Travel route generation device

Abstract

The purpose of the present invention is to generate a safe travel route that enables hand-free travel in a lane-free section. A travel route generation device (10) is provided with: a map storage unit (12) that stores map information; a section determination unit (13) that determines, on the basis of the map information, a lane-free section in which a plurality of lanes (L) are not divided and a lane-available section in which a plurality of lanes (L) are divided; and a route generation unit (11) that generates a travel route for a vehicle (1). A section determination unit (13) determines one lane section, a non-lane section in front of the one lane section in the direction of travel of the vehicle (1), and another lane section in front of the non-lane section in the direction of travel of the vehicle (1). A route generation unit (11) calculates the number of intersections with other lane links in each of a plurality of lane links connecting each lane L in one lane section and each lane L in the other lane section. A route generation unit (11) generates a travel route (70) in the non-lane section on the basis of the calculated number of intersections.

Description

Technical Field

[0001] The invention relates to a driving path generating device. Background Art

[0002] Toll booths on toll roads are equipped with laneless sections, which are sections of roads that are not divided into multiple lanes and have the same direction of travel for vehicles. Since lane lines are not marked in laneless sections, vehicle control systems that recognize lane lines to perform driving assistance or automatic driving are often set to prevent hands-free driving in laneless sections. However, if hands-free driving can be safely continued in laneless sections, as in sections of roads divided into multiple lanes, i.e., sections with lanes, the comfort of passengers can be improved.

[0003] As a prior art in this field, there is Patent Document 1, for example. The automatic driving assistance device disclosed in Patent Document 1, when implementing automatic driving assistance for lane keeping driving, determines the lane line disappearance point, which is a point where the lane line disappears on either side of the left or right side, and the road widening point, which is a point where the width of the lane where the vehicle is traveling is expanded, respectively, in front of the toll station. Furthermore, the automatic driving assistance device disclosed in Patent Document 1 uses either the lane line disappearance point or the road widening point as a change point for changing the control content of the automatic driving assistance for lane keeping driving or an end point for ending the control. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-159723 Summary of the invention Problem that the invention aims to solve

[0005] However, the automatic driving assistance device disclosed in Patent Document 1 can only provide automatic driving assistance up to the point where the road is widened or the point where the lane line disappears, and cannot provide automatic driving assistance in the entire section of the toll booth including the section without a lane.

[0006] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to generate a safe driving route that enables hands-free driving in a lane-free section. Technical means of solving problems

[0007] In order to solve the above-mentioned problem, the driving route generation device of the present invention includes: a map storage unit, which stores map information for distinguishing multiple lanes with the same driving direction of a vehicle; a section distinguishing unit, which distinguishes a laneless section and a laned section based on the map information, wherein the laneless section is a road section that does not divide the multiple lanes, and the laned section is a road section that divides the multiple lanes; and a route generating unit, which generates the driving route of the vehicle, wherein the section distinguishing unit distinguishes the laned section on one side, the laneless section located ahead of the laned section on one side in the driving direction, and the laned section on the other side located ahead of the laneless section in the driving direction, and the route generating unit calculates the number of intersections with other lane links in multiple lane links connecting each lane of the laned section on one side and each lane of the laned section on the other side, and generates the driving route in the laneless section based on the calculated number of intersections. Effects of the Invention

[0008] According to the present invention, it is possible to generate a safe driving route that enables hands-free driving in a lane-free section. The other objects, structures, and effects than those described above will become clear from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a diagram showing the configuration of a vehicle equipped with the travel route generating device according to the present embodiment. Figure 2 This is a diagram for explaining an operation example of the path generation unit and the section determination unit. Figure 3 This is a diagram for explaining another operation example of the path generation unit and the section determination unit. Figure 4 This is a flowchart showing the process of generating a travel route in a lane-free section. Figure 5 This figure is a diagram for explaining an example of the operation of the route generation unit and the section determination unit when a travel route is generated in consideration of an automatic gate. Figure 6 To explain the following Figure 5 A diagram showing an example of the operation of the route generation unit and the section determination unit performed. Figure 7 The present invention is a flowchart showing the process of storing the position information of the automatic gate. Figure 8 The flowchart shows the correction process of the travel route when the travel route is generated in consideration of the automatic gate. DETAILED DESCRIPTION

[0010] Hereinafter, embodiments of the present invention will be described using the drawings. In addition, unless otherwise specified, components denoted by the same reference numerals in each embodiment have the same functions in each embodiment, and description thereof will be omitted.

