Map providing device

Abstract

The invention provides a map providing device capable of providing high-precision map information including a parking lot map taking into account a parking method to an automatic driving control unit, and a peripheral technology thereof. A map provision device (100) is provided with: a map storage unit (130) that stores high-precision map information including lane information; a map update unit (120) that adds, to the high-precision map information, parking lot link information in which a vehicle can travel from a lane link of the high-precision map information to a predetermined parking lot; and a map output unit (150) that outputs the updated high-precision map information.

Description

Technical Field

[0001] The present invention relates to a map providing device. Background Art

[0002] In recent years, expectations for autonomous vehicles have been growing to achieve a safe and secure transportation society, and countries around the world are advancing technological development. Autonomous vehicles use information from sensors such as onboard cameras and radar to identify surrounding conditions in real time, enabling autonomous driving. Furthermore, high-precision map information is used to supplement the recognition processing based on sensor information during such autonomous driving.

[0003] Patent Document 1 discloses an information processing device that connects private map information including private land areas and public road map information including information about public roads based on reference points indicating common locations in the private map information and public road map information to generate connected map information. Prior art literature Patent Literature

[0004] Patent Document 1: WO2020 / 090306 Summary of the Invention Problems to be solved by the invention

[0005] In Patent Document 1, connected map information is generated by connecting private map information and public road map information, and this connected map is used for control of autonomous driving.

[0006] However, the method disclosed in Patent Document 1 does not mention a method for providing optimal map information based on the driving convenience of public roads and the conditions of the driving route during autonomous driving, nor does it consider issues such as the processing load of the map information providing device. The present invention aims to provide a map providing device and its peripheral technologies, which can provide an automatic driving control unit with high-precision map information including an optimal parking lot map according to the situation. Technical means to solve the problem

[0007] One aspect of the present invention is a map providing device that provides high-precision map information to an automatic driving control device, comprising: a map storage unit that stores high-precision map information including lane information; a map updating unit that appends parking lot link information that enables driving from the lane link of the high-precision map information to a predetermined parking space to the high-precision map information; and a map output unit that outputs the updated high-precision map information to the automatic driving control device, the map updating unit appending the parking lot link information corresponding to the parking method in the parking lot to the high-precision map information to generate updated new high-precision map information. Effects of the Invention

[0008] According to this aspect of the present invention, high-precision map information containing parking lot link information can be provided to the autonomous driving control device. For example, high-precision map information from any parking lot to any parking lot can be provided to the autonomous driving control device based on the driving path. Further features related to the present invention will become clear through the description and accompanying drawings of this specification. In addition, other issues, structures, and effects beyond those described above will become clear through the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a block diagram showing a first embodiment of a map providing device according to the present invention. Figure 2 Yes Figure 1 A diagram showing an example of high-precision map information in a map providing device. Figure 3 It means in Figure 1 An example of parking lot link information added to high-precision map information in a map providing device. Figure 4 Yes Figure 1 A flowchart of an example of the operation of the map providing device. Figure 5 Yes Figure 1 A flowchart of an example of the operation of the map providing device. Figure 6 Yes Figure 1 FIG. 1 is a diagram showing an example of parking lot information in a map providing device. Figure 7 It means in Figure 4 A diagram showing an example of a method of adding parking lot information and parking lot link information to high-precision map information. Figure 8 It means in Figure 4 A diagram showing an example of a method of adding parking lot link information taking into account reverse parking to high-precision map information. Figure 9This is a diagram showing an example of an autonomous driving driving section near a destination. Figure 10 1 is a diagram showing a modified example of an automatic driving travel section near a destination. Figure 11 This is a diagram showing an example of an autonomous driving driving section from a departure point to a destination. DETAILED DESCRIPTION

[0010] Figure 1 This is a block diagram showing a first embodiment of a map providing device according to the present invention. The map providing device 100 of this embodiment is, for example, one of the ECUs (Electronic Control Units) installed in vehicle 1, and provides high-precision map information to the autonomous driving control device 2. The ECU includes at least one memory containing program code and at least one processor configured to execute the program code. The map providing device 100 implements the following functions by executing the program code pre-stored in the ECU's memory through the processor.

