Travel route generation method and travel route generation device

Abstract

A controller (7) determines whether or not a host vehicle passes through a target intersection and enters a connection lane included in a connection road connected to a destination or a destination at a non-prioritized side where movement of another moving body is prioritized compared to traveling of the host vehicle, and if the host vehicle passes through the target intersection and enters the connection lane at the non-prioritized side, controls the host vehicle to pass through the target intersection and enter the connection lane at the non-prioritized side. The generated vehicle passes through the target intersection and enters the target travel route of the connected lane on the priority side where the vehicle can travel preferentially with respect to the movement of the other moving body.

Description

Technical Field

[0001] The invention relates to a driving route generating method and a driving route generating device. Background Art

[0002] A technology is known in which experience information is extracted from a database recording experience information reflecting the execution results of multiple functions during automatic driving of a vehicle, and a control path including a road with a high function achievement value indicating the degree of achievement of each of the multiple functions is calculated based on the experience information.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: (Japan) Patent No. 6914229 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] However, since there is an intersection that needs to be passed in order to enter a connecting road connected to the destination or the stopover point in the driving path of the host vehicle to the destination or the stopover point, there is the following problem in Patent Document 1. That is, in Patent Document 1, when a driving path is calculated for turning left or right at the intersection and entering the connecting road, and a driving path is generated in which the host vehicle passes through the intersection on the non-priority side relative to other moving bodies, when driving on the driving path by automatic driving, there is a problem that the host vehicle cannot smoothly drive at the intersection.

[0008] The problem to be solved by the present invention is to provide a driving route generation method and a driving route generation device, which enable a vehicle to smoothly travel at an intersection that needs to be passed in order to enter a road connected to a destination or a route of the vehicle.

[0009] Technical solutions for solving technical problems

[0010] The present invention solves the above-mentioned problem by the following manner: when the vehicle passes through the object intersection on the non-priority side that gives priority to the movement of other mobile bodies compared to the travel of the vehicle, it is determined whether to enter a connecting lane included in a connecting road connected to a destination or a stopover point. When the vehicle passes through the object intersection on the non-priority side and enters the connecting lane, a target driving path is generated in which the vehicle passes through the object intersection on the priority side that gives priority to the movement of other mobile bodies and enters the connecting lane. The object intersection is an intersection that is connected to the destination or the stopover point via the connecting lane and is located in front of the traveling direction of the connecting lane.

[0011] Effects of the Invention

[0012] According to the present invention, the host vehicle can smoothly travel at an intersection that the host vehicle needs to pass through in order to enter a road connected to the destination or route of the host vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a block diagram showing one embodiment of the driving route generating device according to the present embodiment.

[0014] Figure 2 This is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment.

[0015] Figure 3 This is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment.

[0016] Figure 4 This is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment.

[0017] Figure 5 This is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment.

[0018] Figure 6 This is a flowchart showing an example of a control procedure of the driving route generation method according to the present embodiment.

[0019] Figure 7 This is a flowchart showing an example of a control procedure of the driving route generation method according to the present embodiment.

[0020] Figure 8 This is a flowchart showing an example of a control procedure of the driving route generation method according to the present embodiment. DETAILED DESCRIPTION

[0021] An embodiment of the driving route generation device of the present invention is described based on the accompanying drawings. In addition, the following description is based on the premise that the vehicle is driving on the left side in a country with left-hand traffic regulations. In a country with right-hand traffic regulations, since the vehicle is driving on the right side, the right and left in the following description are symmetrically replaced.

[0022] Figure 1 FIG. 1 is a block diagram showing an embodiment of the driving route generating device of the present embodiment. Figure 1 In the embodiment, the driving path generation device is applied to the driving control system. The driving control system 10 is a system for controlling the driving of the vehicle through autonomous driving control. Figure 1As shown, the driving control system 10 includes a detection device 1, a map DB 2, a vehicle information detection device 3, a navigation device 4, a vehicle control device 5, and a driving route generation device 6. The detection device 1 includes a camera 11 and a distance measuring device 12. The vehicle information detection device 3 includes a vehicle speed detection device 31, a steering angle detection device 32, and a vehicle position detection device 33. The vehicle control device 5 includes a vehicle speed control device 51 and a steering control device 52. The devices included in the driving control system 10 are connected via an in-vehicle LAN such as a CAN, and can exchange information with each other.

[0023] The detection device 1 is a sensor for detecting objects around the vehicle. Objects include cars (other vehicles) other than the vehicle, motorcycles, bicycles, pedestrians, lane boundaries of roads, zebra crossing guide strips, center lines, road markings, central isolation strips, guardrails, curbs, side walls of highways, road markings, traffic lights, crosswalks, construction sites, accident sites, and traffic restrictions. The detection device 1 obtains the position, posture (direction), and speed of the moving object.

[0024] The detection device 1 detects the object through, for example, a camera 11 and / or a distance measuring device 12. The driving path generation device 6 obtains the detection result of the detection device 1 at a predetermined time interval. The camera 11 is a device for identifying objects around the vehicle through images, and is a camera or the like. A plurality of camera 11s may be provided on one vehicle. The distance measuring device 12 is a device for calculating the relative distance and relative speed between the vehicle and the object, and is, for example, a laser radar or the like. A plurality of distance measuring devices 12 may be provided on one vehicle.

[0025] Map DB2 is a memory (storage medium) that stores high-precision map information including location information of various facilities or specific locations and can be accessed from the driving route generation device 6. The high-precision map information stored in the map DB2 is three-dimensional map data based on the road shape detected when the vehicle for data acquisition is driving on the actual road. High-precision map information is used for autonomous driving control and is map information containing more detailed information than map information for navigation. High-precision map information is map information that associates road information, lane boundary information, road attribute information, lane up / down information, lane identification information, destination lane information, facility information and its attribute information as three-dimensional information. Road information includes road width, curvature radius, shoulder structure, road traffic regulations (speed limit, lane change), road confluence point, branch point, increase / decrease position of the number of lanes, and other information. It should be noted that map DB2 can also be a map equipped by the driving route generation device 6.

[0026] In this embodiment, road information is described by setting nodes for each lane and dividing the road segments by nodes. A node is a reference point on a lane baseline (e.g., the center line in a lane). The node information includes the node's identification number, location coordinates, the number of connected lane segments, and the identification numbers of the connected lane segments. In addition, the high-precision map contains information on nodes and road segments in lane units, so the lane in which the vehicle is traveling in the driving path can be determined. The high-precision map has coordinates that can represent the direction in which the lane extends and the position in the lane width direction.

[0027] In addition, in the present embodiment, the map DB2 includes information about traffic lights installed on the road as road information. For example, the information about traffic lights includes information about the type of traffic lights at the intersection or the display time of each signal. Examples of types of traffic lights include traffic lights that display arrow signals and traffic lights that are separated from vehicles. These traffic lights are traffic lights that indicate from which connecting lane a vehicle entering the intersection can have priority to pass through the intersection and enter the connecting lane. For example, an arrow signal is a signal that only prompts movement in the direction indicated by the arrow. In addition, a traffic light that is separated from vehicles refers to a traffic light that indicates which of pedestrians and vehicles can have priority to pass through the intersection.