[0011] Figure 1 1 is a diagram showing the configuration of a vehicle 1 equipped with the travel route generating device 10 according to the present embodiment. Figure 2 It is a diagram for explaining an operation example of the route generating unit 11 and the section determining unit 13 .

[0012] The vehicle 1 includes a travel path generation device 10, a camera 20, and an automatic driving ECU 30 as a vehicle control system. The travel path generation device 10, the camera 20, and the automatic driving ECU 30 are connected to each other via an in-vehicle network of the vehicle 1 so as to be communicable with each other.

[0013] The driving route generation device 10 generates a driving route of the vehicle 1 and sends it to the automatic driving ECU 30. The driving route generation device 10 is constituted by, for example, an MPU (Map Positioning Unit). The driving route generation device 10 includes a route generation unit 11, a map storage unit 12, a section determination unit 13, a gate position storage unit 14, and a route transmission unit 15.

[0014] The map storage unit 12 stores map information for distinguishing a plurality of lanes having the same traveling direction of the vehicle. The map information stored in the map storage unit 12 may also be high-precision three-dimensional map information storing lane-level road network data. The map storage unit 12 transmits appropriate map information in response to a request for map information transmission from the route generation unit 11 or the section determination unit 13.

[0015] The section determination unit 13 determines the laneless section and the laned section included in the map information sent from the map storage unit 12, and sends the determination result to the route generation unit 11. The laneless section is a road section that does not divide a plurality of lanes L in the same traveling direction of the vehicle 1. The laned section is a road section that divides a plurality of lanes L in the same traveling direction of the vehicle 1. In particular, the section determination unit 13 determines: a laned section in which the vehicle 1 is traveling or a laned section closest to the front in the traveling direction of the vehicle 1, that is, a laneless section located in front of the vehicle 1 in the traveling direction relative to the laned section on one side, and a laned section located in front of the vehicle 1 in the traveling direction relative to the laneless section on the other side.

[0016] Figure 2 Indicates a road section near a toll station T on a toll road. Figure 2The traveling direction of the vehicle 1 in the figure is from the bottom to the top of the paper. In the toll station T, a plurality of gates G are usually installed. The plurality of gates G are laned sections divided into a plurality of lanes L. In the toll station T, the front side of the gate G (the rear side of the gate G in the traveling direction of the vehicle 1) and the opposite side of the gate G (the front side of the gate G in the traveling direction of the vehicle 1) are mostly laneless sections. The main lines M1 and M2 on the front side and the opposite side of the toll station T are mostly laned sections divided into a plurality of lanes L in the same traveling direction of the vehicle 1.

[0017] like Figure 2 As shown in FIG. 1 , when a plurality of laneless sections and a plurality of laned sections are alternately arranged in the traveling direction of the vehicle 1, the section determination unit 13 determines the laneless section and the laned section as follows. That is, the section determination unit 13 determines the laned section in which the vehicle 1 is traveling, or the laned section closest to the front in the traveling direction of the vehicle 1, as the first laned section 41. The section determination unit 13 determines the laneless section located ahead of the first laned section 41 in the traveling direction of the vehicle 1 as the first laneless section 51. The section determination unit 13 determines the laned section located ahead of the first laneless section 51 in the traveling direction of the vehicle 1 as the second laneless section 42. The section determination unit 13 determines the laneless section located ahead of the second laned section 42 in the traveling direction of the vehicle 1 as the second laneless section 52. The section determination unit 13 determines the laned section located ahead of the second laneless section 52 in the traveling direction of the vehicle 1 as the third laned section 43.

[0018] exist Figure 2 In the example of , the section determination unit 13 can determine the main line M1 on the front side of the toll station T as the first laned section 41, and the laneless section on the front side of the gate G as the first laneless section 51. In addition, the section determination unit 13 can determine the gate G as the second laned section 42, the laneless section on the opposite side of the gate G as the second laneless section 52, and the main line M2 on the opposite side of the toll station T as the third laned section 43.