[0011] The map providing device 100 includes: a communication unit 110, which receives high-precision map information 131 required for autonomous driving or parking lot information required for automatic parking from a server 10 connected to the network or from a storage medium such as a USB; a map updating unit 120, which appends parking lot information and parking lot link information to the high-precision map information 131; a map storage unit 130, which stores the high-precision map information 131; a position information acquisition unit 140, which projects the vehicle position onto the high-precision map information 131 using GNSS information from a GNSS receiver 3 that acquires the vehicle position information; and a map output unit 150, which outputs the high-precision map information 131n to which the parking lot link information is appended to the autonomous driving control device 2.

[0012] The automatic driving control device 2 is, for example, an ECU mounted on the vehicle. The automatic driving control device 2 is connected to, for example, various sensors and actuators mounted on the vehicle 1. The automatic driving control device 2 uses the detection results of the various sensors to control the various actuators, causing the vehicle 1 to autonomously drive along the automatic driving driving zone defined by the high-precision map information 131n received from the map providing device 100, and to execute automatic driving until the vehicle 1 autonomously parks at the destination parking lot.

[0013] Figure 2 Yes Figure 1 FIG. 1 is a diagram showing an example of high-precision map information 131 in the map providing device 100. In the following, the direction along the road lane L is referred to as the X direction, and the road width direction of the lane L is referred to as the Y direction. High-precision map information 131 includes information about lane links 132 and road boundary lines 133 for lane L. Lane links 132 are defined by dividing lane L, the road on which the vehicle is traveling, into predetermined sections along the direction of lane L (the X direction). Lane links 132 have a lane link ID that uniquely identifies the lane link and shape information representing the shape of lane L (e.g., starting point coordinates, end point coordinates, and intermediate point coordinates). The shape information for lane L includes information about the shape of a line connecting a starting point set in the center of lane L in the road width direction (the Y direction), at least one intermediate point, and the end point.

[0014] Furthermore, high-precision map information 131 includes connection information indicating the connection relationship between lane links and other lane links (e.g., lane link 132 and lane link 2132). Road boundary 133 consists of a road boundary ID that uniquely identifies road boundary 133 and shape information (e.g., starting point coordinates, end point coordinates, and intermediate point coordinates) that constitutes the road boundary. High-precision map information 131 does not include residential information including the location information of destination residence 134 or parking lot information including the location information of parking spaces 135.

[0015] Figure 3 This is an example in which the map updating unit 120 adds information of the parking lot link 1323 to the high-precision map information 131 . The map updating unit 120 Figure 2 The lane link 132 shown is divided into two lane links 1321 and 1322 , and each of the lane links is assigned an arbitrary lane link ID.

[0016] Furthermore, the map updating unit 120 generates a parking lot link 1323 that connects lane link 1321 and lane link 1322 to parking space 135. Parking lot link 1323 contains information corresponding to the parking method in the parking space, specifically, shape information start and end points, as well as connection information with other lane links. The map updating unit 120 appends the information about parking lot link 1323 to the high-precision map information 131.

[0017] The map updating unit 120 also assigns shape information and a lane link ID to the parking lot link 1323. Furthermore, the map updating unit 120 updates the connection information of each lane link (the lane link 1321 and the lane link 1322).

[0018] The map updating unit 120 sets a shape information starting point 1625 in the lane L as a point at which the vehicle starts moving from the lane L toward the parking space 135 . The map updating unit 120 divides the lane link 132 into the lane link 1321 and the lane link 1322 at the shape information starting point 1625 .

[0019] The map updating unit 120 also divides the road boundary line 133 into a road boundary line 1331 and a road boundary line 1334 , and adds information on the road boundary line 1332 and the road boundary line 1333 that serve as the boundaries of the parking space 135 to the high-precision map information 131 .

[0020] As described above, the map update unit 120 adds parking information and parking link information for a destination such as residence 134 to the high-precision map information 131, thereby generating updated high-precision map information 131n. The map output unit 150 outputs the updated high-precision map information 131n to the automatic driving control device 2.