[0028] The vehicle information detection device 3 is a device that detects information related to the state of the vehicle. The state of the vehicle includes the vehicle's running speed, acceleration, steering angle, position, posture, etc. The vehicle speed detection device 31 detects the running speed and acceleration. The steering angle detection device 32 detects the steering angle. The current position is calculated based on the information obtained from the vehicle position detection device 33. The vehicle position detection device 33 is, for example, a positioning system including a GPS unit. An inertial measurement unit is used to detect the posture. In addition, the vehicle information detection device 3 can also obtain the vehicle's running speed and steering angle from the vehicle control device 5. The driving route generation device 6 obtains the detection results of these devices via the vehicle-mounted LAN as needed.

[0029] The navigation device 4 is a device that displays the driving route from the current position of the vehicle to the destination and / or the intermediate point set by the driver on a display to present the driving route to the driver. In this embodiment, the navigation device 4 obtains the driving route generated by the driving route generating device 6 and presents it to the driver.

[0030] The vehicle control device 5 is an on-board computer such as an electronic control unit (ECU) that electronically controls on-board devices that restrict vehicle travel. The vehicle control device 5 includes a vehicle speed control device 51 that controls the travel speed of the vehicle and a steering control device 52 that controls the steering operation of the vehicle. The vehicle control device 5 obtains a travel path from the travel path generation device 6 and controls the travel of the vehicle along the travel path. The vehicle control device 5 generates a control signal for controlling the travel of the vehicle along the travel path, and outputs the control signal to the vehicle speed control device 51 and / or the steering control device 52.

[0031] The vehicle speed control device 51 controls a driving device such as an electric motor and / or an internal combustion engine, an automatic transmission, etc., which is a driving source for driving. The vehicle speed control device 51 autonomously controls the driving speed of the vehicle based on a control signal input from the vehicle control device 5. The steering control device 52 controls the steering device. The steering control device 52 controls the action of the steering device based on a control signal input from the vehicle control device, using at least one of the detection result of the detection device 1, the map DB2, and the vehicle information obtained by the vehicle information detection device 3, so that the vehicle maintains a specified lateral position (the position of the vehicle in the left-right direction) relative to the driving path and drives.

[0032] The driving path generation device 6 generates a target driving path from the current position of the vehicle detected by the vehicle position detection device 33 of the vehicle information detection device 3 to the destination set by the driver. When the driver sets the destination and / or the waypoint, the driving path generation device 6 obtains the current position of the vehicle and generates a target driving path from the current position of the vehicle to the destination with reference to the map DB2. The target driving path is a road, direction (up / down) and lane line shape that the vehicle is traveling on. The target driving path includes information about the driving lane in which the vehicle is traveling. In the present embodiment, the driving path generation device 6 generates the target driving path through the controller 7. In the following description, an example of generating a driving path to the destination when the driver sets the destination is given for explanation, but the driving path generation method of the present embodiment can be applied not only to the destination but also to the waypoint. In addition, when the destination set on the map is not on the road (building or land), for example, the controller 7 generates a target driving path that can enter the destination from the road adjacent to the destination, that is, the connecting lane without crossing the opposite lane. In addition, when the destination is on a road, the controller 7 generates the target driving route based on the travel direction (upward / downward) determined for the lane in which the destination is set. In addition, the intermediate point is, for example, an arbitrary point set halfway along the target driving route to the destination. The controller 7 generates the target driving route based on the travel direction (upward / downward) determined for the lane in which the intermediate point is set.

[0033] Here, use Figure 2 An example of a scenario in which a driving route is generated by the driving route generation method according to the present embodiment will be described. Figure 2 : is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method of the present embodiment. In the present embodiment, the controller 7 generates a first driving route P1 from the current position of the host vehicle V1 to the destination D as a target driving route. In the first driving route P1, the controller 7 determines the connecting lane L1 on the destination side included in the connecting road R1 connected to the destination D and the intersection connected to the front side in the traveling direction as the target intersection I. The target intersection I is an intersection connected to the destination D through the connecting lane L1 and located on the front side in the traveling direction of the connecting lane L1. The connecting road R1 is a road that the host vehicle V1 travels on just before reaching the destination D.

[0034] Furthermore, when the vehicle V1 is traveling on the first driving path P1, the controller 7 generates a second driving path for the vehicle V1 to pass through the target intersection I on the non-priority side and enter the connecting lane L1 on the destination side as a target driving path, and updates the target driving path from the first driving path to the second driving path. The priority side refers to a situation where the vehicle can travel with priority over the movement of other moving bodies. When the vehicle goes straight at the target intersection and enters the connecting lane on the destination side, the vehicle can travel with priority over pedestrians crossing the crosswalk of the target intersection and other vehicles turning left or right at the target intersection and entering the connecting lane on the destination side.

[0035] In addition, the non-priority side refers to a situation where the vehicle needs to give priority to the movement of other moving bodies over the travel of the vehicle. For example, when the vehicle turns left at the target intersection and enters the connecting lane on the destination side, the vehicle needs to give priority to pedestrians walking on the crosswalk at the left turn destination. In addition, when the vehicle turns right at the target intersection and enters the connecting lane on the destination side, the vehicle needs to give priority to oncoming vehicles traveling in the oncoming lane to pass the target intersection. In addition, in the case where the vehicle temporarily stops and then turns left or right at the target intersection and enters the connecting lane, the vehicle needs to give priority to the movement of other moving bodies over the travel of the vehicle. In this way, in the present embodiment, in the case where the vehicle cannot smoothly pass through the target intersection on the non-priority side, a travel path is generated in which the vehicle can pass through the target intersection on the priority side, and the vehicle is controlled so that it can smoothly travel at the target intersection.

[0036] like Figure 2As shown, in the first driving path P1, in order for the vehicle V1 to turn left at the target intersection I and enter the connecting lane L1 on the destination side, it is necessary to give priority to the pedestrian Pe walking on the crosswalk C for crossing the connecting road R1, and the vehicle V1 passes through the target intersection I on the non-priority side. In such a case, the second driving path P2 is generated in the present embodiment. In the second driving path P2, the vehicle V1 goes straight at the target intersection I and enters the connecting lane L1 on the destination side. When the traffic light on the road where the vehicle V1 is traveling displays a signal indicating that passage is allowed, the traffic light on the crosswalk C displays a signal indicating that passage is not allowed, so the vehicle V1 can travel at the target intersection I with priority over the pedestrian Pe. That is, the vehicle V1 passes through the target intersection I on the priority side, thereby being able to travel smoothly at the target intersection.

