Map processing apparatus and map processing method

Abstract

The map processing device is provided with a map data pre-reading part. The map data pre-reading unit is capable of acquiring lane connection data including connection information indicating lane sections in the direction in which a lane extends. And a plurality of types of map data including lane group connection data indicating connection information between lane group sections in the direction in which a lane group comprising one or more lanes extends, the map data being acquired from the plurality of types of map data for a predetermined point in front of the vehicle. Map data of a type corresponding to a condition of a predetermined location is acquired.

Description

TECHNICAL FIELD

[0001] The present application relates to a map processing device and a map processing method. BACKGROUND

[0002] In the past, a technology of pre-reading map data in a map creation application used in an electronic map display system or the like has been disclosed (for example, refer to Patent Literature 1). In Patent Literature 1, a technology of extracting map data by selecting a map data tile of a region including a first path and a region including a secondary path (a return path or the like) selected in accordance with the first path from the entire map data available is disclosed. In the pre-reading technology of map data disclosed in Patent Literature 1, map data of a secondary path is pre-read in accordance with a first path, but the amount of map data accessed is adjusted in accordance with the priority of the secondary path.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Laid-Open No. 2015-501956 SUMMARY

[0006] As described above, in the past, a technology of pre-reading map data in a map processing device has been proposed, but in this technical field, there is a demand for reducing the capacity of a storage device that holds map data within a device to reduce costs. In order to solve this problem, it is necessary to reduce the capacity of map data held within a map processing device, but when the capacity of map data held is excessively reduced, there is a possibility that the performance of the map processing device will be reduced. Therefore, in the technical field of map processing devices, there is a demand for developing a technology that can balance the reduction of the capacity of a storage device that holds map data within a device and the maintenance of the performance of the device.

[0007] In particular, in a map processing device that can perform driving support at a level of a lane (hereinafter referred to as "lane") of a road required in automatic driving of a vehicle that has been developed in recent years, map data with higher detail is used in comparison with a conventional vehicle navigation system that can be used in driving support at a level of a road. Therefore, in a map processing device that processes such high-detail map data, the capacity of map data held within the device also becomes large, and the above-described demand is also large. Further, for example, in Patent Literature 1 described above, a technology of pre-reading other paths (secondary paths) that can be assumed in accordance with the position of the host vehicle and a path is disclosed, but there is a tendency that secondary paths become long distances on an expressway. Therefore, for example, even when the technology disclosed in Patent Literature 1 described above is applied to a map processing device that processes high-detail map data, it is difficult to pre-read all map data of secondary paths required in driving support.

[0008] Thus, the present application has been achieved in order to satisfy the above-described demand. An object of the present application is to provide a map processing device used in travel support of a vehicle, in which reduction in capacity of a storage device that holds map data within the device and maintenance of performance of the device are both taken into consideration.

[0009] To solve the above problem, the map processing device of the present application includes a map data pre-reading section that can acquire a plurality of types of map data. The plurality of types of map data includes lane connection data that indicates connection information between lane sections in an extension direction of a lane, and lane group connection data that indicates connection information between lane group sections in an extension direction of a lane group composed of one or more lanes. Further, the map data pre-reading section acquires a type of map data corresponding to a condition of a predetermined location ahead of the host vehicle when acquiring map data of the predetermined location ahead of the host vehicle from the plurality of types of map data.

[0010] In addition, to solve the above problem, the map processing method of the present application includes a step in which the map data pre-reading section of the map processing device of the present application acquires a type of map data corresponding to a condition of a predetermined location ahead of the host vehicle when acquiring map data of the predetermined location ahead of the host vehicle from a plurality of types of map data.

[0011] According to the above-described structure of the present application, in a map processing device used in travel support of a vehicle, reduction in capacity of a storage device that holds map data within the device and maintenance of performance of the device are both taken into consideration. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a schematic configuration diagram of an in-vehicle system including a map processing device according to an embodiment of the present application.

[0013] Figure 2 is a functional block configuration diagram of a map processing device according to an embodiment of the present application.

[0014] Figure 3 is a diagram showing a relationship of various map data stored in a storage section of a map processing device according to an embodiment of the present application, and various applications using the various map data.

[0015] Figure 4 is a configuration diagram of hardware of a map processing device according to an embodiment of the present application.

[0016] Figure 5 is a diagram showing a relationship of various map data pre-read in a map processing device according to an embodiment of the present application, and a distance from a host vehicle position to a pre-reading target location.

[0017] Figure 6is a flowchart showing a procedure of a pre-reading process of various map data of a map processing device according to an embodiment of the present application.

[0018] Figure 7 is a flowchart showing a procedure of a pre-reading execution process of various map data of a map processing device according to an embodiment of the present application.

[0019] Figure 8 is a diagram for explaining an outline of a first route change action example at the time of route deviation, which is performed by a map processing device according to an embodiment of the present application.

[0020] Figure 9 is a diagram showing an action flow of the first route change action example at the time of route deviation of a map processing device according to an embodiment of the present application.

[0021] Figure 10 is a diagram for explaining an outline of a second route change action example at the time of route deviation, which is performed by a map processing device according to an embodiment of the present application.

[0022] Figure 11 is a diagram showing an action flow of the second route change action at the time of route deviation of a map processing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] Hereinafter, a map processing device and a map processing method (a pre-reading method of map data) according to an embodiment of the present application will be specifically described with reference to the drawings. Further, the present application can be applied to, for example, an operation device (for example, an MPU (Map Positioning Unit), etc.) for vehicle control communicable with an in-vehicle ECU (Electronic Control Unit) of an advanced driver assistance system (ADAS: Advanced Driver Assistance System) or an autonomous driving (AD: Autonomous Driving)-oriented vehicle.

[0024] [Structure of in-vehicle system]

[0025] Figure 1 is a diagram showing an outline structure of an in-vehicle system including a map processing device according to an embodiment of the present application. Further, in Figure 1 , only a structure portion related to various processes performed by the map processing device is shown.

[0026] An in-vehicle system 1 of a host vehicle having an autonomous driving function is as shown in Figure 1As shown, the map processing device 2, the vehicle navigation system 3 (hereinafter referred to as "vehicle navigation 3"), and the automatic driving control device 4 are connected to each other within the in-vehicle system 1. In addition, the map processing device 2 is connected to, for example, a map distribution server 5 provided outside, such as a cloud, via a communication network 6.

[0027] In the map distribution server 5, various map data (for example, lane connection data, lane attribute data, lane boundary data, and the like described later: hereinafter referred to as "high-precision map data") of a high degree of detail at a lane level required in automatic driving travel support of the host vehicle are stored. Also, the map processing device 2 acquires various high-precision map data of the host vehicle surroundings from the map distribution server 5 as needed at startup. Furthermore, although illustration is omitted, the vehicle navigation 3 is connected to, for example, a map distribution server for vehicle navigation provided outside, such as a cloud, via a communication network, and acquires various map data of a road level of the host vehicle surroundings from the map distribution server for vehicle navigation as needed.