[0021] The automatic driving control device 2 can control the movement trajectory of the vehicle 1 according to the parking lot information and parking lot link shape information 1323 included in the updated new high-precision map information 131n, thereby realizing automatic parking in the parking space 135 of the residence 134. In addition, by storing the updated new high-precision map information 131n in the map storage unit 130, the map update unit 120 no longer needs to add the parking lot information and parking lot link information to the high-precision map information 131 for the same location.

[0022] Figure 4 : is a flowchart showing the operation of the map updating unit 120 . Assume that the communication unit 110 has received the departure point information, destination information, and route information. For example, the departure point information and destination information are location information such as latitude and longitude, while the route information is a link ID sequence consisting of the lane link IDs from the departure point to the destination, or a point sequence indicating the locations of the shape information start and end points of each lane link. This information is provided to the map providing device 100 by the navigation system installed in the vehicle 1.

[0023] The map update unit 120 obtains the departure point information and destination information received by the communication unit 110 (step S101). Next, the map update unit 120 obtains the route information from the departure point to the destination received by the communication unit 110 (step S102). Furthermore, the map update unit 120 obtains parking lot information at the departure point and at the destination (step S103). This parking lot information can be obtained from the server 10 via the communication unit 110 or from a storage medium such as a USB. Details of the parking lot information will be described later.

[0024] Next, the map update unit 120 obtains high-precision map information 131 near the departure point and the destination from the map storage unit 130 (step S104). For example, high-precision map information 131 with a radius of 100m from the center of the departure point and the destination is obtained from the map storage unit 130. An example of high-precision map information 131 is already in Figure 2 Next, the map update unit 120 generates parking lot link information based on the high-precision map information 131 and the parking lot information, and appends the parking lot information and parking lot link information to the high-precision map information 131 (step S105). Details of the method for appending parking lot information to the high-precision map information 131 will be described later. Finally, the map update unit 120 stores the updated new high-precision map information 131n, which includes the departure and destination parking lot information and parking lot link information, in the map storage unit 130.

[0025] If the departure point or destination is set, the map update unit 120 appends the parking lot link information for the departure point or destination set in the high-precision map information 131 to the high-precision map information 131, updating it to the new high-precision map information 131n. If the update is complete and parking lot link information exists in the high-precision map information for the departure point or destination, the map update unit 120 replaces it with the updated high-precision map information 131n.

[0026] Figure 5 This is a flowchart showing the operation of the map output unit 150 . The map output unit 150 acquires the high-precision map information 131n from the departure point to the destination from the map storage unit 130 (step S201).

[0027] Next, an autonomous driving zone is generated from the departure point to the destination based on the high-precision map information 131n (step S202). This zone is a detailed autonomous driving zone using the high-precision map information 131n, indicating, for example, which lane the vehicle should travel in from the departure point to the destination. An example of an autonomous driving zone will be described later.

[0028] Next, information indicating the vehicle's current location is obtained from the location information acquisition unit 140 (step S203). Finally, high-precision map information 131n corresponding to the vehicle's location is output to the automatic driving control device 2 (step S204). For example, before leaving a residence and boarding the vehicle, high-precision map information 131n from the residential parking lot to a point several kilometers along the route is output to the automatic driving control device 2.

[0029] Figure 6 This is an example of the parking lot information 161 . As mentioned above, the parking lot information 161 can be obtained from the server 10 via the communication unit 110, or it can be obtained from a storage medium such as a USB via the communication unit. For example, the parking lot information 161 has four-corner node information (1621 to 1624) representing the area of the parking space 135. Node information is information indicating a location, and can be represented by coordinates, for example. The parking lot information 161 has parking vehicle direction information 1626 indicating the orientation (parking orientation) of the vehicle 1 when parking in the parking space 135. In order to indicate the orientation of the vehicle 1 when parking in the parking space 135, the node information 1623 and 1624 may have the attribute of the front of the parking space, and the node information 1621 and 1622 may have the attribute of the rear of the parking space. The parking lot information 161 may not include the location information of the residence 134 as the destination. In addition, the parking lot information 161 may also be single-point node information indicating the center of the parking space 135. For example, the server 10 may generate the four corner node information ( 1621 - 1624 ) based on the node information of the center of the parking space 135 and the size of the standard parking space 135 (length 6 m, width 2.5 m).