[0019] In addition, even when the lane-free section exists on either the front side or the opposite side of the gate G, the section determination unit 13 can determine the lane-free section and the lane-carrying section. For example, when the lane-free section exists only on the opposite side of the gate G, the section determination unit 13 can determine the main line M1 on the front side of the gate G and the gate G as one lane-carrying section, and the main line M2 on the opposite side of the gate G as the other lane-carrying section. For example, when the lane-free section exists only on the front side of the gate G, the section determination unit 13 can determine the main line M1 on the front side of the gate G as one lane-carrying section, and the main line M2 on the opposite side of the gate G and the gate G as the other lane-carrying section.

[0020] The route generation unit 11 generates the driving route 70 of the vehicle 1 based on the map information sent from the map storage unit 12 and the determination result of the section determination unit 13. In particular, the route generation unit 11 generates the driving route 70 in the non-lane section. Specifically, the route generation unit 11 calculates a plurality of lane links connecting the lanes L of the one lane section and the lanes L of the other lane section. The plurality of lane links connecting the lanes L of the one lane section and the lanes L of the other lane section may be a plurality of line segments that cyclically connect the lanes L of the one lane section and the lanes L of the other lane section. The plurality of lane links connecting the lanes L of the one lane section and the lanes L of the other lane section may be virtual candidate lanes that can become the driving route 70 of the vehicle 1 in the non-lane section between the one lane section and the other lane section. The route generation unit 11 calculates the number of intersections with other lane links for each of the calculated plurality of lane links. Furthermore, the route generation unit 11 generates a driving route 70 in a laneless section between one laned section and another laned section based on the calculated number of intersections. Specifically, the route generation unit 11 determines a lane link having the least calculated number of intersections, and generates the driving route 70 in the laneless section based on the determined lane link.

[0021] exist Figure 2 In the example of , the route generation unit 11 calculates the number of intersections with other first lane links 61 in each of the plurality of first lane links 61 connecting each lane L of the first lane section 41 and each lane L of the second lane section 42 (a plurality of gates G). Then, the route generation unit 11 generates the driving route 70 in the first laneless section 51 based on the first lane link 61 with the smallest calculated number of intersections. Similarly, the route generation unit 11 calculates the number of intersections with other second lane links 62 in each of the plurality of second lane links 62 connecting each lane L of the second lane section 42 (a plurality of gates G) and each lane L of the third lane section 43. Then, the route generation unit 11 generates the driving route 70 in the second laneless section 52 based on the second lane link 62 with the smallest calculated number of intersections. In this way, the route generation unit 11 can generate the driving route 70 in the laneless section. The route generation unit 11 sends the generated driving route 70 to the route transmission unit 15.

[0022] In addition, the lane link with the least number of intersections tends to be a lane link located at the left end or right end of the laneless section. Therefore, the route generation unit 11 may generate a driving route 70 passing through the left end of the laneless section when the road including the laneless section is for left-hand traffic, and may generate a driving route 70 passing through the right end of the laneless section when the road including the laneless section is for right-hand traffic.

[0023] In addition, among the multiple gates G installed at the toll station T, there are at least two types of gates G, such as automatic gates Ga (ETC gates) and non-automatic gates Gb (general purpose gates). The automatic gates Ga automatically perform toll payment and the opening and closing of the gates G, while the toll payment or the opening and closing of the gates G for the non-automatic gates Gb are not automated. The path generation unit 11 can generate a driving path 70 in a lane-free section based on a lane link with the least number of intersections and the position information of the automatic gate Ga closest to the lane link. For details of the method of generating the driving path 70 in consideration of the automatic gates Ga, use Figures 5 to 8 This will be described later.

[0024] The gate position storage unit 14 stores the position information of the automatic gate Ga installed at the toll station T. The position information of the automatic gate Ga is acquired by the gate detection unit 21 of the camera 20. The gate detection unit 21 recognizes the type of gate G (automatic gate Ga or non-automatic gate Gb) from the image of the periphery of the vehicle 1 acquired by the camera 20, and detects each position of the automatic gate Ga and the non-automatic gate Gb. At this time, the gate detection unit 21 detects the position of the automatic gate Ga closest to the lane link with the least number of intersections. The gate detection unit 21 sends the position information of the automatic gate Ga closest to the lane link with the least number of intersections to the driving path generation device 10. The gate position storage unit 14 associates the position information of the automatic gate Ga sent from the camera 20 with the map information sent from the map storage unit 12 and stores it. The gate position storage unit 14 sends the position information of the automatic gate Ga associated with the map information to the path generation unit 11.