[0037] In this embodiment, Figure 2 The above method is particularly effective in the scenario shown in the figure, but is not limited thereto. When a first driving path is generated in which the host vehicle V1 turns right at the target intersection I and enters the connecting lane L1 on the destination side, the target driving path is also updated from the first driving path to a second driving path in which the host vehicle V1 passes the target intersection I on the priority side and enters the connecting lane L1 on the destination side. As a result, the host vehicle can smoothly drive at the target intersection.

[0038] The controller 7 is a computer including a ROM 72 storing a program, a CPU 71 which is an operation circuit that functions as the driving route generation device 6 by executing the program stored in the ROM 72, and a RAM 73 that functions as an accessible storage device. The controller 7 of the present embodiment executes each function by the cooperation of the software for realizing the above functions and the above hardware.

[0039] The controller 7 includes, as functional blocks, a vehicle position estimation unit 100, a driving path generation unit 101, a road structure determination unit 102, and a determination unit 103. In addition, in the present embodiment, the functions of the controller 7 are divided into four blocks to explain the functions of each functional block, but the functions of the controller 7 do not necessarily need to be divided into four blocks as long as each function can be realized.

[0040] The vehicle position estimation unit 100 estimates the position and posture of the vehicle on the map. The vehicle position estimation unit 100 estimates the current position and posture of the vehicle on the map based on the map information acquired from the map DB 2 and the position and posture acquired from the vehicle information detection device 3 .

[0041] The driving route generation unit 101 generates a target driving route of the vehicle from the current position of the vehicle to the destination. When the driver of the vehicle inputs the destination, the driving route generation unit 101 determines the location of the destination on the map acquired from the map DB 2. Then, the driving route generation unit 101 generates the target driving route based on the current position of the vehicle estimated by the vehicle position estimation unit 100 and the determined location of the destination.

[0042] For example, the driving route generation unit 101 obtains multiple driving routes from the current position of the vehicle to the destination, and calculates the cost of the driving routes for the multiple driving routes. Then, the driving route generation unit 101 generates a driving route with the minimum cost from the multiple driving routes obtained as a target driving route. For example, the cost is the required time.

[0043] Furthermore, when the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, the travel route generation unit 101 generates a target travel route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane.

[0044] For example, the driving path generation unit 101 first generates a first driving path from the current position of the vehicle to the destination as a target driving path. Then, the driving path generation unit 101 determines whether the vehicle enters the connecting lane through the target intersection on the non-priority side on the first driving path. In the case where the vehicle enters the connecting lane through the target intersection on the non-priority side on the first driving path, the driving path generation unit 101 changes the target driving path from the first driving path to a second driving path where the vehicle enters the connecting lane through the target intersection on the priority side. In the present embodiment, it is described that in the case where the vehicle enters the connecting lane through the target intersection on the non-priority side on the first driving path, the target driving path is updated from the first driving path to the second driving path, but it is not limited thereto. It is also possible to directly generate the target driving path when generating the driving path, and the target driving path is a driving path where the vehicle enters the connecting lane through the target intersection on the priority side that is connected to the connecting lane on the front side of the traveling direction.

[0045] Here, an example of a method for generating a driving path according to the present embodiment is described. The driving path generating unit 101 obtains, in the case where the vehicle passes through the target intersection on the non-priority side and enters the connecting lane, a non-priority driving path in which the vehicle passes through the target intersection on the non-priority side and enters the connecting lane, and a priority driving path in which the vehicle passes through the target intersection on the priority side and enters the connecting lane, from the current position of the vehicle to the destination. For example, the non-priority driving path is a driving path in which the vehicle turns left or right at the target intersection and enters the connecting lane. The priority driving path includes at least a connecting lane, a target intersection, and a lane that the vehicle should drive before entering the target intersection in order to pass the target intersection on the priority side. For example, the priority driving path is a driving path in which the vehicle goes straight at the target intersection and enters the connecting lane. Then, the driving path generating unit 101 calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path. The driving path generating unit 101 compares the cost of the non-priority driving path with the cost of the priority driving path, and generates a target driving path including the priority driving path with a smaller cost.

[0046] In addition, in the present embodiment, the priority driving path may also include a priority left turn path in which the vehicle turns left at the target intersection on the priority side and enters the connecting lane, a priority straight path in which the vehicle goes straight at the target intersection on the priority side and enters the connecting lane, and a priority right turn path in which the vehicle turns right at the target intersection on the priority side and enters the connecting lane. Even if the vehicle is on a driving path in which the vehicle turns left or right at the target intersection and enters the connecting lane, if the traffic light provided at the target intersection displays a signal giving priority to left or right turns, the vehicle can also turn left or right at the target intersection on the priority side, and thus such a driving path becomes one of the priority driving paths.

[0047] The priority left turn route is, for example, a route for the vehicle to turn left at the target intersection and enter the connecting lane when a signal light displaying a signal indicating left turn priority is set at the target intersection. Left turn priority means that the vehicle can turn left on the priority side at the target intersection and enter the connecting lane. Such a signal light is, for example, a signal light displaying an arrow signal for left turn or a pedestrian-vehicle separation signal light.

[0048] The priority right turn route is, for example, a route for the vehicle to turn right at the target intersection and enter the connecting lane when a traffic light showing a signal indicating right turn priority is set at the target intersection. Right turn priority means that the vehicle can turn right on the priority side at the target intersection and enter the connecting lane. Such a traffic light is, for example, a traffic light showing an arrow signal for right turn or a pedestrian-vehicle separation traffic light.

[0049] The driving route generation unit 101 obtains a priority left turn path, a priority straight path, and a priority right turn path as priority driving routes. For example, the driving route generation unit 101 determines the type of traffic lights installed at the target intersection based on the map information obtained from the map DB, and determines the priority left turn path, the priority straight path, and the priority right turn path from a plurality of driving routes that pass through the target intersection and enter the connecting lane. Then, the driving route generation unit 101 calculates the cost of the priority right turn path to be greater than the cost of the priority left turn path and the cost of the priority straight path. The driving route generation unit 101 compares the cost of the priority left turn path, the cost of the priority straight path, and the cost of the priority right turn path, and generates a target driving route that includes a priority left turn path or a priority straight path with a small cost.

[0050] Furthermore, after the lane determination control is executed a predetermined number of times by the road structure determination unit 102 described later, the travel route generation unit 101 generates a target travel route so that the host vehicle travels in the priority access lane determined by the lane determination control.

[0051] In addition, the driving route generation unit 101 generates a target driving route for the vehicle to pass through the target intersection on the priority side and enter the connecting lane when the vehicle may not be able to travel smoothly if the vehicle travels on the non-priority side at the target intersection. For example, the situation in which the vehicle may not be able to travel smoothly if the vehicle travels on the non-priority side at the target intersection is when the crosswalk on the connecting road side of the target intersection is crowded with pedestrians, when the speed difference between the vehicle that turns left at the target intersection and enters the connecting lane and the oncoming vehicle that turns right at the target intersection and enters the connecting lane becomes large, when the vehicle enters a lane other than the lane closest to the vehicle after passing the target intersection, when the destination or the waypoint is located within a predetermined distance from the target intersection, and when there is an obstacle that hinders the vehicle's travel or there is a possibility of an obstacle in the section between the destination or the waypoint at the connecting lane and the target intersection. In this embodiment, when the determination unit 103 described later determines that the vehicle may not be able to travel smoothly if it travels at the target intersection on the non-priority side, the travel route generation unit 101 generates a target travel route for the vehicle to pass the target intersection on the priority side and enter the connecting lane.

