculates a steering angle, an acceleration, and an angular acceleration of the vehicle 10 to be the steering angle, the acceleration, and the angular acceleration in accordance with the driving plan, the vehicle speed, and the yaw rate of the vehicle 10, and sets a steering amount, an accelerator opening degree, or a brake amount in a manner corresponding to the steering angle, the acceleration, and the angular acceleration. Also, the vehicle control device 17 outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls a steering wheel of the vehicle 10 via an in-vehicle network 18. In addition, the vehicle control device 17 calculates a fuel injection amount in accordance with the set accelerator opening degree, and outputs a control signal corresponding to the fuel injection amount to a drive device (not shown) such as an engine of the vehicle 10 via the in-vehicle network 18. Alternatively, the vehicle control device 17 outputs a control signal corresponding to the set brake amount to a brake (not shown) of the vehicle 10 via the in-vehicle network 18.

[0066] The vehicle control device 17 has an automatic control driving mode in which the vehicle 10 is driven by automatic control and a manual control driving mode in which the vehicle 10 is driven by manual operation by the driver. The vehicle control device 17 in the automatic control driving mode is capable of automatically controlling all of the actions of the vehicle in driving, braking, and steering. In a case where the driver approves a control change notification requesting a change from the automatic control to the manual control, the vehicle control device 17 in the automatic control driving mode switches the driving of the vehicle 10 from the automatic control driving mode in application to the manual control driving mode. Thus, in a case where the vehicle 10 cannot travel safely by automatic control, the driver can operate the vehicle by manual control using a steering wheel, an accelerator pedal, a brake pedal (not shown), and the like. In the manual control driving mode, at least one of the actions of the vehicle 10 in driving, braking, and steering is manually controlled. Note that a change from the automatic control to the manual control can also be made in accordance with a request by the driver.

[0067] In Figure 2 , the map information storage device 11, the map information determination device 12, the position estimation device 13, the object detection device 14, the travel lane planning device 15, the driving plan device 16, and the vehicle control device 17 are described as relatively independent devices, but all or a part of these devices can be configured as one device.

[0068] Figure 3 is an example of an action flowchart related to the association establishment processing of the map information storage device 11 in the vehicle control system 1. Referring to Figure 3 , the association establishment processing of the map information storage device 11 will be described below. The map information storage device 11 performs the association establishment processing in accordance with the following procedure each time a new navigation route is generated. The map information storage device 11Figure 3 The flowchart shown illustrates the execution of association establishment processing.

[0069] First, the map information storage device 11 of the vehicle control system 1 determines whether a new navigation route R has been input from the navigation device 4 (step S101).

[0070] Figure 4 An example of a navigation route R input from the navigation device 4 is shown. When a new destination location is set, or when the current location of vehicle 10 deviates from the navigation route, the navigation device 4 generates a navigation route R based on the current location P2 of vehicle 10 and the destination location G, referring to a navigation map. The navigation route R represents the case where vehicle 10 travels on road 30, exits at branch location 40 onto road 50, and travels on road 50 to reach the destination location G.

[0071] When the navigation route R is input (step S101 - "Yes"), the map information storage device 11 associates the corresponding road intervals contained in the location estimation map with each of the multiple road segments representing the navigation route R from the current position P2 of vehicle 10 to the destination position G (step S102). Then, the map information storage device 11 generates an association table representing the association between road segments and road intervals, where each road segment represents the navigation route R from the current position P2 of vehicle 10 to the destination position G. The processing of step S102 will be discussed later. Figure 5 This will be explained. On the other hand, if no new navigation route R is entered (step S101 - "No"), the process returns to step S101.

[0072] Next, the map information storage device 11 will store the association table generated in step S102 along with the estimated land use location. Figure 1 The starting map information determination device 12, the location estimation device 13, the object detection device 14, the driving lane planning device 15, the driving planning device 16, and the vehicle control device 17 are notified (step S103), and a series of processes are terminated.

[0073] Figure 5 This is a flowchart illustrating the process in step S102 where the map information storage device 11 associates the road section with each road segment representing the navigation route R.

[0074] exist Figure 4 In the example shown, the map information storage device 11 performs the processing steps S201 to S204 for each of the multiple road segments representing the navigation route R from the current location P2 of the vehicle 10 to the destination location G.

[0075] First, the map information storage device 11 refers to the navigation route R, selects an initial road segment including the current position P2 of the vehicle 10, and selects one or a plurality of road sections that overlap with the end portion on the current position side of the vehicle 10 from the range of the current position P2 of the vehicle 10 to the end of the road segment (step S202). Generally, a road segment is longer than a road section.