[0025] The route transmission unit 15 transmits the driving route 70 transmitted from the route generation unit 11 to the automatic driving ECU 30. The automatic driving ECU 30 controls the vehicle 1 so that the vehicle 1 autonomously travels according to the driving route 70 transmitted from the driving route generation unit 11.

[0026] Figure 3 It is a diagram for explaining another operation example of the route generating unit 11 and the section determining unit 13 .

[0027] In the vehicle 1, a target lane that the vehicle 1 should travel may be predetermined in the other laned section according to the destination of the vehicle 1. In this case, the route generation unit 11 generates the driving route 70 in the laneless section according to the lane link having the least number of intersections among a plurality of lane links connecting each lane of the one laned section and the target lane.

[0028] Figure 3 The main line M2 on the opposite side of the toll station T is divided into the road section L1 and the lane L2. In the third lane section 43, the target lane that the vehicle 1 should travel is predetermined to be the lane L1. Figure 3 In the example of , the route generation unit 11 generates the driving route 70 in the second laneless section 52 based on the second lane link 62 with the least number of intersections among the plurality of second lane links 62 connecting the lanes L of the gate G as the second laned section 42 and the lane L1 as the target lane. The driving route 70 in the second laneless section 52 is generated based on the second lane link 62 connecting the lane L1 as the target lane and the gate G1. Furthermore, the route generation unit 11 generates the driving route 70 in the first laneless section 51 based on the first lane link 61 with the least number of intersections among the plurality of first lane links 61 connecting the lanes L of the first laned section 41 and the gate G1 as the target lane.

[0029] In addition, in the third lane section 43, the target lane that the vehicle 1 should travel is predetermined to be the lane L2. Figure 3 In the example of , the route generation unit 11 generates the driving route 70 in the second laneless section 52 based on the second lane link 62 with the least number of intersections among the plurality of second lane links 62 connecting the lanes L of the gate G as the second laned section 42 and the lane L2 as the target lane. The driving route 70 in the second laneless section 52 is generated based on the second lane link 62 connecting the lane L2 as the target lane and the gate G2. Furthermore, the route generation unit 11 generates the driving route 70 in the first laneless section 51 based on the first lane link 61 with the least number of intersections among the plurality of first lane links 61 connecting the lanes L of the first laned section 41 and the gate G2 as the target lane.

[0030] Figure 4 2 is a flowchart showing a process of generating the travel route 70 in a lane-free section.

[0031] In step S101 , the route generating unit 11 and the section identifying unit 13 acquire map information from the map storing unit 12 .

[0032] In step S102 , the section determination unit 13 determines a section without a lane and a section with a lane included in the map information.

[0033] In step S103, the section determination unit 13 determines whether there is a lane-free section. If there is a lane-free section, the section determination unit 13 proceeds to step S104. If there is no lane-free section, the section determination unit 13 proceeds to step S101.

[0034] In step S104, the route generation unit 11 calculates a plurality of lane links in the laneless section. Specifically, the route generation unit 11 calculates a plurality of lane links connecting the lanes L of the laned section located on one side behind the vehicle 1 in the traveling direction relative to the laneless section and the lanes L of the laned section located on the other side ahead of the vehicle 1 in the traveling direction relative to the laneless section.

[0035] In step S105 , the route generating unit 11 calculates the number of intersections with other lane links among the calculated plurality of lane links, and determines the lane link having the smallest calculated number of intersections.

[0036] In step S106, the route generation unit 11 generates a driving route 70 in the lane-free section based on the lane link with the least number of intersections. The generated driving route 70 is transmitted from the route transmission unit 15 to the automatic driving ECU 30. Then, the automatic driving ECU 30 is terminated. Figure 4 Processing shown.

[0037] Figure 5 This is a diagram for explaining an example of the operation of the route generating unit 11 and the section identifying unit 13 when generating the travel route 70 in consideration of the automatic gate Ga. Figure 6 It is explained next Figure 5 FIG. 1 is a diagram showing an example of the operation of the route generating unit 11 and the section distinguishing unit 13 performed.

[0038] As described above, when the automatic gate Ga and the non-automatic gate Gb are included as the gate G, the driving route 70 generated based on the lane link with the least number of intersections does not necessarily pass through the automatic gate Ga. The route generation unit 11 can correct the driving route 70 generated based on the lane link with the least number of intersections so that the driving route 70 passes through the automatic gate Ga.