[0028] The map processing device 2 has a function of pre-acquiring (hereinafter referred to as "pre-reading") various high-precision map data of a recommended path (hereinafter also referred to as "predetermined travel path") up to a destination and a path in the vicinity thereof required in automatic driving support of the host vehicle from the map distribution server 5. Furthermore, the "path in the vicinity of the predetermined travel path" referred to here means a path that can branch from the predetermined travel path. Also, the map processing device 2 searches for the predetermined travel path using the pre-read various high-precision map data, and outputs information related to the predetermined travel path decided by this search processing to the automatic driving control device 4. In addition, in the present embodiment, as described later, when the host vehicle deviates from the predetermined travel path, the map processing device 2 also performs search and decision processing for a new predetermined travel path using the various high-precision map data that has been pre-read. Furthermore, hereinafter, the internal structure and processing content of the map processing device 2 are described with reference to the drawings.

[0029] The vehicle navigation 3 searches for a recommended path up to a destination using various map data of a road level of the host vehicle surroundings acquired from the map distribution server for vehicle navigation, and sets the recommended path obtained by this search processing as the predetermined travel path. In addition, the vehicle navigation 3 outputs various information such as the predetermined travel path set by the vehicle navigation 3, the destination, the search conditions for the path, and the like to the map processing device 2.

[0030] The automatic driving control device 4 performs automatic driving control of the host vehicle using information of the predetermined travel path up to the destination set by the map processing device 2 or the vehicle navigation 3.

[0031] [Structure of Map Processing Device]

[0032] Figure 2is a configuration diagram of functional blocks that the map processing device 2 according to an embodiment of the present application has. Further, in Figure 2 , only the configuration part relating to the pre-reading processing of various high-precision map data of the map processing device 2, and the search and decision processing of the scheduled travel route up to the destination is shown.

[0033] The map processing device 2 has, as shown in Figure 2 , a control section 10, a storage section 11, a sensor section 12, a first communication section 13, a second communication section 14, and a third communication section 15. Further, the control section 10 is connected to the storage section 11, the sensor section 12, the first communication section 13, and the second communication section 14, and the storage section 11 is connected to the third communication section 15.

[0034] The control section 10 uses various data (information) acquired from the storage section 11, the sensor section 12, and the first communication section 13, searches for a recommended route of the lane level up to the destination, and outputs the information of the scheduled travel route obtained as a result of the search to the automatic driving control device 4 via the second communication section 14. In addition, as will be described later, even when the host vehicle deviates from the scheduled travel route, the control section 10 performs the search and decision processing of a new scheduled travel route. Further, the internal structure of the control section 10 will be described later.

[0035] The storage section 11 is connected to an external map distribution server 5 via the third communication section. Also, in the storage section 11, various high-precision map data that enables automatic travel support in the lane level is stored, which is distributed from the map distribution server 5. Further, in the present embodiment, it is assumed that in the map distribution server 5, various high-precision map data that enables automatic travel support in the lane level not only with respect to expressways but also with respect to general roads is stored.

[0036] In addition, the storage section 11 has a lane connection / attribute data storage section 31, a lane boundary data storage section 32, a lane shape data storage section 33, and a lane group connection data storage section 34.

[0037] In the lane connection / attribute data storage section 31, information relating to the connection relationship between lane sections connected to each other via branch points (for example, intersection points and the like: hereinafter referred to as "nodes") that are physically configured on a travel lane (hereinafter referred to as "lane connection data") is stored. Further, in the lane connection data, for example, not only connection information between lane sections (between nodes) in the extension direction of the lane, but also information relating to the position coordinates of the nodes, identification information of the lane, the travel direction, information relating to the possibility of changing the lane at the nodes, and various information are included.

[0038] In addition, in the lane connection / attribute data storage section 31, information (hereinafter referred to as "lane attribute data") about attributes (properties, characteristics) of each lane between nodes is stored. In the lane attribute data, various information such as class information of the lane, width of the lane, curvature of the lane, slope class of the lane, and information indicating whether the lane is passable or not is included, for example. Further, in the information indicating whether the lane is passable or not included in the lane attribute data, real-time or time-limited traffic information such as information of congestion, information of under construction, and the like is included, for example.

[0039] In the lane boundary data storage section 32, information (hereinafter referred to as "lane boundary data") about boundaries between lanes adjacent in a direction orthogonal to the extension direction of the lane is stored. Further, in the lane boundary data, information such as class of the boundary line (such as a white line, a yellow line, and the like) between the lanes, pattern class of the boundary line, and the like is included, for example.

[0040] In the lane shape data storage section 33, information (hereinafter referred to as "lane shape data") about the shape of each lane between nodes is stored. In the present embodiment, as the lane shape data, shape data of the center line of each lane (hereinafter referred to as "lane center line shape data") and shape data of the boundary of each lane (hereinafter referred to as "lane boundary shape data") are individually provided. Further, both the lane center line shape data and the lane boundary shape data are constituted by point list data of coordinates.

[0041] In addition, in the travel support of the automated driving of the map processing device 2, connection information of a group (hereinafter referred to as "lane group") obtained by collecting a plurality of lanes existing between nodes into one group is used. In the present embodiment, a lane group is also provided for a travel path in which the number of lanes existing between nodes is one (such as a general road described later Figures 8-10 In the present embodiment, a lane group is constituted by one or more lanes. Further, in the lane group connection data storage section 34, information (hereinafter referred to as "lane group connection data") about connections between lane groups connected to each other via nodes is stored. In the lane group connection data, only the minimum connection information between lane groups is included, and in addition to the connection information between lane groups in the extension direction of the lane group (between nodes), various information such as identification information of the lane group is included, for example.

[0042] The sensor unit 12 includes various devices for identifying surrounding structures and vehicles, the vehicle's position, and the vehicle's driving conditions. Specifically, the sensor unit 12 includes a camera (photographic device) capable of capturing images of the vehicle's surroundings, a GPS (Global Positioning System) module capable of determining the vehicle's position based on road conditions, and acceleration and angular velocity sensors capable of measuring the vehicle's driving conditions. The various information acquired by the sensor unit 12 is input to the control unit 10, which uses this information to identify surrounding structures and vehicles and estimate the vehicle's own position.

[0043] The first communication unit 13 is connected to the vehicle navigation 3. Various information set by the vehicle navigation 3, such as the planned driving route, destination, and route search conditions, is sent to the control unit 10 via the first communication unit 13. The second communication unit 14 is connected to the automatic driving control device 4. Information on the planned driving route to the destination determined by the control unit 10 is sent to the automatic driving control device 4 via the second communication unit 14. In addition, the third communication unit 15 is connected to the external map distribution server 5 via the communication network 6, receives various high-precision map data distributed from the map distribution server 5, and outputs the received various high-precision map data to the storage unit 11. In addition, the operations of the first communication unit 13 to the third communication unit 15 are controlled by the control unit 10.