[0052] Here, use Figure 3 A scenario will be described in which the host vehicle passes through the target intersection and then enters a lane other than the lane closest to the host vehicle. Figure 3 1 is a diagram showing an example of a scene in which the host vehicle enters a lane other than the lane closest to the host vehicle after passing the target intersection. Figure 3In the example, the connecting lane L1 is composed of two lanes including the connecting lane L1a on the destination side and the adjacent lane L1b adjacent to the lane L1a. Generally, the host vehicle V1 that turns left at the target intersection I and enters the connecting lane L1 travels in the lane L1a closest to the host vehicle V1 after passing the target intersection I. However, for example, Figure 3 As shown, when there is an obstacle such as a parked vehicle V3 on the lane L1a, the host vehicle V1 travels on the adjacent lane L1b, which is a lane other than the lane L1a, after passing the target intersection I. Obstacles are not limited to parked vehicles, but may also be construction sites, etc. On the other hand, the oncoming vehicle V2 that turns right at the target intersection I and enters the connecting lane L1 is usually judged as the host vehicle V1 traveling on the connecting lane L1a, and increases the speed to travel on the adjacent lane L1b. As a result, the possibility of the host vehicle V1 approaching the oncoming vehicle V2 becomes higher.

[0053] Next, use Figure 4 A scenario in which the destination is within a prescribed distance from the target intersection is described. Figure 4 is a diagram showing an example of a scenario where the destination is within a predetermined distance from the target intersection. Figure 4 As shown, when the distance S between the destination D and the target intersection I is short, that is, when the destination D is close to the target intersection I, the host vehicle V1 stops immediately after passing the target intersection I, so the host vehicle does not accelerate. On the other hand, the oncoming vehicle V2 that turns right at the target intersection I and enters the connecting lane L1 travels while accelerating after passing the target intersection I, so the possibility that the host vehicle V1 and the oncoming vehicle V2 are close to each other becomes high.

[0054] Next, use Figure 5 A case where an obstacle that hinders the travel of the host vehicle exists or there is a possibility of an obstacle existing in the section between the destination and the target intersection in the connecting lane will be described. Figure 5 1 is a diagram showing an example of a scene in which an obstacle that hinders the travel of the vehicle exists in the section between the destination and the target intersection on the connecting lane. Figure 5 As shown, when there is an obstacle such as a parked vehicle V3 in the section between the destination D and the target intersection I in the connecting lane L1, the host vehicle V1 determines whether it can overtake the parked vehicle V3 after passing the target intersection I. During this determination, the host vehicle stops or slows down in front of the parked vehicle V3, so it does not accelerate. On the other hand, with respect to the oncoming vehicle V2 that turns right at the target intersection I and enters the connecting lane L1, it is determined that the host vehicle V1 accelerates and travels in the connecting lane L1, and accordingly accelerates and enters the connecting lane. As a result, the possibility of the host vehicle V1 approaching the oncoming vehicle V2 becomes higher.

[0055] The road structure determination unit 102 determines, on the first driving path, a target intersection that is connected to a connecting lane on the front side of the traveling direction in a connecting lane on the destination side. For example, the road structure determination unit 102 obtains information on nodes and sections on the first driving path from map information stored in a map DB. The road structure determination unit 102 determines the connecting lane connected to the destination based on the information on nodes and sections on the first driving path, and determines the intersection connected to the connecting lane on the front side of the traveling direction as the target intersection. That is, the road structure determination unit 102 determines the intersection that the vehicle needs to pass through in order to enter the connecting lane connected to the destination.

[0056] In addition, the road structure determination unit 102 may also determine the lane on the destination or via land side as a connecting lane, and determine the intersection connected to the lane on the destination or via land side on the front side in the direction of travel as the target intersection. The connecting lane in the connecting road includes the lane on the destination or via land side and the opposite lane opposite to the lane on the destination or via land side. The lane on the destination or via land side is a lane in the connecting lane that is close to the destination or via land. When the vehicle crosses the lane on the destination or via land side from the opposite lane and moves toward the destination or via land, it may sometimes hinder the travel of other vehicles traveling on the lane on the destination or via land side. Therefore, in this embodiment, the lane on the destination or via land side is determined as the connecting lane.

[0057] In this embodiment, when there is a target intersection on the first driving path, the road structure determination unit 102 determines a priority entry lane, among the entry lanes for entering the target intersection, in which the vehicle should travel before entering the target intersection in order to pass the target intersection on the priority side. The priority entry lane is a lane included in the priority driving path. For example, Figure 2 In the illustrated scenario, in order to go straight at the target intersection I and enter the connecting lane L1, the host vehicle V1 needs to travel in the entry lane L2 of the entry lanes to the target intersection I before entering the target intersection. Therefore, the road structure determination unit 102 determines the entry lane L2 as the priority entry lane.

[0058] After determining the priority access lane, the road structure determination unit 102 determines an intersection connected to the priority access lane ahead in the traveling direction. Figure 2 In the illustrated scenario, the intersection connected to the entry lane L2 as the priority entry lane ahead in the traveling direction is the intersection I'. Therefore, the road structure identification unit 102 identifies the intersection I' as the intersection connected to the priority entry lane ahead in the traveling direction.

[0059] Furthermore, the road structure determination unit 102 also determines a priority entry lane corresponding to the determined intersection. In this way, the road structure determination unit 102 repeatedly determines the priority entry lane and the intersection connected to the priority entry lane in front of the traveling direction, starting from the target intersection connected to the connecting lane. That is, the road structure determination unit 102 repeatedly performs intersection determination control for determining the intersection connected to the determined priority entry lane in front of the traveling direction, and lane determination control for determining the priority entry lane in the entry lane entering the determined intersection each time the intersection is determined by the intersection determination control. In this way, a driving path that passes through each intersection that the vehicle passes on the priority side can be generated.

[0060] Thus, in the present embodiment, a driving route is generated by alternately determining the intersections that the vehicle passes through and the lanes that enter the intersections so that the vehicle passes through each intersection on the driving route on the priority side. However, if the driving route is generated in such a way that the vehicle passes through all the intersections on the driving route from the current position of the vehicle to the destination on the priority side, it may become a long detour depending on the situation. Therefore, the road structure determination unit 102 repeatedly performs the intersection determination control and the lane determination control until the number of executions of the lane determination control reaches the prescribed number of times. Thus, by limiting the number of executions, a driving route can be generated in which the vehicle can travel at the intersections on the driving route on the priority side without taking a long detour.