[0039] Specifically, first, the path generation unit 11 determines whether the automatic gate Ga exists on the driving path 70 generated from the lane link with the least number of intersections based on the position information of the automatic gate Ga stored in the gate position storage unit 14. If the automatic gate Ga exists on the driving path 70 generated from the lane link with the least number of intersections, the driving path 70 does not need to be modified.

[0040] like Figure 5As shown, if the automatic gate Ga does not exist on the driving path 70 generated based on the lane link with the least number of intersections, the automatic gate Ga closest to the lane link with the least number of intersections is determined. Then, the path generation unit 11 determines the lane 80 of the automatic gate Ga closest to the lane link with the least number of intersections.

[0041] Next, the path generation unit 11 calculates a line segment 81 that extends the determined lane 80 to the front side of the automatic gate Ga, and a line segment 82 that extends the determined lane 80 to the opposite side of the automatic gate Ga. For example, among the plurality of coordinates constituting the determined lane 80, the path generation unit 11 calculates a line segment that connects the start point coordinate located at the most front side of the automatic gate Ga and the start point adjacent coordinate that is adjacent to the start point coordinate in the front of the vehicle 1 in the direction of travel. Furthermore, the path generation unit 11 can calculate the line segment 81 by extending the calculated line segment to the front side of the automatic gate Ga. Similarly, for example, among the plurality of coordinates constituting the determined lane 80, the path generation unit 11 calculates a line segment that connects the end point coordinate located at the most opposite side of the automatic gate Ga and the end point adjacent coordinate that is adjacent to the end point coordinate in the rear of the vehicle 1 in the direction of travel. Furthermore, the path generation unit 11 can calculate the line segment 82 by extending the calculated line segment to the opposite side of the automatic gate Ga.

[0042] In the present embodiment, lane 80 of the automatic gate Ga closest to the lane link with the least number of intersections, and line segments 81 and 82 on which lane 80 is calculated are collectively referred to as line segments 80 to 82 passing through the automatic gate Ga closest to the lane link with the least number of intersections.

[0043] Next, the route generation unit 11 calculates the first intersection 91 and the second intersection 92, which are the intersections of the driving route 70 generated from the lane link with the least number of intersections and the line segments 80 to 82 passing through the automatic gate Ga closest to the lane link with the least number of intersections. For example, the route generation unit 11 calculates the intersection of the driving route 701 of the first laneless section 51 generated from the first lane link 61 with the least number of intersections and the line segments 80 to 82 passing through the automatic gate Ga closest to the first lane link 61 as the first intersection 91. Then, the route generation unit 11 calculates the intersection of the driving route 702 of the second laneless section 52 generated from the second lane link 62 with the least number of intersections and the line segments 80 to 82 as the second intersection 92.

[0044] Then, if Figure 6As shown, the path generation unit 11 corrects the driving path 70 of the first laneless section 51 and the driving path 70 of the second laneless section 52 so that the driving path 70 passes through the automatic gate Ga, the first intersection 91, and the second intersection 92 which are closest to the first lane link 61. For example, the path generation unit 11 tracks the coordinates of the path 701 which is the portion of the driving path 70 of the first laneless section 51 located in front of the first intersection 91. The path generation unit 11 tracks the coordinates of the path 702 which is the portion of the driving path 70 of the second laneless section 52 located on the opposite side of the second intersection 92. The path generation unit 11 tracks the coordinates of the line segments 80 to 82 connecting the first intersection 91 and the second intersection 92. The path generation unit 11 deletes the coordinates of the path 703 which is the portion of the driving path 70 located between the first intersection 91 and the second intersection 92 and passes through the non-automatic gate Gb. Then, the path generation unit 11 regenerates the travel path 75 that passes through the coordinates of the tracked path 701, path 702, and line segments 80 to 82. Thus, the path generation unit 11 can generate a corrected travel path 75 that passes through the automatic gate Ga closest to the first lane link 61, the first intersection 91, and the second intersection 92.

[0045] Figure 7 This is a flowchart showing the process of storing the position information of the automatic gate Ga.

[0046] In step S201 , the automatic driving ECU 30 drives on the driving route 70 generated based on the lane link with the least number of intersections.

[0047] In step S202 , the door detection unit 21 recognizes the type of the gate G based on the image of the periphery of the vehicle 1 acquired by the camera 20 .