[0044] [Structure of the control unit]

[0045] The control unit 10 is as follows Figure 2 As shown, the vehicle functionally includes a surrounding recognition unit 20 , a self-position estimation unit 21 , a candidate route search unit 22 (route search unit), a route selection unit 23 (route determination unit), a lane data pre-reading unit 24 (map data pre-reading unit), and a map access unit 25 .

[0046] The functional processing connections between the functional blocks are as follows. The surrounding recognition unit 20 is connected to the sensor unit 12, the self-position estimation unit 21, and the lane data pre-reading unit 24. The self-position estimation unit 21 is connected to the sensor unit 12, the candidate path search unit 22, and the lane data pre-reading unit 24. The candidate path search unit 22 is connected to the first communication unit 13, the route selection unit 23, and the lane data pre-reading unit 24. The route selection unit 23 is connected to the second communication unit 14 and the map access unit 25. The lane data pre-reading unit 24 is connected to the map access unit 25. Furthermore, the map access unit 25 is connected to each of the lane connection / attribute data storage unit 31, the lane boundary data storage unit 32, the lane shape data storage unit 33, and the lane group connection data storage unit 34 in the storage unit 11.

[0047] The surrounding recognition section 20 recognizes the structure of the surroundings, the presence or absence of a vehicle, the position, and the like in front of the host vehicle, on the basis of a surrounding image in front of the host vehicle input from a camera (not shown) in the sensor section 12 and various high-precision map data input from the lane data pre-reading section 24. Also, the surrounding recognition section 20 outputs the recognition results of the structure of the surroundings and the vehicle in the vicinity of the host vehicle to the own-position estimation section 21 and the lane data pre-reading section 24.

[0048] The own-position estimation section 21 estimates the position of the host vehicle on the basis of the recognition results of the structure of the surroundings and the vehicle in the vicinity of the host vehicle input from the surrounding recognition section 20, various sensor information input from the sensor section 12, and various high-precision map data input from the lane data pre-reading section 24.

[0049] Also, in the present embodiment, as the estimation application of the position of the host vehicle by the own-position estimation section 21, two types of applications are mounted. Specifically, an application that estimates the position of the host vehicle using a surrounding image in front of the host vehicle and high-precision map data, and an application that estimates the position of the host vehicle using high-precision map data are mounted. Hereinafter, the former application will be referred to as a "high-precision positioner (camera recognition)", and the latter application will be referred to as a "high-precision positioner (map matching)".

[0050] Also, in the present embodiment, the type of high-precision map data used in the estimation process of the position of the host vehicle by the own-position estimation section 21 also varies depending on the estimation application of the position of the host vehicle used. Figure 3 is a diagram showing the relationship between the type of estimation application of the position of the host vehicle and the type of high-precision map data used, and the high-precision map data used is indicated by a circle mark. Also, in Figure 3 In the diagram, the high-precision map data used in the search process of the candidate route by the candidate route search section 22 and the determination process of the predetermined travel route by the route selection section 23 is also shown (refer to the "lane level search" column in the diagram). In the diagram, the high-precision map data used in the search process of the candidate route by the candidate route search section 22 is indicated by a circle mark, and the high-precision map data used in the determination process of the predetermined travel route by the route selection section 23 is indicated by a triangle mark.

[0051] The high-precision map data used in the high-precision positioner (camera recognition) is as follows. Figure 3Shown are lane connection data, lane attribute data, lane boundary data, lane centerline shape data, lane boundary shape data, and lane group connection data. That is, the high-precision locator (camera recognition) utilizes all types of high-precision map data stored in the storage unit 11. On the other hand, the high-precision map data used by the high-precision locator (map matching) includes lane connection data, lane attribute data, lane centerline shape data, and lane group connection data. In other words, the high-precision map data used by the high-precision locator (map matching) does not include high-precision map data related to lane boundaries.

[0052] Furthermore, the own-vehicle position estimation unit 21 outputs information on the own-vehicle position estimated using a high-precision locator (camera recognition) or a high-precision locator (map matching) to the candidate route search unit 22 and the lane data pre-reading unit 24 .

[0053] The candidate route search unit 22 searches for a candidate that can be a recommended route to the set destination (hereinafter referred to as a "candidate route"). At this time, the candidate route search unit 22 searches for a plurality of candidate routes based on the vehicle position input from the own position estimation unit 21, various high-precision map data input from the lane data pre-reading unit 24, and the destination information (position information, etc.) input from the vehicle navigation 3. In addition, as described later, when the vehicle deviates from the set scheduled driving route, the candidate route search unit 22 uses only the lane group connection data as high-precision map data to perform candidate route search processing (see Figure 3 ). Then, the candidate route search unit 22 outputs information on a plurality of candidate routes obtained through the search process to the route selection unit 23.

[0054] The route selection unit 23 selects a route based on the lane connection data and lane attribute data (see Figure 3 ), selects (determines) a predetermined driving path from a plurality of candidate paths input from the candidate path search unit 22. In addition, in the selection process of the predetermined driving path by the path selection unit 23, a candidate path is picked up in a predetermined order for a plurality of candidate paths, and whether the candidate path is actually suitable for automatic driving is determined based on the lane attribute data of the picked candidate path. And, in the case where the picked candidate path is a path suitable for automatic driving (a drivable path), the path selection unit 23 determines the picked candidate path as the predetermined driving path. Thereafter, the path selection unit 23 sends information related to the selected predetermined driving path (the "determined path" in the figure) to the automatic driving control device 4 via the second communication unit 14.

[0055] Further, in the selection process of the predetermined travel route in the route selection section 23, one order is set in advance from the pickup order (selection order) of the candidate routes of the following multiple kinds.

[0056] (1) Order from small to large in the amount of read-in of high-precision map data

[0057] (2) Order from short to long in the distance of the candidate route

[0058] (3) Order from short to long in the required time until the destination

[0059] (4) Order in which the search condition considering the initial predetermined travel route set by the vehicle navigation 3 or the like is taken into account

[0060] In the pickup order of the above (1), the capacity of the read-in map data is not known in advance, so the candidate route is picked up in the order from small to large in the number of newly read-in lane groups (node number). In the pickup order of the above (2), it is necessary to make the lane group connection data include information of the distance of the lane group (inter-node distance). In the pickup order of the above (3), it is necessary to make the lane group connection data include information of the average speed and to associate the lane group connection data with the traffic information. Further, in the pickup order of the above (4), the pickup order of the candidate route corresponding to the search condition in the vehicle navigation 3, such as the use of the expressway, the arrival time, or the like, which is acquired through the first communication section 13 or the like, is set. However, in the selection process of the predetermined travel route in the route selection section 23, the candidate route in which the read-in of the high-precision map data of the next node (branch point) until the lane group or the lane is short in distance is not caught up with is removed.