[0061] The determination unit 103 determines whether the vehicle passes the target intersection on the non-priority side and enters the connecting lane. The connecting lane is, for example, a lane on the destination or the wayside connected to the destination. For example, when the vehicle is traveling on the first driving path and turns left at the target intersection on the non-priority side and enters the connecting lane, or when the vehicle is traveling on the first driving path and turns right at the target intersection on the non-priority side and enters the connecting lane, the determination unit 103 determines that the vehicle passes the target intersection on the non-priority side and enters the connecting lane.

[0062] In addition, for example, the determination unit 103 may determine whether the vehicle traveling on the first driving path turns left or right at the target intersection and enters the connecting lane by further determining whether the traffic light is a traffic light that displays a signal indicating that left or right turns are given priority, thereby determining whether the vehicle passes through the target intersection on the non-priority side and enters the connecting lane. The determination unit 103 determines the type of traffic light installed at the target intersection based on the map information acquired from the map DB, and if the traffic light is not a traffic light that displays a signal indicating that left or right turns are given priority, and if the vehicle turns left or right at the target intersection and enters the connecting lane while the vehicle is traveling on the first driving path, the determination unit 103 determines that the vehicle passes through the target intersection on the non-priority side and enters the connecting lane.

[0063] In addition, the determination unit 103 determines whether there is a possibility that the vehicle will not be able to travel smoothly if it travels on the non-priority side at the target intersection. For example, the determination unit 103 determines whether the crosswalk on the connecting road side at the target intersection is crowded with pedestrians. The determination unit 103 obtains the driving environment information of the crosswalk on the connecting road side at the target intersection. The driving environment information is, for example, information indicating the driving environment of the target intersection obtained by a road sensor set near the target intersection or a sensor of another vehicle traveling at the target intersection. In addition, the driving environment information can be either external event information or an estimated result of the congestion of the crosswalk based on past driving history records.

[0064] The determination unit 103 calculates the congestion degree of pedestrians in the crosswalk based on the driving environment information, and determines that the crosswalk is congested due to pedestrians when the congestion degree of pedestrians in the crosswalk is greater than a predetermined congestion degree. In addition, when the congestion degree of pedestrians in the crosswalk is less than a predetermined congestion degree, the determination unit 103 determines that the crosswalk is not congested due to pedestrians. The congestion degree is calculated based on, for example, the number of pedestrians walking on the crosswalk and the area of ​​the crosswalk.

[0065] In addition, the determination unit 103 determines whether the speed difference between the vehicle speed of the vehicle and the speed of the oncoming vehicle turning right at the target intersection and entering the connecting lane is increasing when the vehicle turns left at the target intersection and enters the connecting lane. The case where the speed difference between the vehicle speed and the oncoming vehicle speed is increasing is, for example, a situation where the oncoming vehicle may enter the connecting lane while turning right at the target intersection and accelerating. In this embodiment, the determination unit 103 obtains the road information of the target intersection, and based on the road information of the target intersection, determines that the speed difference is increasing when the oncoming lane where the oncoming vehicle is traveling is not provided with a signal light indicating that the oncoming vehicle can preferentially turn right at the target intersection and enter the connecting lane.

[0066] In addition, the determination unit 103 determines that the speed difference between the vehicle speed of the host vehicle and the vehicle speed of the oncoming vehicle is increased when the time for the signal light provided in the oncoming lane to indicate that the oncoming vehicle can turn right at the target intersection with priority and enter the connecting lane is short. For example, the determination unit 103 obtains information about the signal light including the display time of each signal of the signal light at the target intersection from the map DB2, and determines that the speed difference between the vehicle speed of the host vehicle and the vehicle speed of the oncoming vehicle is increased when the display time indicating that the oncoming vehicle can pass with priority is shorter than a predetermined time. When the oncoming vehicle turns right at the target intersection on the non-priority side and enters the connecting lane, it is necessary to complete the right turn at the target intersection in a short time after the vehicle turning left at the target intersection is given priority and until the signal is switched to a signal indicating that the vehicle cannot pass, so that the oncoming vehicle is easy to accelerate. Therefore, when the traffic light indicating that the oncoming vehicle has priority is not displayed or the display time is short, the oncoming vehicle is likely to accelerate and pass the target intersection, resulting in a large speed difference between the speed of the own vehicle and the speed of the oncoming vehicle.

[0067] In addition, the determination unit 103 may determine that the speed difference between the vehicle speed and the oncoming vehicle speed becomes larger when the target intersection is an intersection with a road structure such that there is no right turn lane and vehicles waiting to turn right will hinder the travel of subsequent vehicles, or when the target intersection is an intersection with a road structure such that congestion occurs due to vehicles waiting to turn right. In such a case, the driver of the oncoming vehicle also thinks that it is necessary to turn right at the target intersection as soon as possible, and there is a tendency to accelerate the oncoming vehicle.

[0068] In addition, the determination unit 103 determines whether the destination is located within a predetermined distance from the target intersection based on the location of the destination and the location of the target intersection. The determination unit 103 calculates the distance of the interval between the location of the destination and the location of the target intersection, and when the calculated distance is within the predetermined distance, determines that the destination is located within the predetermined distance from the target intersection. In addition, when the calculated distance is longer than the predetermined distance, the determination unit 103 determines that the destination is not located within the predetermined distance from the target intersection.

[0069] In addition, the determination unit 103 determines whether there is an obstacle that hinders the travel of the vehicle in the section between the destination on the connecting lane and the target intersection, or whether there is a possibility of an obstacle that hinders the travel of the vehicle. Obstacles include, for example, parked vehicles and construction sites. The determination unit 103 obtains the driving environment information of the section between the destination on the connecting lane and the target intersection. The driving environment information is information indicating the driving environment of the target intersection obtained by a road sensor set near the target intersection or a sensor of another vehicle traveling at the target intersection. In addition, the driving environment information may also be construction information stored in the map DB2. The determination unit 103 determines whether there is an obstacle in the section between the destination on the connecting lane and the target intersection based on the driving environment information.

[0070] Furthermore, the determination unit 103 estimates the presence or absence of an obstacle based on past travel history records, and determines whether an obstacle is likely to exist in the section between the destination and the target intersection on the connecting lane based on the estimation result of the presence or absence of the obstacle.

[0071] In addition, when the connecting road is a road with two lanes or more on one side, the determination unit 103 determines whether the vehicle has entered a lane other than the lane closest to the vehicle after passing the target intersection. For example, when there is an obstacle on the lane closest to the vehicle, the determination unit 103 determines that the vehicle has entered a lane other than the lane closest to the vehicle after passing the target intersection. Obstacles include parked vehicles and construction sites. In addition, when the vehicle needs to turn left or right after traveling on the connecting road, the determination unit 103 determines that the vehicle has entered a lane other than the lane closest to the vehicle in coordination with the left or right turn. In addition, for example, when the entrance to the highway is on the side of a lane other than the lane closest to the vehicle, the determination unit 103 determines that the vehicle has entered a lane other than the lane closest to the vehicle.