[0048] In step S203 , the gate detection unit 21 detects the position of the automatic gate Ga closest to the lane link having the least number of intersections, and transmits the position information of the automatic gate Ga to the driving route generation device 10 .

[0049] In step S204, the gate position storage unit 14 associates the position information of the automatic gate Ga closest to the lane link with the least number of intersections with the map information and stores it. Figure 7 Processing shown.

[0050] Figure 8 1 is a flowchart showing a correction process of the travel route 70 when the travel route 70 is generated in consideration of the automatic gate Ga.

[0051] In step S301 , the route generation unit 11 determines the lane 80 of the automatic gate Ga based on the position information of the automatic gate Ga stored in the gate position storage unit 14 .

[0052] In step S302 , the path generation unit 11 extends the lane 80 of the automatic gate Ga and calculates the first intersection 91 and the second intersection 92 .

[0053] In step S303, the path generation unit 11 partially tracks the coordinates of the driving path 70 generated based on the lane link with the least number of intersections. Specifically, the path generation unit 11 tracks the coordinates of the path 701 located in front of the first intersection 91, the coordinates of the path 702 located on the opposite side of the second intersection 92, and the coordinates of the line segments 80 to 82 connecting the first intersection 91 and the second intersection 92.

[0054] In step S304, the path generation unit 11 regenerates the driving path 75 that passes through the coordinates of the tracked path 701, path 702, and line segments 80 to 82. Thus, the path generation unit 11 can correct the driving path 70 so that it passes through the automatic gate Ga closest to the lane link with the least number of intersections, the first intersection 91, and the second intersection 92. Then, the process ends. Figure 8 Processing shown.

[0055] As described above, the driving route generation device 10 of the present embodiment includes: a map storage unit 12 that stores map information for distinguishing a plurality of lanes L having the same traveling direction of the vehicle 1; a section determination unit 13 that determines a laneless section and a laned section based on the map information, wherein the laneless section is a road section that is not divided into a plurality of lanes L, and the laned section is a road section that is divided into a plurality of lanes L; and a route generation unit 11 that generates a driving route of the vehicle 1. The section determination unit 13 determines a laned section on one side, a laneless section located ahead of the laned section on one side in the traveling direction of the vehicle 1, and a laned section on the other side located ahead of the laneless section in the traveling direction of the vehicle 1. The route generation unit 11 calculates the number of intersections with other lane links in each of a plurality of lane links connecting each lane L of the laned section on one side and each lane L of the laned section on the other side. The route generation unit 11 generates a driving route 70 in the laneless section based on the calculated number of intersections.

[0056] Thus, the driving path generation device 10 of the present embodiment can uniformly generate a driving path with a low probability of approaching other vehicles as a driving path in a laneless section where lane lines are not marked. The driving path generation device 10 of the present embodiment can enable a vehicle control system that recognizes lane lines to perform driving assistance or automatic driving, etc. to implement hands-free driving in a laneless section. Therefore, the driving path generation device 10 of the present embodiment can generate a safe driving path that can implement hands-free driving in a laneless section.

[0057] Furthermore, in the driving route generation device 10 of the present embodiment, the route generation unit 11 generates the driving route 70 in the lane-free section based on the calculated lane link with the smallest number of intersections.

[0058] Thus, the driving path generation device 10 of the present embodiment can uniformly generate the driving path with the lowest possibility of approaching other vehicles as the driving path in the lane-free section. Therefore, the driving path generation device 10 of the present embodiment can generate the safest driving path that can implement hands-free driving in the lane-free section.

[0059] Furthermore, in the driving route generating device 10 of the present embodiment, when the target lane that the vehicle 1 should travel in the laned section on the other side is predetermined based on the destination of the vehicle 1, the route generating unit 11 generates a driving route 70 in the laneless section based on the lane link with the least number of intersections among the multiple lane links connecting the lanes L in the laned section on one side and the target lane.

[0060] Thus, the driving route generation device 10 of the present embodiment can uniformly generate an efficient driving route that minimizes the possibility of approaching other vehicles and is suitable for the destination of the vehicle 1. Therefore, the driving route generation device 10 of the present embodiment can generate a safe and efficient driving route that can implement hands-free driving in a lane-free section.