[0061] The lane data pre-reading section 24 pre-reads (acquires) multiple kinds of high-precision map data of the predetermined travel route and the surrounding route of the front of the own vehicle, which are required for smoothly performing the automatic driving support of the own vehicle, from the map distribution server 5. Specifically, the lane data pre-reading section 24 selects a slice (hereinafter referred to as "map slice") including a section of the predetermined travel route and / or the surrounding route of the front of the own vehicle from the map divided in a slice shape, and pre-reads various kinds of high-precision map data of the road included in the map slice. At this time, the category of the pre-read high-precision map data varies depending on the condition of the pre-reading target location (predetermined location) of the front of the own vehicle. Specifically, for example, the category of the pre-read high-precision map data varies depending on the condition such as the distance on the travel route from the own vehicle position to the pre-reading target location, whether the pre-reading target location is a location on the predetermined travel route, the possibility of deviating from the predetermined travel route (the easiness of becoming a secondary route), or the like. Further, the specific content of the pre-reading process of the lane data pre-reading section 24 will be described later in detail with reference to the drawings.

[0062] The map access section 25 accesses the storage section 11, acquires various high-precision map data stored in the storage section 11, and outputs the acquired various high-precision map data to the lane data pre-reading section 24 and the route selection section 23. Further, from the map access section 25 to the lane data pre-reading section 24, high-precision map data of a category corresponding to the condition of the above-described pre-reading target point is output, and from the map access section 25 to the route selection section 23, lane connection data and lane attribute data of the candidate route are output. Further, as described above, in the present embodiment, the route selection section 23 determines a predetermined travel route in accordance with the lane attribute data, and therefore the high-precision map data input from the map access section 25 to the route selection section 23 can be only the lane attribute data of the candidate route.

[0063] [Hardware structure of map processing device]

[0064] The map processing device 2 of the present embodiment can be constituted by an arithmetic processing device such as a computer device provided with an arithmetic function and a communication function. Figure 4 is a block diagram showing an example of a hardware structure of an arithmetic processing device 100 applicable as the map processing device 2.

[0065] The arithmetic processing device 100 is provided with a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, and a RAM (Random Access Memory) 103 connected to a bus 108. In addition, the arithmetic processing device 100 is provided with a network I / F (interface) 104, an operation section 105, a display section 106, and a nonvolatile storage device 107 connected to the bus 108. Further, although not shown in Figure 4 , the arithmetic processing device 100 is further provided with various interfaces used when performing input and output processing of various data (various information) with external devices. Furthermore, although not shown in Figure 4 , the arithmetic processing device 100 is further provided with a structure section equivalent to the sensor section 12 in Figure 2

[0066] The CPU 101 reads program codes of software for realizing various processing functions possessed by the map processing device 2 from the ROM 102 to the RAM 103 and executes. At this time, in the RAM 103, variables, parameters, and the like occurring in the middle of the arithmetic processing are also temporarily written. That is, Figure 2 The control section 10 possessed by the map processing device 2 in

[0067] ​The network I / F 104 is constituted by, for example, a NIC (Network Interface Card) and transmits and receives various data to and from connected devices.

[0068] The operating unit 105 is composed of, for example, keys and buttons, and generates an operation signal corresponding to the operation input by the operator and supplies the operation signal to the CPU 101. Furthermore, for example, the operating unit 105 can be operated to set the order in which candidate routes are selected in the process of selecting a planned travel route by the route selection unit 23. Such operations can also be performed via an operating unit (not shown) included in the car navigation system 3. In this case, the map processing device 2 does not include the operating unit 105.

[0069] The display unit 106 is composed of, for example, a liquid crystal panel, and displays text, images, and the like on a screen. Alternatively, the display unit 106 may be composed of a touch panel, in which case the display unit 106 and the operating unit 105 are integrally formed. Furthermore, the output information from the map processing device 2 may be displayed on a display unit (not shown) provided for displaying various information output from the car navigation system 3, etc. In this case, the map processing device 2 does not include the display unit 106.

[0070] The non-volatile storage device 107 can be composed of, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a floppy disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, or a non-volatile memory. In addition to an OS (Operating System) and various parameters, the non-volatile storage device 107 also stores a program for causing the processing unit 100 to function as the map processing unit 2. Furthermore, in this embodiment, the non-volatile storage device 107 stores the various types of high-precision map data described above. Figure 2 The storage unit 11 of the map processing device 2 is included in the nonvolatile storage device 107. Furthermore, information (data) such as programs, tables, and files that implement the various functions of the map processing device 2 may be stored in a recording medium such as an IC card, an SD card, or a DVD, in addition to the ROM 102 and the nonvolatile storage device 107.

[0071] [Overview of the high-precision map data pre-reading function]

[0072] In the present embodiment, the lane data pre-reading unit 24 has a pre-reading function for high-precision map data as shown in the following (A) to (C).

[0073] (A) In a case where the pre-reading target location is a location on a predetermined travel route, the lane data pre-reading section 24 changes the category of the high-precision map data pre-read (acquired) in accordance with the distance on the travel route from the host vehicle position to the pre-reading target location.

[0074] (B) In a case where the pre-reading target location is a location of a peripheral route that can branch from the predetermined travel route, the lane data pre-reading section 24 pre-reads only the lane group connection data.

[0075] (C) With respect to a location within a predetermined distance from a departure point on a route that can be traveled after departing from the predetermined travel route, the lane data pre-reading section 24 pre-reads not only the lane group connection data but also various high-precision map data required for automatic driving assistance such as the lane connection data. At this time, the high-precision map data pre-read can be, for example, not only all categories of high-precision map data shown in Figure 3 but also high-precision map data other than the high-precision map data related to the boundary of the lane.

[0076] Further, in the map processing device 2 of the present embodiment, the entire structure example provided with the pre-reading functions of the above (A) to (C) is described, but the present application is not limited thereto. For example, there can also be a structure in which, with respect to the pre-reading function of the above (C) (hereinafter referred to as "departure prediction function"), for example, depending on the processing performance, memory capacity, or the like of the map processing device 2, the function is not provided. In addition, for example, there can be a structure provided with the pre-reading function of one of the above (A) and (B). In a case where only the pre-reading function of the above (A) is provided, the category of the high-precision map data pre-read at the pre-reading target location on the peripheral route also changes in accordance with the distance on the travel route from the host vehicle position to the pre-reading target location. On the other hand, in a case where only the pre-reading function of the above (B) is provided, at the pre-reading target location on the predetermined travel route, regardless of the distance from the host vehicle position, not only the lane group connection data but also various high-precision map data required for automatic driving assistance such as the lane connection data are pre-read.

[0077] Here, the content of the pre-reading function of the above (A) is specifically described. Figure 5 is a schematic view showing the relationship between the category of the high-precision map data pre-read by the lane data pre-reading section 24 and the distance on the travel route from the host vehicle position to the pre-reading target location in the pre-reading function of the above (A) (a case where the pre-reading target location is a location on the predetermined travel route). Further, in Figure 5 , a road with one-sided two-lane travel is exemplified. Therefore, in the example shown in Figure 5 , four lanes are gathered to constitute one lane group.