[0076] Figure 6 is a diagram illustrating a process in which the map information storage device 11 associates a road segment in the section Dl (refer to Figure 4 ) of the navigation route R with a road section. As in the example shown in Figure 1 , the vehicle 10 travels on the lane 31 of the road 30 having the two lanes 31 and 32. The lane 31 and the lane 32 are divided by the lane dividing line 33. The section Dl of the navigation route R is represented by the road segment Tl representing the road 30, the road segment T2 representing the road 30, and the node N2. The road segment Tl extends from the node Nl, and the road segment Tl and the road segment T2 are connected via the node N2. In the association establishing process, first, the road segment Tl including the current position P2 of the vehicle 10 is selected. As the road section that overlaps with the end portion on the current position side of the vehicle 10 from the range of the current position P2 of the vehicle 10 to the end of the road segment Tl, the road section S l, the road section S2, and the road section S3 are selected.

[0077] Next, the map information storage device 11 arranges the selected road sections S l, S2, and S3 in order from the current position side of the vehicle 10 to the destination position side, and thereby associates the road section Tl with the road sections S l, S2, and S3 (step S203). In the example shown in Figure 6 , the road section S l, the road section S2, and the road section S3 are associated with the road segment Tl in the order of the road section S l, the road section S2, and the road section S3.

[0078] The map information storage device 11 repeatedly executes the processes of steps S202 and S203 with respect to the remaining road segments representing the navigation route R, and thereby associates each of the road segments representing the navigation route R with a road section. In the example shown in Figure 6 , in the section Dl of the navigation route R, the road section S4 is also associated with the road segment T2.

[0079] Figure 7 is a diagram illustrating a process in which the map information storage device 11 associates a road segment in the section D2 (refer to Figure 5 ) of the navigation route R with a road section. Figure 7 As in the example shown in Figure 1The section D2 of the navigation route R is represented by the road segment T3 representing the road 30, the road segment T4 representing the road 50, and the node N3. The road segment T3 representing the road 30 is connected to the road segment T4 representing the road 50 via the node N3. First, the road sections S5, S6 that overlap the road segment T3 representing the navigation route R on the side of the current position of the vehicle 10 are selected, and are associated with the road segment T3. In the example shown, the road section S5 and the road section S6 are associated with the road segment T3 in the order of the road section S5 and the road section S6. As for the road segment T4 representing the road 50 in the navigation route R, since the road section that overlaps the end on the side of the current position of the vehicle 10 is not included in the position estimation map, there is no road section associated with the road segment T4. The road segment T3 is the last road segment on the side of the destination position G in the navigation route R. Figure 7 In the example shown, the road section S5 and the road section S6 are associated with the road segment T3 in the order of the road section S5 and the road section S6. As for the road segment T4 representing the road 50 in the navigation route R, since the road section that overlaps the end on the side of the current position of the vehicle 10 is not included in the position estimation map, there is no road section associated with the road segment T4. The road segment T3 is the last road segment on the side of the destination position G in the navigation route R.

[0080] The map information storage device 11 generates an association table representing the association between the road segments and the road sections, if the processes of the step S202 and the step S203 are performed on the last road segment T3 on the side of the destination position G in the navigation route R (step S205). The association table is newly generated every time the navigation route R is generated.

[0081] Figure 8 is a diagram representing an example of the association table. The association table 100 has a road segment column 101 in which road segments are registered, and a road section column 102 in which road sections associated with the road segments are registered. In the association table 100, the road section S1, the road section S2, and the road section S3 are associated with the road segment T1 representing the navigation route R in the order of the road section S1, the road section S2, and the road section S3. In addition, in the association table 100, the road section S5 and the road section S6 are associated with the road segment T3 representing the navigation route R in the order of the road section S5 and the road section S6. In the road section column 101, the current position P2 of the vehicle 10 at the time of the generation of the navigation route R is included in the initially registered road section T1. The road section S6 registered last in the road section column 101 represents the last road section associated with the navigation route R. As for the last road section, there can be a case in which the destination position of the vehicle 10 is included and a case in which the boundary of the position estimation map is included. In either case, the last road section is the road section in which the automatic control ends in the position estimation map. The above is an explanation of the association establishment process.

[0082] Figure 9is an action flowchart related to the map information determination processing of the map information determination device 12 in the vehicle control system 1 of the present embodiment. The map information determination device 12 executes the map information determination processing after the association establishment processing of the map information storage device 11 ends, in accordance with the action flowchart shown in Figure 9

[0083] First, the road section detection part 231 of the processor 23 of the map information determination device 12 detects the terminal road section located on the most destination position side among the plurality of road sections on the navigation route R (step S301). The road section detection part 231 refers to the association table 100 shown in Figure 8 , and detects the road section S6 as the terminal road section. The road section detection part 231 notifies the first determination part 232 of the terminal road section S6.

[0084] Next, the first determination part 232 of the processor 23 of the map information determination device 12 refers to the map for position estimation, and determines whether the terminal road section S6 is connected to other road sections on the destination position side (step S302).