[0072] In addition, in the present embodiment, the controller 7 outputs the information of the driving path to the vehicle control device 5 when the driving path is generated, but the controller 7 is not limited thereto, and the controller 7 may also have the function of controlling the driving of the vehicle. For example, the controller 7 calculates the target vehicle speed and the target steering angle in such a way that the vehicle drives along the driving path. The controller generates control signals including the calculated target vehicle speed and target steering angle and outputs them to the vehicle speed control device 51 and the steering control device 52, respectively.

[0073] Next, use Figure 6 The flowchart of FIG. 1 illustrates the steps of the driving route generation method according to the present embodiment. Figure 62 is a flowchart showing an example of control procedures of the driving route generation method according to the present embodiment. In the present embodiment, when the driver of the vehicle inputs a destination, the controller 7 starts the control flow from step S1.

[0074] In step S1, the controller 7 estimates the current position of the vehicle on the map. In step S2, the controller 7 determines the destination of the vehicle on the map. In step S3, the controller 7 generates a first driving path from the current position of the vehicle to the destination. For example, the controller 7 generates a driving path with the minimum cost among multiple driving paths from the current position of the vehicle to the destination as the first driving path. In step S4, the controller 7 determines, on the first driving path, an intersection connected to a connecting lane included in a connecting road connected to the destination on the front side of the traveling direction as a target intersection.

[0075] In step S5, the controller 7 determines whether the vehicle has passed the target intersection on the non-priority side and entered the connecting lane. If it is determined that the vehicle has passed the target intersection on the non-priority side and entered the connecting lane, the controller 7 proceeds to step S6. If it is determined that the vehicle has entered the connecting lane without passing the target intersection on the non-priority side, the controller 7 proceeds to step S9.

[0076] In step S6, the controller 7 calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path. The controller 7 obtains the non-priority driving path and the priority driving path as the driving path for the vehicle to enter the connecting lane through the target intersection determined in step S4, and calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path. In step S7, the controller 7 generates a second driving path including the priority driving path with a smaller cost as the target driving path. In step S8, the controller 7 controls the driving of the vehicle using the second driving path as the target driving path. In step S9, the controller 7 controls the driving of the vehicle using the first driving path as the target driving path.

[0077] Next, use Figure 7 The flowchart of FIG. 1 illustrates the steps of generating a driving route according to the present embodiment. Figure 7 This is a flowchart showing an example of a control procedure of the driving route generation method according to the present embodiment. Figure 7 Steps S11~15, S22~25 and Figure 6 Steps S1 to 5 and steps S6 to 9 are the same, so the description is omitted. Figure 7As shown, if the controller 7 determines in step S15 that the vehicle passes the target intersection on the non-priority side and enters the connecting lane, the process proceeds to step S16. In addition, if the controller 7 determines in step S15 that the vehicle does not pass the target intersection on the non-priority side and enters the connecting lane, the process proceeds to step S25.

[0078] In step S16, the controller 7 determines whether the crosswalk at the target intersection is crowded with pedestrians. If the controller 7 determines that the crosswalk at the target intersection is crowded with pedestrians, the controller 7 proceeds to step S22. If the controller 7 determines that the crosswalk at the target intersection is not crowded with pedestrians, the controller 7 proceeds to step S17. In step S17, the controller 7 determines whether the vehicle enters a lane other than the lane closest to the vehicle after passing the target intersection. If the controller 7 determines that the vehicle enters a lane other than the lane closest to the vehicle after passing the target intersection, the controller 7 proceeds to step S22. If the controller 7 determines that the vehicle does not enter a lane other than the lane closest to the vehicle after passing the target intersection, the controller 7 proceeds to step S18.

[0079] In step S18, the controller 7 determines whether the vehicle turns left at the target intersection and enters the connecting lane on the first driving path based on the first driving path. In the case where it is determined that the vehicle turns left at the target intersection and enters the connecting lane, the controller 7 proceeds to step S19. In the case where it is determined that the vehicle does not turn left at the target intersection and enters the connecting lane, the controller 7 proceeds to step S25. In step S19, the controller 7 determines whether the speed difference between the speed of the vehicle and the speed of the oncoming vehicle increases. In the case where it is determined that the speed difference between the speed of the vehicle and the speed of the oncoming vehicle increases, the controller 7 proceeds to step S22. In the case where it is determined that the speed difference between the speed of the vehicle and the speed of the oncoming vehicle does not increase, the controller 7 proceeds to step S20.

[0080] In step S20, the controller 7 determines whether the destination is within a specified distance from the target intersection. If it is determined that the destination is within a specified distance from the target intersection, the controller 7 proceeds to step S22. If it is determined that the destination is not within a specified distance from the target intersection, the controller 7 proceeds to step S21. In step S21, the controller 7 determines whether there is an obstacle on the connecting lane on the destination side. If it is determined that there is an obstacle on the connecting lane on the destination side, the controller 7 proceeds to step S22. If it is determined that there is no obstacle on the connecting lane on the destination side, the controller 7 proceeds to step S25. In addition, in the present embodiment, all the determinations of steps S16 to 21 are executed, but not limited to this, and at least any one of the determinations of steps S16 to 21 may also be executed.

[0081] Next, use Figure 8 The flowchart of FIG. 1 illustrates the steps of the driving route generation method according to the present embodiment. Figure 8 This is a flowchart showing an example of a control procedure of the driving route generation method according to the present embodiment. Figure 8 Steps S31 to S35 and Figure 6 Steps S1 to S5 are the same, so the description is omitted. Figure 8 As shown, if the controller 7 determines in step S35 that the vehicle passes the target intersection on the non-priority side and enters the connecting lane, the process proceeds to step S36. In addition, if the controller 7 determines in step S35 that the vehicle does not pass the target intersection on the non-priority side and enters the connecting lane, the process proceeds to step S42.

[0082] In step S36, the controller 7 calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path. In step S37, the controller 7 generates a second driving path including the priority driving path with a smaller cost as the target driving path. In step S38, the controller 7 performs lane determination control to determine the priority entry lane for entering the determined object intersection, in which the vehicle should travel before entering the object intersection in order to pass the object intersection on the priority side. In step S39, the controller 7 determines whether the lane determination control has been executed a specified number of times. In the case where it is determined that the lane determination control has not been executed a specified number of times, the controller 7 proceeds to step S40. In the case where it is determined that the lane determination control has been executed a specified number of times, the controller 7 proceeds to step S41.

[0083] In step S40, the controller 7 determines an intersection connected to the priority entry lane determined in step S38 on the front side of the traveling direction. After determining the intersection, the controller 7 returns to step S35 and repeats the following process for the intersection determined in step S40. That is, in step S35, the controller 7 determines whether the vehicle passes through the target intersection on the non-priority side and enters the connecting lane. In step S41, the controller 7 controls the travel of the vehicle using the second driving path including the priority entry lane determined by executing the lane determination control a specified number of times as the target driving path. In step S42, the controller 7 controls the travel of the vehicle using the first driving path as the target driving path.