[0078] In Figure 5In the example shown, a lane group segment 40, i.e., a lane group section, is represented by a roughly rectangular block. Lane group connection data 41 is represented by nodes (branch points) marked with white circles, which are located at the entry and exit points of each lane group segment 40. Lane connection data 42 is represented by nodes (branch points) marked with black circles, which are located at the entry and exit points of the corresponding lane within each lane group segment 40. Lane attribute / shape data 43 (lane attribute data and lane centerline shape data) is represented by solid lines (links) connecting the nodes of lane connection data 42. Furthermore, map data 44 related to lane boundaries (lane boundary data and lane boundary shape data) is represented by a graphic (white line pattern) consisting of white rectangles arranged at predetermined intervals along the extension direction of the road. In addition to the illustrated white line pattern, the map data 44 related to lane boundaries also includes, for example, lines representing boundaries with sidewalls and data on the sidewalls themselves.

[0079] If the pre-read target point is a point 51 that is close to the vehicle position (e.g., several kilometers ahead), then Figure 5 As shown, the lane data pre-reading unit 24 obtains various high-precision map data used in the estimation process of the vehicle position by the high-precision locator (camera recognition). Specifically, in the pre-reading for the short-distance point 51, the lane data pre-reading unit 24 pre-reads (acquires) the lane group connection data 41, the lane connection data 42, the lane attribute / shape data 43, and the map data 44 related to the lane boundary. In other words, in the pre-reading for the short-distance point 51, the lane data pre-reading unit 24 obtains Figure 3 High-precision map data of all categories shown. Furthermore, during the preview of a nearby location 51, the lane data preview unit 24 also obtains an image of the surrounding area in front of the vehicle captured by the camera in the sensor unit 12, thereby obtaining information related to physical structures 45 and vehicles in the surrounding area in front of the vehicle.

[0080] In addition, Figure 5In the pre-reading of the location 51 for the close distance, the lane data pre-reading section 24 pre-reads (acquires) high-precision map data of two lanes in the traveling direction of the host vehicle and also pre-reads (acquires) high-precision map data of two lanes in the opposite direction, but the present application is not limited to this. In the pre-reading of the location 51 for the close distance, for example, in the case where there is a physical structure 45 in the periphery in front of the host vehicle, the lane data pre-reading section 24 can also pre-read high-precision map data of a range that is visible from the host vehicle (for example, a range into which the periphery image is captured). For example, in the case where a center divider is provided as the physical structure 45 between two lanes in the traveling direction of the host vehicle and the opposite lane is not visible from the host vehicle, the lane data pre-reading section 24 can also pre-read high-precision map data of only two lanes in the traveling direction of the host vehicle. In this case, it is not necessary to read in high-precision map data of the opposite lane, so the capacity of the acquired high-precision map data can be further reduced.

[0081] If the pre-reading target location is the location 52 for the middle distance from the host vehicle position, the lane data pre-reading section 24 acquires various high-precision map data that is used in the estimation processing of the host vehicle position in the high-precision positioner (map matching). Specifically, in the pre-reading of the location 52 for the middle distance, the lane data pre-reading section 24 pre-reads (acquires) the lane group connection data 41, the lane connection data 42, and the attribute / shape data 43 of the lane. Furthermore, in the pre-reading of the location 52 for the middle distance, the lane data pre-reading section 24 acquires high-precision map data of only two lanes in the traveling direction of the host vehicle.

[0082] In addition, if the pre-reading target location is the location 53 for the long distance from the host vehicle position, the lane data pre-reading section 24 pre-reads (acquires) only the lane group connection data 41. Also, if the pre-reading target location is the location 54 that is further away from the location 53, the lane data pre-reading section 24 does not pre-read (acquire) high-precision map data. Furthermore, for example, the boundary values of the above-described "close distance", "middle distance", and "long distance", the boundary values of the distance for which high-precision map data is not pre-read (the first to third predetermined distances D1 to D3 in the map processing device 2 described later), and the like can be appropriately set in accordance with the category of the travel route (general road, expressway, and the like), the processing performance of the map processing device 2, the memory capacity, and the like. Figure 7

[0083] [Pre-reading processing of high-precision map data by map processing device]

[0084] Next, the processing flow of the pre-reading processing of high-precision map data that is executed by the lane data pre-reading section 24 of the map processing device 2 will be described. Furthermore, the pre-reading processing of high-precision map data that is executed by the lane data pre-reading section 24 of the map processing device 2 will be described in the order of the pre-reading of the location 51 for the close distance, the pre-reading of the location 52 for the middle distance, and the pre-reading of the location 53 for the long distance. Figure 4 ​CPU 101 in the vehicle 1, controls the pre-reading processing of the lane data pre-reading section 24 described below.

[0085] Further, in the pre-reading processing of the lane data pre-reading section 24 described below, the pre-reading processing when the pre-reading target point is on the predetermined travel path and when the pre-reading target point is on the peripheral path of the predetermined travel path, i.e., the pre-reading functions of (A) and (B) described above, are explained. Further, in the explanation of the processing flow below, the outline of the deviation prediction function of (C) described above, which takes into account the possibility of deviation from the predetermined travel path, is explained as appropriate.

[0086] <Processing flow of the entire pre-reading processing of the high-precision map data>

[0087] First, with reference to Figure 6 The processing flow of the entire pre-reading processing of the high-precision map data performed by the lane data pre-reading section 24 is explained. Figure 6 is a flowchart showing the processing flow of the entire pre-reading processing of the high-precision map data performed by the lane data pre-reading section 24. Further, if the map processing device 2 is started (power is turned on), the processing of the entire pre-reading processing of the high-precision map data shown in Figure 6 is started.

[0088] First, the lane data pre-reading section 24 determines whether there is a free time for performing the pre-reading processing (S1). In this processing, the lane data pre-reading section 24 determines, based on the current processing load of the CPU 101, whether there is a time in which the pre-reading processing of the map data can be performed in the CPU 101, i.e., whether there is a margin in the processing load of the CPU 101. For example, in the case where the host vehicle deviates from the predetermined travel path and performs a search processing of a new path until the destination, etc. (for example, the operation described later), the processing load of the CPU 101 with respect to the search processing of the path becomes high, so there is no margin for performing the pre-reading processing. Therefore, in such a situation, there is no free time for performing the pre-reading processing, the determination processing of S1 becomes a "No" determination, and the processing (pre-reading processing) after S3 described later is not performed. Figures 8-11

[0089] In the case where the lane data pre-reading section 24 determines that there is no free time for performing the pre-reading processing in S1 (the case where S1 is determined as "No"), the lane data pre-reading section 24 performs a waiting processing for a certain time (S2). Further, after the processing of S2, the lane data pre-reading section 24 returns the processing to the processing of S1, and repeats the processing after S1.