[0061] Furthermore, the driving route generation device 10 of the present embodiment further includes a gate position storage unit 14 that stores position information of an automatic gate Ga that automatically performs toll payment and gate opening and closing operations among a plurality of gates G installed at a toll station T. The section determination unit 13 determines that the plurality of gates G are one lane section or the other lane section. The route generation unit 11 generates a driving route 70 in a laneless section based on the lane link with the least number of intersections and the position information of the automatic gate Ga closest to the lane link.

[0062] Thus, the driving route generation device 10 of the present embodiment can uniformly generate a driving route that minimizes the possibility of approaching other vehicles and passes through the automatic gate Ga without paying a fee, etc. Therefore, the driving route generation device 10 of the present embodiment can generate a safe and comfortable driving route that allows hands-free driving in a lane-free section.

[0063] Furthermore, in the driving route generating device 10 of the present embodiment, the section determining unit 13 determines the first lane section 41, the first laneless section 51 located ahead of the first lane section 41 in the traveling direction of the vehicle 1, the second lane section 42 located ahead of the first laneless section 51 in the traveling direction of the vehicle 1, the second laneless section 52 located ahead of the second lane section 42 in the traveling direction of the vehicle 1, and the third lane section 43 located ahead of the second laneless section 52 in the traveling direction of the vehicle 1. The section determining unit 13 determines the plurality of gates G as the second lane section 42. The route generating unit 11 generates the driving route 70 in the first laneless section 51 based on the first lane link 61 having the least number of intersections among the plurality of first lane links 61 connecting the lanes L of the first lane section 41 and each of the plurality of gates G. The route generation unit 11 generates a driving route 70 in the second laneless section 52 based on the second lane link 62 with the least number of intersections among the plurality of second lane links 62 connecting the lanes L of the third laned section 43 and each of the plurality of gates G. The route generation unit 11 calculates the intersection of the driving route 70 of the first laneless section 51 generated from the first lane link 61 with the least number of intersections and the line segments 80 to 82 passing through the automatic gate Ga closest to the first lane link 61 as a first intersection 91. The route generation unit 11 calculates the intersection of the driving route 70 of the second laneless section 52 generated from the second lane link 62 with the least number of intersections and the line segments 80 to 82 as a second intersection 92. The route generation unit 11 corrects the driving route 70 in the first laneless section 51 and the driving route 70 in the second laneless section 52 so that they pass through the automatic gate Ga closest to the first lane link 61, the first intersection 91, and the second intersection 92.

[0064] Thus, the driving route generation device 10 of the present embodiment can generate a driving route that has the lowest possibility of approaching other vehicles and passes through the automatic gate Ga without paying fees, etc. by using a relatively simple algorithm. Therefore, the driving route generation device 10 of the present embodiment can easily generate a safe and comfortable driving route that can implement hands-free driving in a lane-free section.

[0065] In addition, the driving route generation device 10 of the present embodiment includes: a map storage unit 12 that stores map information for distinguishing a plurality of lanes L having the same traveling direction of the vehicle 1; a section determination unit 13 that determines a laneless section based on the map information, the laneless section being a road section that is not divided into a plurality of lanes L; and a route generation unit 11 that generates a driving route for the vehicle 1. The route generation unit 11 generates a driving route 70 in the laneless section so that the driving route 70 passes through the left end of the laneless section when the road including the laneless section is for left-hand traffic, and passes through the right end of the laneless section when the road is for right-hand traffic.

[0066] Thus, the driving path generation device 10 of the present embodiment does not need to calculate lane links and their intersection numbers in the lane-free section. Therefore, the driving path generation device 10 of the present embodiment can uniformly generate a driving path with a low possibility of approaching other vehicles in a relatively short time. Therefore, the driving path generation device 10 of the present embodiment can easily generate a safe driving path that can implement hands-free driving in the lane-free section.

[0067] In addition, the present invention is not limited to the above-mentioned embodiments, and includes various modified examples. For example, the above-mentioned embodiments are embodiments that are described in detail in order to easily explain the present invention, and are not necessarily limited to embodiments that have all the structures described. It is also possible to replace a part of the structure of some embodiments with the structure of other embodiments, and it is also possible to add the structure of other embodiments to the structure of some embodiments. In addition, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0068] In addition, the above-mentioned components, functions, processing parts, processing units, etc. can also be realized by hardware, for example, by designing part or all of them with integrated circuits, etc. In addition, the above-mentioned components, functions, etc. can also be realized by software by interpreting and executing programs that realize the respective functions by a processor. Information such as programs, tapes, files, etc. that realize the various functions can be placed in a recording device such as a memory, a hard disk, an SSD (solid state drive), or a recording medium such as an IC card, an SD card, or a DVD.