[0030] Figure 7 This is an example of a method (step S105) of adding parking lot information 161 and parking lot link information to the high-precision map information 131. In this example, the parking lot information 161 includes information for causing the vehicle 1 to back up and park in the parking space 135 facing the road.

[0031] The map updating unit 120 generates a parking lot link 1323 using the parking lot information 161 and the high-precision map information 131. Figure 7 The example shown describes a method for generating parking lot link 1323 to back up vehicle 1 into parking space 135 and park it facing forward relative to the road. Vehicle information can be calculated using standard vehicle information (e.g., total length 5m, total width 2m) or acquired from server 10 or USB via communication unit 110.

[0032] The map updating unit 120 uses the midpoint between node information 1623 and node information 1624 in front of the parking space included in the parking lot information 161 as the shape information end point 1627 of the parking lot link 1323. The map updating unit 120 calculates the shape information start point 1625 of the parking lot link 1323 based on the shape information end point 1627 of the parking lot link 1323. For example, the shape information start point 1625 is a position offset from the shape information end point 1627 in the X direction of the lane L by three times the total length of the vehicle 1 (18 meters) as its X coordinate, and a position offset from the road boundary 133 to one times the width of the vehicle 1 (2 meters) in the -Y direction along the lane width direction as its Y coordinate.

[0033] First, a straight line A is calculated from the shape information endpoint 1627 of parking lot link 1323 to the road boundary 133 in high-precision map information 131. Next, a curve B is calculated from straight line A to a position where vehicle 1 approaches road boundary 133, taking into account the turning radius of vehicle 1. Next, a straight line C is calculated from curve B to the shape information starting point 1625. By connecting straight line C, curve B, and straight line A from the shape information starting point 1625 to the shape information endpoint, shape points are generated at arbitrary intervals. A parking lot link 1323 is generated, including each shape point and shape information connecting these shape points. Furthermore, a road boundary 1332 defining one side of parking space 135 is generated by extending the straight line from node information 1621 to node information 1623 to road boundary 133. The same method is used to generate road boundary 1333 defining the other side of parking space 135.

[0034] The parking lot link 1323 can also be generated externally, for example, on the server 10, and obtained via the communication unit 110. By generating the parking lot link 1323 on the server 10, the user can create a link that conforms to the actual shape of the site, such as a complex approach or a multi-story parking lot. The map providing device 100 appends the information about the complex parking lot link 1323 to the high-precision map information 131 and transmits the updated high-precision map information 131n to the automatic driving control device 2, thereby enabling automatic driving to parking spaces with more complex approach paths.

[0035] To generate parking lot link 1323, the map providing device 100 can also store the vehicle's movement history (location information) and generate parking lot link 1323 based on this movement history. Since parking lot link 1323 is generated based on this movement history, it can be generated using a driving method that was actually used. The map providing device 100 appends the parking lot link 1323, which was actually used, to the high-precision map information 131 and transmits it to the automatic driving control device 2 as new high-precision map information 131n, thereby enabling more realistic automatic driving to a parking lot.

[0036] Furthermore, the updated high-precision map information 131n contains a link type indicating the lane link type and a shape information start point type indicating the shape information start point type for each lane link. When generating a parking lot link 1323, the link type is assigned the "Parking Lot (Reverse)" attribute, and the shape information start point type is set to "Stop Point." Alternatively, the link type and shape information start point type may be assigned to only the parking lot link.

[0037] In addition, for the parking lot link 1323 in the case of parking forward to the parking space 135, the link type is given the attribute of "parking lot (forward)". Figure 7 The parking lot link 1323 in the case where the parking lot at the departure point is used is also assigned the "parking lot (forward)" attribute to the link type. The method of generating the parking lot link 1323 at the departure point is omitted here.