[0084] As described above, in this embodiment, the controller determines whether the host vehicle passes through the target intersection on the non-priority side that gives priority to the movement of other moving bodies compared to the travel of the host vehicle and enters the connecting lane included in the connecting road connected to the destination or the passing point. When the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, a target driving path is generated in which the host vehicle passes through the target intersection on the priority side that gives priority to the movement of other moving bodies and enters the connecting lane. As a result, the host vehicle can smoothly travel at the intersection that needs to be passed in order to enter the road connected to the destination or the passing point of the host vehicle.

[0085] In addition, in the present embodiment, the controller generates a first driving path from the current position of the vehicle to the destination and / or the passing point as the target driving path, determines whether the vehicle passes the target intersection on the non-priority side and enters the connecting lane on the first driving path, and changes the target driving path from the first driving path to a second driving path in which the vehicle passes the target intersection on the priority side and enters the connecting lane if the vehicle passes the target intersection on the non-priority side and enters the connecting lane on the first driving path. Thus, in the generated driving path, if the vehicle passes the target intersection on the non-priority side and enters the connecting lane, the driving path can be updated to a driving path in which the vehicle can smoothly travel at the intersection.

[0086] In addition, in this embodiment, the controller determines the intersection that is connected to the lane on the destination or the passing place side on the front side of the connecting lane in the traveling direction as the target intersection, and determines whether the host vehicle passes through the target intersection on the non-priority side and enters the lane on the destination or the passing place side. In this way, it is possible to prevent the generation of a driving path that crosses the opposite lane and enters the destination or the passing place in the connecting road, and limit the intersections where the host vehicle travels.

[0087] In addition, in the present embodiment, the controller obtains a non-priority driving path for the host vehicle to pass through the target intersection on the non-priority side and enter the connecting lane, and a priority driving path for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane, calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path, and generates a target driving path including the priority driving path with a small cost. In this way, a driving path can be generated in which the host vehicle can pass through the intersection on the priority side, and the host vehicle can smoothly drive at the intersection.

[0088] In addition, in the present embodiment, as the priority driving path, the controller obtains the priority left turn path for the vehicle to turn left at the target intersection on the priority side and enter the connecting lane, the priority straight path for the vehicle to go straight at the target intersection on the priority side and enter the connecting lane, and the priority right turn path for the vehicle to turn right at the target intersection on the priority side and enter the connecting lane, and calculates the cost of the priority right turn path to be greater than the cost of the priority left turn path and the cost of the priority straight path, and generates a target driving path including the priority left turn path or the priority straight path with a small cost. Thus, even in the driving path of the vehicle passing through the intersection on the priority side, the vehicle can travel at the intersection along the driving path of the vehicle going straight at the intersection or the driving path of the vehicle turning left at the intersection.

[0089] In addition, in the present embodiment, when the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, the controller determines a priority entry lane in the entry lane into the target intersection that the host vehicle should travel before entering the target intersection in order to pass through the target intersection on the priority side, and repeatedly executes intersection determination control for determining an intersection connected to the determined priority entry lane on the front side of the traveling direction, and lane determination control for determining a priority entry lane in the entry lane into the determined intersection each time an intersection is determined by the intersection determination control, until the number of executions of the lane determination control reaches a predetermined number of times, and after the lane determination control is executed the predetermined number of times, generates a target driving path in which the host vehicle travels in the priority entry lane determined by the lane determination control. Thus, by repeatedly determining the intersection that the host vehicle needs to pass through and determining the entry lane in the entry lane into the intersection that the host vehicle should travel before entering the intersection, a driving path can be generated at each intersection so that the host vehicle can pass through the priority side. For example, even if the vehicle needs to make a left or right turn at any intersection in the travel route from the current position of the vehicle to the destination or the intermediate point, an intersection where the vehicle can make a left or right turn on the priority side can be identified.

[0090] In addition, in the present embodiment, the controller obtains the driving environment information of the crosswalk on the connecting road side of the target intersection, determines whether the crosswalk is crowded with pedestrians based on the driving environment information, and generates a target driving path for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane when the crosswalk is crowded with pedestrians. Thus, it is possible to generate a driving path in which the host vehicle can travel on the priority side at an intersection where the crosswalk is crowded with pedestrians.

[0091] In addition, in the present embodiment, when the host vehicle turns left at the target intersection on the non-priority side and enters the connecting lane, the controller predicts whether the speed difference between the host vehicle and the speed of the oncoming vehicle turning right at the target intersection and entering the connecting lane will increase, and when it is predicted that the speed difference will increase, generates a target driving path for the host vehicle to pass the target intersection on the priority side and enter the connecting lane. Thus, when the host vehicle turns left at the intersection, it is possible to prevent the oncoming vehicle turning right at the intersection from approaching the host vehicle and decelerating suddenly.

[0092] In addition, in the present embodiment, the controller predicts that the vehicle speed difference will increase when the oncoming lane where the oncoming vehicle is traveling is not provided with a signal light indicating that the oncoming vehicle can preferentially turn right at the target intersection and enter the connecting lane, or when the time for the signal light provided in the oncoming lane to indicate that the oncoming vehicle can preferentially turn right at the target intersection and enter the connecting lane is short. Thus, in the case where there is a high possibility that the oncoming vehicle speeds up and turns right at the intersection, it can be predicted that the vehicle speed difference between the host vehicle and the oncoming vehicle will increase.

[0093] In addition, in the present embodiment, the controller determines whether the destination or the waypoint is located within a predetermined distance from the target intersection based on the location of the destination or the waypoint and the location of the target intersection, and generates a target driving path for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane when it is determined that the destination or the waypoint is located within the predetermined distance from the target intersection. Thus, when the host vehicle does not accelerate after passing the intersection, it is possible to prevent an oncoming vehicle turning right at the intersection from approaching the host vehicle and decelerating suddenly.

[0094] In addition, in the present embodiment, the controller obtains the driving environment information of the section between the destination or the waypoint in the connecting lane and the target intersection, and determines whether there is an obstacle that hinders the driving of the host vehicle in the section or whether there is a possibility of an obstacle based on the driving environment information. If it is determined that there is an obstacle or there is a possibility of an obstacle, the controller generates a target driving path for the host vehicle to pass the target intersection on the priority side and enter the connecting lane. In this way, if the host vehicle does not accelerate after passing the intersection in order to overtake the obstacle, it can prevent the oncoming vehicle turning right at the intersection from approaching the host vehicle and decelerating suddenly.