[0090] ​On the other hand, in a case where the lane data pre-reading section 24 determines that there is a free time for performing the pre-reading processing (a case where the determination in S1 is "Yes"), the lane data pre-reading section 24 determines whether to perform the pre-reading processing on the predetermined travel route (S3). In this processing, in a case where there is a place on the predetermined travel route to the destination on which the pre-reading processing has not been performed at the processing time point, the lane data pre-reading section 24 determines to perform the pre-reading processing on the predetermined travel route (determination is "Yes"). On the other hand, in a case where there is no place on the predetermined travel route to the destination on which the pre-reading processing has not been performed at the processing time point, the lane data pre-reading section 24 determines not to perform the pre-reading processing on the predetermined travel route (determination is "No").

[0091] In a case where the lane data pre-reading section 24 determines to perform the pre-reading processing on the predetermined travel route (a case where the determination in S3 is "Yes"), the lane data pre-reading section 24 acquires the map tile including the place on the predetermined travel route on which the high-precision map data has not been acquired (S4). That is, in this processing, the lane data pre-reading section 24 acquires the map tile including the pre-reading target place on the predetermined travel route on which the pre-reading processing has not been performed.

[0092] Next, the lane data pre-reading section 24 performs the pre-reading execution processing of the high-precision map data (S5). In this processing, the lane data pre-reading section 24 pre-reads (acquires) the high-precision map data of each pre-reading target place on the predetermined travel route included in the map tile acquired in the processing in S4 from the map distribution server 5. At this time, as explained in Figure 5 the category of the high-precision map data pre-read by the lane data pre-reading section 24 differs depending on the distance on the travel route from the host vehicle position to the pre-reading target place. Further, the map tile to be acquired by the lane data pre-reading section 24 is explained in detail later in Figure 7 the pre-reading execution processing of the map data in S5 is explained in detail later.

[0093] On the other hand, in a case where the lane data pre-reading section 24 determines not to perform the pre-reading processing on the predetermined travel route (a case where the determination in S3 is "No"), the lane data pre-reading section 24 acquires the map tile including the place on the peripheral route of the predetermined travel route on which the high-precision map data has not been acquired (S6). That is, in this processing, the lane data pre-reading section 24 acquires the map tile including the pre-reading target place on the peripheral route of the predetermined travel route on which the pre-reading processing has not been performed. At this time, the lane data pre-reading section 24 acquires the map tile closest to the host vehicle position.

[0094] Next, the lane data pre-reading section 24 performs a pre-reading process of the lane group connection data (S7). In this process, the lane data pre-reading section 24 pre-reads (acquires) the lane group connection data of each pre-reading target location on the surrounding path included in the map tile acquired in the process of S6 from the map distribution server 5. Further, in the case of having the departure prediction function, in the process of S7, for the locations on the surrounding path within a predetermined distance from the departure point, not only the lane group connection data but also various high-precision map data required for automatic driving assistance such as the lane connection data is pre-read (acquired).

[0095] After the process of S5 or S7, the lane data pre-reading section 24 determines whether to continue the pre-reading process of the high-precision map data (S8). In this process, the lane data pre-reading section 24 determines whether the power of the map processing device 2 is off, and if the power of the map processing device 2 is not off, the pre-reading process of the high-precision map data is continued, so the determination process of S8 is a "Yes" determination. On the other hand, if the power of the map processing device 2 is off, the determination process of S7 is a "No" determination.

[0096] In the case where the lane data pre-reading section 24 determines to continue the pre-reading process of the high-precision map data (the case where S8 is determined to be "Yes"), the lane data pre-reading section 24 returns the process to the process of S1 and repeats the processes after S1. On the other hand, in the case where the lane data pre-reading section 24 determines not to continue the pre-reading process of the high-precision map data (the case where S8 is determined to be "No": the case where the power is off), the lane data pre-reading section 24 ends the pre-reading process of the high-precision map data.

[0097] <Process flow of the pre-reading execution process in S5>

[0098] Next, the process flow of the pre-reading execution process performed in S5 in the process flow of the entire pre-reading process of the high-precision map data shown in FIG. 8 will be described with reference to FIG. 9. Figure 7 The process flow of the pre-reading execution process performed in S5 in the process flow of the entire pre-reading process of the high-precision map data shown in FIG. 8 will be described with reference to FIG. 9. Figure 6 is a flowchart showing the procedure of the pre-reading execution process of the high-precision map data performed in S5 described above. Figure 7 is a flowchart showing the procedure of the pre-reading execution process of the high-precision map data performed in S5 described above.

[0099] First, the lane data pre-reading section 24 determines whether or not the distance d of the predetermined pre-reading target location on the predetermined travel path included in the acquired map slice from the host vehicle position is less than the first predetermined distance Dl (Sll). Also, here, the "distance d of the predetermined pre-reading target location from the host vehicle position" is the distance on the predetermined travel path from the host vehicle position to the predetermined pre-reading target location. Also, here, the "first predetermined distance Dl" is a threshold value for determining whether or not the distance d of the predetermined pre-reading target location from the host vehicle position is a near distance.

[0100] In the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is less than the first predetermined distance Dl (the case where Sll is determined to be "Yes"), the lane data pre-reading section 24 performs the processing of S14 described later. On the other hand, in the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is not less than the first predetermined distance Dl (the case where Sll is determined to be "No"), the lane data pre-reading section 24 determines whether or not the distance d of the predetermined pre-reading target location from the host vehicle position is less than the second predetermined distance D2 (S12). Also, here, the "second predetermined distance D2" is a threshold value for determining whether or not the distance d of the predetermined pre-reading target location from the host vehicle position is a middle distance.

[0101] In the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is less than the second predetermined distance D2 (the case where S12 is determined to be "Yes"), the lane data pre-reading section 24 performs the processing of S15 described later. On the other hand, in the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is not less than the second predetermined distance D2 (the case where S12 is determined to be "No"), the lane data pre-reading section 24 determines whether or not the distance d of the predetermined pre-reading target location from the host vehicle position is less than the third predetermined distance D3 (S13). Also, here, the "third predetermined distance D3" is a threshold value for determining whether or not the distance d of the predetermined pre-reading target location from the host vehicle position is a far distance.

[0102] In the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is less than the third predetermined distance D3 (the case where S13 is determined to be "Yes"), the lane data pre-reading section 24 performs the processing of S16 described later. On the other hand, in the case where the lane data pre-reading section 24 determines that the distance d of the predetermined pre-reading target location from the host vehicle position is not less than the third predetermined distance D3 (the case where S13 is determined to be "No"), the lane data pre-reading section 24 performs the processing of S17 described later.

[0103] Returning again to the explanation of the process of Sll, in the case where Sll determines "Yes", that is, in the case where the distance d from the vehicle position to the predetermined read target location is a short distance, the lane data read section 24 performs a read process of the lane boundary / boundary shape data (S14). Specifically, the lane data read section 24 reads (acquires) the lane boundary data and the lane boundary shape data of the predetermined read target location.