[0069] In addition, the control lines and information lines are those that are considered necessary for the purpose of explanation, and not all control lines and information lines are necessarily shown in the product. In reality, it can be considered that almost all components are connected to each other. Explanation of symbols

[0070] 1…Vehicle, 10…Driving route generating device, 11…Route generating unit, 12…Map storage unit, 13…Section determination unit, 14…Gate position storage unit, 41…1st laned section, 42…2nd laned section, 43…3rd laned section, 51…1st laneless section, 52…2nd laneless section, 61…1st lane link, 62…2nd lane link, 70…Driving route, 80-82…Line segment passing through the nearest automatic gate, 91…1st intersection, 92…2nd intersection, T…Toll booth, L…Lane, G…Gate, Ga…Automatic gate, Gb…Non-automatic gate.

Claims

1. A driving route generating device, characterized in that: have: a map storage unit storing map information for distinguishing a plurality of lanes having the same traveling direction of the vehicle; a section determination unit for determining a non-lane section and a lane section based on the map information, wherein the non-lane section is a road section that is not divided into the plurality of lanes, and the lane section is a road section that is divided into the plurality of lanes; as well as a path generating unit for generating a travel path of the vehicle, The section distinguishing unit distinguishes one of the sections with lanes, the section without lanes located ahead of the section with lanes in the traveling direction, and the section with lanes located ahead of the section without lanes in the traveling direction. The route generation unit calculates the number of intersections with other lane links in a plurality of lane links connecting each lane in one lane section and each lane in another lane section, and generates the driving route in the laneless section based on the calculated number of intersections.

2. The driving route generating device according to claim 1, characterized in that: The route generation unit generates the driving route in the lane-free section based on the calculated lane link with the smallest number of intersections.

3. The driving route generating device according to claim 2, characterized in that: When a target lane that the vehicle should travel in the laned section on the other side is predetermined based on the destination of the vehicle, the path generation unit generates the driving path in the laneless section based on the lane link with the least number of intersections among multiple lane links connecting the lanes in the laned section on one side and the target lane.

4. The driving route generating device according to claim 2, characterized in that: The device further comprises a gate position storage unit for storing position information of an automatic gate that automatically performs toll payment and door opening and closing operations among a plurality of gates installed at a toll station. The section determination unit determines the plurality of gates as one of the sections with lanes or the other section with lanes, The route generation unit generates the driving route in the lane-free section based on the lane link having the least number of intersections and the position information of the automatic gate closest to the lane link.

5. The driving route generating device according to claim 4, characterized in that: The section determination unit determines a first laned section, a first laneless section located ahead of the first laned section in the traveling direction, a second laned section located ahead of the first laneless section in the traveling direction, a second laneless section located ahead of the second laned section in the traveling direction, and a third laned section located ahead of the second laneless section in the traveling direction, and determines the plurality of gates as the second laned section. The route generating unit generates the driving route in the first laneless section based on the first lane link having the least number of intersections among a plurality of first lane links connecting each lane in the first laned section and each of the plurality of gates, The route generating unit generates the driving route in the second laneless section based on the second lane link having the least number of intersections among a plurality of second lane links connecting each lane of the third laned section and each of the plurality of gates, The route generation unit calculates an intersection point between the driving route of the first laneless section generated based on the first lane link having the least number of intersections and a line segment passing through the automatic gate closest to the first lane link as a first intersection point, The route generation unit calculates an intersection point between the driving route of the second laneless section generated based on the second lane link having the smallest number of intersections and the line segment as a second intersection point, The route generation unit corrects the driving route in the first laneless section and the driving route in the second laneless section so as to pass through the automatic gate closest to the first lane link, the first intersection, and the second intersection.

6. A driving route generating device, characterized in that: have: a map storage unit storing map information for distinguishing a plurality of lanes having the same traveling direction of the vehicle; a section determination unit that determines a lane-free section as a road section that is not divided into the plurality of lanes based on the map information; as well as a path generating unit for generating a travel path of the vehicle, The route generation unit generates the driving route in the laneless section so that the driving route passes through a left end of the laneless section when a road including the laneless section is for left-hand traffic, and passes through a right end of the laneless section when the road is for right-hand traffic.

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