[0085] In the example shown in Figure 7 , since the terminal road section S6 is connected to other road sections S7 on the destination position side (step S302-“Yes”), the road link detection part 233 of the processor 23 of the map information determination device 12 refers to the association table 100, and detects the terminal road link T3 on the navigation route R that establishes an association with the terminal road section S6 (step S303).

[0086] Next, the second determination part 234 of the processor 23 of the map information determination device 12 determines whether the terminal road link T3 is connected to other road links that represent the navigation route R and that do not establish an association with road sections on the destination position side (step S304).

[0087] In the example shown in Figure 7 , since the terminal road link T3 is connected to other road links T4 that represent the navigation route R and that do not establish an association with road sections on the destination position side via the node N3 on the destination position side (step S304-“Yes”), the attribute assignment part 235 of the processor 23 of the map information determination device 12 assigns a first terminal attribute to the terminal road section S6 (step S306). In the present embodiment, the first terminal attribute indicates that the terminal road section S6 is the last road section that enables automatic control in the travel of the vehicle 10 along the navigation route R and a road branch toward the destination position.

[0088] ​In a case where the first end attribute is assigned to the end road section S6, in a case where the vehicle 10 traveling along the navigation route R approaches to within a first distance (for example, 100 m to 500 m) with respect to the end road section S6 to which the first end attribute is assigned, the notification control section 236 of the processor 23 of the map information determination device 12 notifies the driver of the first information indicating that the vehicle 10 approaches to within the first distance (in the present embodiment, indicated as the LI distance) with respect to the end road section S6 and the road branch toward the destination position via the UI 5. Figure 4 In this case, the notification control section 236 displays the information indicating the end of the driving of the vehicle 10 based on the automatic control and the road branch toward the destination position on the display device 5a. In correspondence therewith, the vehicle control device 17 or the driver shifts the driving of the vehicle 10 from the automatic control to the manual control. Then, the driver can move the vehicle 10 from the lane 31 of the road 30 to the lane 51 of the road 50 at the branch position 40 and drive toward the destination position G. Note that, instead of the first distance, a first time (in the present embodiment, indicated as the Tl time) can be calculated based on the average speed of the vehicle 10 closest to the end road section S6 and the first distance, and the first information can be notified to the driver via the UI 5 at a time point earlier than the estimated arrival time point of the end road section S6 by the first time. Figure 4

[0089] On the other hand, in a case where the end road section S6 is not connected to the other road section S7 indicating the navigation route R on the destination position side (step S302 - "No"), the end road section S6 contains a boundary of the map for position estimation. The attribute assignment section 235 of the vehicle control system 1 assigns a second end attribute to the end road section S6 (step S307). In the present embodiment, the second end attribute indicates that the end road section S6 is a part of the road toward the destination position but is the last road section that can be automatically controlled.

[0090] In a case where the second end attribute is assigned to the end road section S6, the notification control section 236 notifies the driver of the second information (step S306) indicating that the driving of the vehicle 10 based on the automatic control ends, via the UI 5, in a case where the vehicle 10 traveling along the navigation route R approaches to within a second distance (for example, 100 m to 500 m) with respect to the end road section S6 to which the second end attribute is assigned. For example, the notification control section 236 displays the information indicating that the driving of the vehicle 10 based on the automatic control is about to end while the vehicle 10 is traveling on the road toward the destination position on the display device 5a. In correspondence therewith, the vehicle control device 17 or the driver shifts the driving of the vehicle 10 from the automatic control to the manual control. Then, the driver can continue to drive the vehicle 10 on the road 30 at the branch position 40. ​

[0091] Further, in a case where the terminal road link T3 is not connected to other road links representing the navigation route R on the destination position side without being associated with the road section (step S304 - "No"), the navigation route R ends at the terminal road link. That is, the terminal road link contains the destination position of the vehicle 10. Figure 10 An example in which the terminal road link T13 is not connected to other road links representing the navigation route R on the destination position side is shown. The terminal road link T13 representing the navigation route R is associated with the road section S15 and the road section S16. The terminal road link T13 is connected to the node N13. There is no road link representing the navigation route R before the node N13. The service area 60 as the destination position G of the vehicle 10 is connected to the terminal road link T13.

[0092] In a case where the terminal road link T13 is not connected to other road links representing the navigation route R, the attribute assigning section 235 assigns a destination position attribute indicating that the terminal road section S16 contains the destination position of the vehicle to the terminal road section S16 (step S308). In a case where the vehicle 10 traveling along the navigation route R approaches within the third distance (for example, 100 m to 500 m) with respect to the terminal road section S16 to which the destination position attribute is assigned, the notification control section 236 notifies the driver of information indicating that the vehicle 10 has approached the destination position G via the UI5 (step S306). The vehicle control system 1 moves to the service area 60 by automatically controlling the driving vehicle 10.