[0104] After the process of S14, or in the case where S12 determines "Yes" (in the case where the distance d from the vehicle position to the predetermined read target location is a medium distance), the lane data read section 24 performs a read process of the lane connection / attribute / center line shape data (S15). Specifically, the lane data read section 24 reads (acquires) the lane connection data, the lane attribute data, and the lane center line shape data of the predetermined read target location.

[0105] After the process of S15, or in the case where S13 determines "Yes" (in the case where the distance d from the vehicle position to the predetermined read target location is a long distance), the lane data read section 24 performs a read process of the lane group connection data of the predetermined read target location (S16).

[0106] After the process of S16, or in the case where S13 determines "No", the lane data read section 24 determines whether all the read target locations included in the acquired map tile have been selected (S17).

[0107] In the case where S17 determines "No" (in the case where it is determined that all the read target locations have not been selected), the lane data read section 24 returns the process to the process of Sll, and repeats the processes after Sll. At this time, the lane data read section 24 newly selects, as the predetermined read target location, a read target location for which the read process has not been performed, and repeats the processes after Sll.

[0108] On the other hand, in the case where S17 determines "Yes" (in the case where it is determined that all the read target locations have been selected), the lane data read section 24 ends the read execution process, and shifts the process to S8 in the read process (refer to Figure 6 ).

[0109] As described above, in the pre-reading execution processing on the predetermined travel route by the lane data pre-reading section 24, if the distance d of the pre-reading target point from the host vehicle position is the close distance (d < D1: distance within the predetermined range), the pre-reading processing of S14 to S16 described above is performed, and the high-precision map data of all categories is pre-read. In the pre-reading execution processing on the predetermined travel route, if the distance d of the pre-reading target point from the host vehicle position is the middle distance (D1 ≦ d < D2), the pre-reading processing of S15 and S16 described above is performed, and the high-precision map data except for the data related to the boundary of the lane is pre-read. Further, in the pre-reading execution processing on the predetermined travel route, if the distance d of the pre-reading target point from the host vehicle position is the far distance (D2 ≦ d < D3: distance within the specific range), the pre-reading processing of S16 described above is performed, and only the lane group connection data is pre-read. Furthermore, in the pre-reading execution processing of the above embodiment, even on the predetermined travel route, if the distance d of the pre-reading target point from the host vehicle position is the third predetermined distance D3 or more, the pre-reading processing of S14 to S16 described above is not performed, and the high-precision map data is not pre-read (acquired).

[0110] [Route change action of map processing device at the time of occurrence of route deviation]

[0111] Next, in the map processing device 2 of the present embodiment, the change action of the route (predetermined travel route) to the destination performed when the host vehicle deviates from the predetermined travel route will be described. Further, the change action of the route at the time of route deviation is performed by the candidate route search section 22 and the route selection section 23 in the map processing device 2, and the processing action is controlled by the CPU 101 in the Figure 4

[0112] <First route change action example>

[0113] Figure 8 is a diagram showing the situation at the time of occurrence of route deviation when the host vehicle enters an expressway from an ordinary road, and an outline of the first route change action performed by the map processing device 2 at the time of occurrence of the situation. In the first route change action example, a case where the following route deviation situation occurs is considered.

[0114] ​First, assume that the scheduled travel route (hereinafter referred to as "original route Ro") of the host vehicle in automatic driving set in advance using the vehicle navigation 3 is a route (solid arrow in the figure) from an entry point INa at which the host vehicle enters the expressway toward a merging point A of the expressway. Also, assume that before the host vehicle reaches the entry point INa in automatic driving, the driver grasps that congestion occurs on the expressway in the section from the merging point A to the next merging point B by observing a display provided on the general road that displays the congestion status of the expressway or by listening to the guidance sound of the vehicle navigation 3. Also, assume that the driver judges that the original route Ro that turns right at the entry point INa is not good and takes an emergency turn (switches to manual driving) to go straight at the entry point INa. In the case where such a route departure occurs, after the route departure, the map processing device 2 searches for a new scheduled travel route (hereinafter referred to as "new route Rn") to the destination using the lane group connection data that has been pre-read. Also, in the example shown in the figure, a recovery route to the expressway (dotted arrow in the figure) from the entry point INb toward the merging point B of the expressway is decided as the new route Rn. Figure 8

[0115] Here, refer to Figure 9 for a more detailed explanation of the contents of the first route change operation, i.e., the route recovery operation to the expressway, performed by the map processing device 2 when the route departure situation shown in Figure 8 Figure 9 is shown. The figure shows the flow (situation) of the route change operation performed by the map processing device 2 when the route departure situation shown in Figure 8 , and the relationship between the high-precision map data that has been pre-read and the high-precision map data that is acquired in each situation of the route change operation.

[0116] Also, in Figure 9 , as in Figure 5 , one lane group section is represented by a substantially rectangular block, a node (branch point) marked with a white circle represents lane group connection data, and a node marked with a black circle represents lane connection data. Also, in Figure 9 , a road segment (solid line) connecting the nodes marked with black circles represents lane attribute data and lane center line shape data. Also, in Figure 9 , for simplicity of explanation, the illustration of map data (lane boundary data and lane boundary shape data) related to the boundary of a lane is omitted. Further, in Figure 9 , for simplicity of explanation, in the lane group section for which lane connection data (node marked with a black circle) is acquired (pre-read), the illustration of acquired lane group connection data (node marked with a white circle) is omitted. Also, assume that Figure 9 ​​Each lane group section is present from the vehicle to the middle distance (refer to Figure 5 ) within the scope of .

[0117] Figure 9 Situation (a1) in the figure is the situation before the vehicle deviates from its route. Therefore, in this situation, at least lane group connection data, lane connection data, lane attribute data, and lane centerline shape data are pre-read (acquired) for each lane group segment along the original route Ro pre-set by the vehicle navigation system 3. Furthermore, lane boundary data and lane boundary shape data are acquired for lane group segments located close to the vehicle, along with images of the surrounding area in front of the vehicle captured by the camera in the sensor unit 12.

[0118] In addition, in the case (a1), in the lane group segments on the peripheral path of the original route Ro, mainly only the lane group connection data is pre-read (obtained) (refer to the nodes marked with white circles in the figure). However, at the entry point INa to the highway, a route different from the original route Ro is branched. Therefore, in the case (a1), considering the possibility that the vehicle will deviate from the other route, the lane connection data, lane attribute data, lane centerline shape data, etc. are pre-read in several lane group segments that exist along the other route from the lane group segment including the entry point INa (refer to Figure 9 “Out of forecast” in [1].