[0038] Figure 8 This is an example of adding information of a parking lot link 1323 that takes reverse parking into consideration to the high-precision map information 131 . The lane link 132 and road boundary line 133 of the high-precision map information 131 are divided as follows: Figure 2 and Figure 3 As described in [ 15] , the map updating unit 120 sets the shape information starting point 1625 at a position offset from the widthwise center of lane L toward the parking space. The high-precision map information 131 is updated with the lane link 1322 as a shape extending from the center of lane L toward the shape information starting point 1625 of parking lot link 1323. The shape of lane link 1322 may also be a gentle curve extending toward shape information starting point 1625.

[0039] Here, an example of a method (step S202) of generating an automatic driving driving section from a departure point to a destination by the map output unit 150 using the updated new high-precision map information 131n is shown. Figure 8 As shown, when the destination is the residence 134 , the automatic driving travel section is generated based on the connection information of the lane links.

[0040] Figure 9 This is an example of an autonomous driving driving section 171 near a destination. The automated driving driving section 171 is composed of a sequence of lane links: lane link 1132, lane link 1322, and lane link (parking lot link) 1323. Each lane link has a link type indicating the type of lane link and a shape information start point type indicating the type of shape information start point. The shape information start point 1625 of lane link 1323 is of the "stop point" type, and the link type is assigned the "parking lot (reverse)" attribute. The map output unit 150 outputs the updated new high-precision map information 131n containing the generated information about the automated driving driving section 171 to the automated driving control device 2.

[0041] The automatic driving control device 2 can perform automatic driving control based on the shape information of the automatic driving travel section 171. Because the automatic driving travel section 171 is assigned "stop point" information, the vehicle 1 can be temporarily stopped at the stop point (shape information starting point 1625) on the left side of the driving lane. Furthermore, because the lane link 1323 is assigned the "parking lot (reverse)" attribute, the automatic driving control device 2 can perform a series of automatic driving controls: after the vehicle has temporarily stopped, it automatically parks in reverse toward the parking space 135 along the shape points of the lane link 1323.

[0042] Figure 10 This is an example of high-precision map information 131 when returning to the residence 134 from the lane link 4322 side. The map updating unit 120 generates lane link 4323 for reverse parking from lane L. The method for generating lane link 4323 is omitted here. The automated driving driving segment 171 generated by the map output unit 150 is composed of lane link 4322 and lane link 4323, and is assigned a stopping point 1625. The method for generating automated driving driving segment 171 is omitted here. The methods for generating lane link 4323 and automated driving driving segment 171 when departing from residence 134 are omitted here.

[0043] Figure 11 This is an example of an autonomous driving driving section 171 from the departure point 134 to the destination 634 . The map update unit 120 only updates the high-precision map information 131 near the departure point and destination when the departure point and destination are specified. For the departure point and destination where autonomous driving has been carried out in the past, new high-precision map information 131n with parking lot information attached is stored in the map storage unit 130. Therefore, the map update unit 120 no longer needs to recalculate the processing of attaching parking lot information to the high-precision map information 131n, and the update can be completed by simply replacing the high-precision map information 131 of the departure point and destination with the high-precision map information 131n. Since only the high-precision map information 131n near the departure point and destination is updated, the processing load of the position information acquisition unit 140 or the map output unit 150 does not increase.

[0044] As described above, the map providing device 100 of this embodiment can add parking lot information 161 to the high-precision map information 131 to generate new high-precision map information 131n. Furthermore, the map providing device 100 can generate an autonomous driving driving section 171 based on the new high-precision map information 131n and transmit it to the autonomous driving control device 2. The autonomous driving driving section 171 takes into account, for example, the vehicle's driving method until it parks in the parking space 135 of the residence 134. Therefore, by using the autonomous driving driving section 171 to control autonomous driving, the autonomous driving control device 2 can achieve autonomous driving from driving on public roads to parking in the parking space 135 of the residence 134.

[0045] The map providing device 100 of this embodiment can add parking lot information 161 and parking lot link information for forward parking (reverse parking) facing the road to the high-precision map information 131 to generate new high-precision map information 131n. The autonomous driving driving section 171 generated based on the new high-precision map information 131n can be generated by considering stopping on the shoulder of the road in front of the parking space of the residence 134 (to the left in this embodiment) and then reversing into the parking space. Therefore, by using the autonomous driving driving section 171 to perform autonomous driving control, the autonomous driving control device 2 can achieve autonomous driving driving on public roads and parking in the parking space 135 of the residence 134, even in the case of a reverse parking in a residential parking lot that requires the vehicle 1 to reverse and park forward relative to the road.