[0095] In addition, in the present embodiment, when the connecting road is a road with two lanes or more on one side, the controller determines whether the host vehicle enters a lane other than the lane closest to the host vehicle after passing the target intersection, and when it is determined that the host vehicle enters a lane other than the lane closest to the host vehicle after passing the target intersection, a target driving path is generated in which the host vehicle passes the target intersection on the priority side and enters the connecting lane. Thus, when the host vehicle enters a lane other than the lane closest to the host vehicle after passing the intersection, it is possible to prevent an oncoming vehicle turning right at the intersection from approaching the host vehicle in the lane and decelerating suddenly.

[0096] In addition, the above-described embodiments are described to facilitate understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above-described embodiments also includes all design changes and equivalents belonging to the technical scope of the present invention.

[0097] Description of Reference Numerals

[0098] 6…Driving path generation device

[0099] 7…Controller

[0100] 100…Own vehicle position estimation unit

[0101] 101…Travel route generation unit

[0102] 102…Road Structure Determination Department

[0103] 103…Judgment Department

Claims

1. A driving route generation method, executed by a controller, for generating a target driving route of a vehicle to a destination and / or a stopover, wherein the driving route generation method is characterized in that: The controller determines whether the host vehicle passes through the target intersection on a non-priority side that prioritizes the movement of other moving bodies compared to the travel of the host vehicle and enters a connecting lane included in a connecting road connected to the destination or the passing point, When the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, a target driving path is generated in which the host vehicle passes through the target intersection on the priority side where the host vehicle can travel with priority relative to the movement of the other moving body and enters the connecting lane. The target intersection is an intersection connected to the destination or the intermediate point via the connecting lane and located on the front side of the traveling direction of the connecting lane.

2. The driving route generation method according to claim 1, characterized in that: The controller generates a first driving path from the current position of the host vehicle to the destination and / or the intermediate location as the target driving path, and determines whether the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane on the first driving path. When the host vehicle passes the target intersection on the non-priority side and enters the connecting lane on the first driving path, the target driving path is changed from the first driving path to a second driving path in which the host vehicle passes the target intersection on the priority side and enters the connecting lane.

3. The driving route generation method according to claim 1 or 2, characterized in that: The controller determines an intersection in the connecting lane that connects to a lane on the destination or the waypoint side on the front side in the traveling direction as the target intersection, It is determined whether the host vehicle passes through the target intersection on the non-priority side and enters a lane on the destination or the wayside.

4. The driving route generation method according to any one of claims 1 to 3, characterized in that: The controller obtains a non-priority driving path in which the vehicle passes through the object intersection on the non-priority side and enters the connecting lane, and a priority driving path in which the vehicle passes through the object intersection on the priority side and enters the connecting lane, calculates the cost of the non-priority driving path to be greater than the cost of the priority driving path, and generates the target driving path that includes the priority driving path with a smaller cost.

5. The driving route generation method according to claim 4, characterized in that: The controller obtains, as the priority driving path, a priority left turn path in which the vehicle turns left at the object intersection on the priority side and enters the connecting lane, a priority straight path in which the vehicle goes straight at the object intersection on the priority side and enters the connecting lane, and a priority right turn path in which the vehicle turns right at the object intersection on the priority side and enters the connecting lane, calculates the cost of the priority right turn path to be greater than the cost of the priority left turn path and the cost of the priority straight path, and generates the target driving path that includes the priority left turn path or the priority straight path with a smaller cost.

6. The driving route generation method according to any one of claims 1 to 5, characterized in that: For the controller, When the host vehicle passes the target intersection on the non-priority side and enters the connecting lane, the controller determines a priority entry lane, among the entry lanes for entering the target intersection, which the host vehicle should travel in before entering the target intersection in order for the host vehicle to pass the target intersection on the priority side. and repeatedly executing the intersection determination control and the lane determination control until the number of executions of the lane determination control reaches a prescribed number of times, The intersection determination control determines an intersection connected to the determined priority entry lane on the front side of the traveling direction, and the lane determination control determines the priority entry lane among the entry lanes entering the determined intersection each time the intersection is determined by the intersection determination control. After the lane determination control is executed the prescribed number of times, the target travel path is generated in which the host vehicle travels in the priority access lane determined by the lane determination control.

7. The driving route generation method according to any one of claims 1 to 6, characterized in that: The controller obtains the driving environment information of the crosswalk on the connecting road side at the target intersection, determining whether the crosswalk is crowded with pedestrians based on the driving environment information, When the crosswalk is crowded with the pedestrians, the target driving path is generated in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane.

8. The driving route generation method according to any one of claims 1 to 7, characterized in that: The controller determines whether a speed difference between the host vehicle and an oncoming vehicle turning right at the object intersection and entering the connecting lane increases when the host vehicle turns left at the object intersection on the non-priority side and enters the connecting lane. If it is determined that the speed difference increases, the controller generates the target driving path for the host vehicle to pass through the object intersection on the priority side and enter the connecting lane.

9. The driving route generation method according to claim 8, characterized in that: The controller determines that the vehicle speed difference has increased when, at the target intersection, there is no signal light on the opposite lane where the oncoming vehicle is traveling that indicates that the oncoming vehicle can turn right at the target intersection and enter the connecting lane, or when the time for the signal light set in the opposite lane to indicate that the oncoming vehicle can turn right at the target intersection and enter the connecting lane is short.

10. The driving route generation method according to any one of claims 1 to 9, characterized in that: The controller determines whether the destination or the route point is located within a specified distance from the object intersection based on the position of the destination or the route point and the position of the object intersection. If it is determined that the destination or the route point is located within the specified distance from the object intersection, the controller generates the target driving path for the vehicle to pass through the object intersection on the priority side and enter the connecting lane.

11. The driving route generation method according to any one of claims 1 to 10, characterized in that: The controller acquires the driving environment information of the section between the destination or the intermediate point on the connecting lane and the target intersection, determining whether there is an obstacle that hinders the travel of the host vehicle in the section or whether there is a possibility that the obstacle exists based on the travel environment information; When it is determined that the obstacle exists or is likely to exist, the target driving path is generated in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane.

12. The driving route generation method according to any one of claims 1 to 11, characterized in that: For the controller, In the case where the connecting road is a single-sided road with two lanes or more, the controller determines whether the vehicle enters a lane other than the lane closest to the vehicle after passing the target intersection. If it is determined that the vehicle enters a lane other than the lane closest to the vehicle after passing the target intersection, the controller generates the target driving path for the vehicle to pass through the target intersection on the priority side and enter the connecting lane.

13. A driving route generation device, comprising a controller for generating a target driving route of a vehicle to a destination and / or a stopover, wherein the driving route generation device is characterized in that: The controller determines whether the host vehicle passes through the target intersection on a non-priority side that prioritizes movement of other moving bodies over travel of the host vehicle and enters a connecting lane included in a connecting road connected to the destination or the route point, When the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, a target driving path is generated in which the host vehicle passes through the target intersection on the priority side where the host vehicle can travel with priority relative to the movement of the other mobile body and enters the connecting lane. The target intersection is an intersection connected to the destination or the route through the connecting lane and located on the front side of the traveling direction of the connecting lane.

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