[0093] As explained above, the map information determination device associates information of a plurality of road segments with information of a plurality of road sections, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used to estimate a position of the vehicle. The map information determination device detects an end road section located on a most destination position side among the plurality of road sections on the navigation route, determines whether the end road section is connected to another road section on the destination position side, detects an end road segment on the navigation route associated with the end road section in a case where the end road section is connected to another road section on the destination position side, and determines whether the end road segment is connected to another road segment representing the navigation route which is not associated with the road section on the destination position side. Also, in a case where the end road segment is connected to another road segment representing the navigation route, the map information determination device gives a predetermined attribute to the end road section. Thus, even in a case where the navigation route on the navigation map branches to another road not included in the position estimation map from a road included in the position estimation map, the map information determination device can recognize a branching position by giving a predetermined attribute to an end road section among the plurality of road sections representing roads of the position estimation map.

[0094] In the present disclosure, the map information determination device, the map information determination program, and the map information determination method of the above-described embodiments can be appropriately changed within a range not departing from the gist of the present disclosure. In addition, the scope of protection of the present disclosure is not limited to these embodiments, and relates to the invention described in the claims and equivalents thereof.

Claims

1. A map information determination device capable of processing information of a plurality of road segments and information of a plurality of road sections in association with each other, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used to estimate a position of the vehicle, the map information determination device characterized by comprising: a road section detection section that detects a terminal road section located on a most destination position side among the plurality of road sections on the navigation route; a first determination section that determines whether or not the terminal road section is connected to another road section on a destination position side; a road segment detection section that detects a terminal road segment on the navigation route in association with the terminal road section, in a case where the terminal road section is connected to another road section on a destination position side; a second determination section that determines whether or not the terminal road segment is connected to another road segment representing the navigation route, which is not in association with a road section, on a destination position side; an attribute assignment section that assigns a predetermined attribute to the terminal road section, in a case where the terminal road segment is connected to another road segment representing the navigation route; and a notification control section that notifies a driver, via a notification section, that the vehicle is within a predetermined distance from the terminal road section to which the predetermined attribute is assigned, and changes driving of the vehicle from automatic control to manual control, in a case where the vehicle is within the predetermined distance from the terminal road section.

2. The map information determination device according to claim 1, wherein the predetermined attribute indicates that the terminal road section is a last road section in which the position estimation map can be used to estimate the position of the vehicle in traveling of the vehicle along the navigation route.

3. The map information determination device according to claim 1 or 2, wherein the attribute assignment section assigns an attribute indicating that the terminal road section includes the destination position of the vehicle to the terminal road section, in a case where the terminal road segment is not connected to another road segment.

4. A non-transitory storage medium storing a computer-readable map information determination computer program capable of processing information of a plurality of road segments and information of a plurality of road sections in association with each other, the plurality of road segments representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used to estimate a position of the vehicle, wherein the computer-readable map information determination computer program causes a processor to perform: detecting a terminal road section located on a most destination position side among the plurality of road sections on the navigation route, determining whether or not the terminal road section is connected to another road section on a destination position side, detecting a terminal road segment on the navigation route in association with the terminal road section, and assigning a predetermined attribute to the terminal road section, in a case where the terminal road segment is connected to another road segment representing the navigation route, which is not in association with a road section, on a destination position side. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ determining whether the terminal road section is connected to another road section representing the navigation route on the destination position side which is not associated with a road section, in a case where the terminal road section is connected to another road section representing the navigation route, giving a predetermined attribute to the terminal road section, in a case where the vehicle approaches within a predetermined distance with respect to the terminal road section to which the predetermined attribute is given, notifying a driver that the vehicle approaches within a predetermined distance with respect to the terminal road section, and changing the driving of the vehicle from automatic control to manual control.

5. A map information determination method capable of processing information of a plurality of road sections and information of a plurality of road sections in association with each other, the plurality of road sections representing a navigation route of a vehicle generated on a navigation map based on a current position and a destination position of the vehicle, the plurality of road sections representing roads shown on a position estimation map used to estimate a position of the vehicle, wherein in the map information determination method, a map information determination device performs the following actions: detecting a terminal road section located on a most destination position side among the plurality of road sections on the navigation route, determining whether the terminal road section is connected to another road section on the destination position side, detecting a terminal road section on the navigation route associated with the terminal road section, determining whether the terminal road section is connected to another road section representing the navigation route on the destination position side which is not associated with a road section, in a case where the terminal road section is connected to another road section representing the navigation route, giving a predetermined attribute to the terminal road section, in a case where the vehicle approaches within a predetermined distance with respect to the terminal road section to which the predetermined attribute is given, notifying a driver that the vehicle approaches within a predetermined distance with respect to the terminal road section, and changing the driving of the vehicle from automatic control to manual control.

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