[0046] The map providing device 100 of this embodiment can append parking lot links 1323 information generated on an external server 10 or PC to the high-precision map information 131 to generate updated new high-precision map information 131n. Users can create parking lot links 1323 for parking spaces with complex approach roads or multi-story parking lots. The automated driving driving intervals 171 generated based on the new high-precision map information 131n can account for parking spaces with complex approach roads. Therefore, the automated driving control device 2 can perform automated driving control using automated driving intervals 171, enabling automated driving on complex approach roads to a parking space.

[0047] The map providing device 100 of this embodiment can store new high-precision map information 131n that takes into account the driving method to the destination parking space in the map storage unit 130. When the destination is the same, the new high-precision map information 131n can simply be read from the map storage unit 130. When the destination is the same, the processing of adding the parking lot link 1323 to the high-precision map information 131 to generate new high-precision map information 131n is no longer necessary, thereby reducing the processing load on the map providing device 100.

[0048] The map providing device 100 of this embodiment generates new high-precision map information 131n only when the departure and destination points are set. The position information acquisition unit 140 can use the minimum required high-precision map information 131n to determine the vehicle's position on the high-precision map information 131n. The map output unit 150 can use the minimum required high-precision map information 131n to generate the automatic driving driving section 171.

[0049] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the aforementioned embodiments, and various design changes can be made without departing from the spirit of the present invention as described in the claims. For example, the aforementioned embodiments are described in detail to facilitate understanding of the present invention and are not necessarily limited to having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and the structure of another embodiment can be added to the structure of a certain embodiment. Furthermore, other structures can be added, deleted, or replaced with a part of the structure of each embodiment. Explanation of symbols

[0050] 1...Vehicle, 2...Automatic driving control device, 100...Map providing device, 110...Communication unit, 120...Map updating unit, 130...Map storage unit, 131...High-precision map information, 132...Lane link, 133...Road boundary line, 134...Residence (destination), 135...Parking space, 140...Position information acquisition unit, 150...Map output unit, 1625...Shape information starting point (stop point), 1627...Shape information end point, L...Lane.

Claims

1. A map providing device that provides high-precision map information to an autonomous driving control device, the map providing device comprising: a map storage unit that stores high-precision map information including information on lane links of a lane in which the vehicle is traveling; a map updating unit that adds information about a parking lot link that enables traveling from the lane link to a predetermined parking space to the high-precision map information to update the high-precision map information; and a map output unit, which outputs the updated high-precision map information to the automatic driving control device, The map updating unit adds information on a parking lot link corresponding to the parking method in the parking space to the high-precision map information to generate updated new high-precision map information.

2. The map providing device according to claim 1, wherein: The map updating unit adds parking lot information having a shape corresponding to the area and parking direction of the parking space to the high-precision map information.

3. The map providing device according to claim 2, wherein: During reverse parking, in which the vehicle needs to be reversed into a parking lot, the map updating unit adds parking lot link information for temporarily stopping in the lane and then reverse parking to the high-precision map information.

4. The map providing device according to claim 3, wherein: The map updating unit sets the shape information starting point of the parking lot link at a position offset from the center in the width direction of the lane toward the parking space side.

5. The map providing device according to claim 1, wherein: The map updating unit divides the lane link of the high-precision map information at a starting point of shape information of the parking lot link, and connects the lane link and the parking lot link at the starting point of the shape information.

6. The map providing device according to claim 5, wherein: When the departure place or destination is set, the map update unit will append the information of the parking lot link of the departure place or the destination set in the high-precision map information to the high-precision map information to update it to new high-precision map information, and when the update has been completed and the information of the parking lot link exists in the high-precision map information of the departure place or the destination, it will be replaced by the updated high-precision map information.

7. The map providing device according to claim 6, wherein: The map updating unit receives the high-precision map information and the parking lot link information from an external server, and adds the parking lot link information from the lane link to the predetermined parking space to the high-precision map information for updating.

Images