[0119] After situation (a1), in view of the congestion of the highway, the situation when the vehicle does not turn right at the entry point INa but goes straight (exits) is Figure 9 In this case, the map processing device 2 (candidate route search unit 22) of the vehicle searches for a new route Rn to the destination using pre-read lane group connection data for each lane group segment ahead of the route after the departure. Furthermore, in situation (b1), this search yields multiple routes, including a return route (candidate route Rc) from the entry point INb to the merging point B, as candidate routes for the new route Rn.

[0120] After situation (b1), the map processing device 2 (route selection unit 23) of the vehicle selects candidate routes in the order of the amount of high-precision map data read from small to large (the number of newly read nodes from small to large), and determines whether the candidate routes are suitable for the autonomous driving of the vehicle. In other words, the route selection unit 23 selects candidate routes in the order of returning to the highway as soon as possible and determines whether the candidate routes are suitable for the autonomous driving. Therefore, in Figure 9In the example shown, the map processing device 2 (the route selection section 23) first acquires the lane connection data and the lane attribute data for each lane group section existing along the candidate route Rc. This situation is Figure 9

[0121] In situation (cl), the map processing device 2 (the route selection section 23) refers to the lane attribute data for each lane group section existing along the candidate route Rc to determine whether the candidate route Rc is actually suitable for automatic driving travel by the host vehicle (drivability). Also, in Figure 9 In the example shown, it is determined that the candidate route Rc is suitable for automatic driving travel, and the map processing device 2 (the route selection section 23) decides the candidate route Rc as the new route Rn. Thereafter, the map processing device 2 acquires other high-precision map data in order from the read-ahead target location close to the host vehicle on the new route Rn.

[0122] In the occurrence of Figure 8 Figure 9 the route departure shown in FIG. 10, the route change action is performed by the map processing device 2 as described above. Also, in the above first route change action example, the high-precision map data for each lane group section that has been used or unused is appropriately deleted (discarded) in conjunction with the progress of the host vehicle. In addition, in the above first route change action example, the case where the original route Ro before the departure is set by the vehicle navigation 3 is described, but the present application is not limited to this. For example, even in the case where the original route Ro before the departure is set by the map processing device 2 (the control section 10), the new route Rn is decided as in the above first route change action example.

[0123] <Second Route Change Action Example>

[0124] Figure 10 is a diagram showing a situation in the case where the route departure occurs when the host vehicle enters the expressway from the general road, and an outline of the second route change action performed by the map processing device 2 at the time of the occurrence of this situation.

[0125] Figure 10 The occurrence situation of the route departure shown in FIG. 11 is the same as the occurrence situation described in Figure 8 , so the description thereof is omitted here. Also, in the example shown in Figure 10 , an example is shown in which, after the route departure, the recovery route to the expressway from the entry location INc toward the merging location C of the expressway is decided as the new route Rn. In addition, in the example shown in Figure 10 ​​In the example shown, the example in which the route recovery route to the merging point B of the expressway from the entrance point INb existing between the entrance point INa and the entrance point INc of the expressway also becomes the candidate path Rc1 but the candidate path Rc1 is not drivable is shown.

[0126] Here, the contents of the second route change operation, i.e., the route recovery operation to the expressway, performed by the map processing device 2 when the route departure condition shown in Figure 11 is occurred will be described in more detail. Figure 10 The contents of the second route change operation, i.e., the route recovery operation to the expressway, performed by the map processing device 2 when the route departure condition shown in Figure 11 is occurred will be described in more detail. Figure 10 is occurred will be described in more detail. Figure 11 The display styles of the lane group sections and the various high-precision map data shown in Figure 9 are the same as the display styles of them described in Figure 11 The respective lane group sections described are also present within the range from the host vehicle to the middle distance (refer to Figure 5 ).

[0127] Figure 11 The condition (a2) in is a condition before the route departure of the host vehicle. Therefore, in this condition, at least the lane group connection data, the lane connection data, the lane attribute data, and the lane center line shape data are pre-read (acquired) in each lane group section existing along the original route Ro set in advance by the vehicle navigation 3. Further, in the lane group section existing in the close distance from the host vehicle, further the lane boundary data and the lane boundary shape data, and the surrounding image of the front of the host vehicle photographed by the camera in the sensor section 12 are acquired.

[0128] Further, in the condition (a2), in the lane group sections on the surrounding paths of the original route Ro, mainly only the lane group connection data is pre-read (acquired) (refer to the nodes marked with white circles in the drawing). However, at the entrance point INa to the expressway, branching to a route different from the original route Ro is made. Therefore, in the condition (a2), considering the possibility that the host vehicle departs to this other route, further the lane connection data, the lane attribute data, the lane center line shape data, and the like are pre-read in several lane group sections existing along this other route from the lane group section including the entrance point INa (refer to the "departure prediction" in Figure 11 ).

[0129] The condition in which the host vehicle does not turn right at the entrance point INa but goes straight (departs) in view of the congestion condition of the expressway after the condition (a2) is Figure 11In this case, in the map processing device 2 (candidate route search section 22) of the host vehicle, using the lane group connection data that has been pre-read in each lane group section ahead of the route after the departure, a search process of a new route Rn up to the destination is performed. Also, in the situation (b2), by this search process, a plurality of routes including a recovery route to the expressway from the entry point INb toward the merging point B (candidate route Rc1) and a recovery route to the expressway from the entry point INc toward the merging point C (candidate route Rc2) are obtained as the candidate routes of the new route Rn.

[0130] After the situation (b2), the map processing device 2 (route selection section 23) of the host vehicle selects the candidate routes in order from the least to the most of the read-in amount of the high-precision map data (in order from the least to the most of the number of newly read-in nodes) and determines whether the candidate routes are suitable for the automatic driving travel of the host vehicle. That is, the route selection section 23 selects the candidate routes in order to recover to the expressway as early as possible and determines whether the candidate routes are suitable for the automatic driving travel. Therefore, in the example shown in FIG. 12, the map processing device 2 (route selection section 23) first acquires the lane connection data and the lane attribute data of each lane group section existing along the candidate route Rc1. This situation is Figure 11 Figure 11 the situation (c2) in FIG. 11.

[0131] In the situation (c2), the map processing device 2 (route selection section 23) refers to the lane attribute data of each lane group section existing along the candidate route Rc1 and determines whether the candidate route Rc1 is actually suitable for the automatic driving travel (drivability). In Figure 11 In the example shown in FIG. 12, a case is considered in which, for example, due to a construction work, congestion, a curvature of a lane exceeding a threshold value, or the like in the travel section from the entry point INb to the merging point B, the candidate route Rc1 is not suitable for the automatic driving travel of the host vehicle. In this case, in the situation (c2), the map processing device 2 (route selection section 23) determines that the candidate route Rc1 is not drivable and cannot be decided as the new route Rn (refer to the white cross mark in the figure).

[0132] After the situation (c2), the map processing device 2 (route selection section 23) of the host vehicle acquires the lane connection data and the lane attribute data of each lane group section existing along the candidate route Rc2. This situation is Figure 11 the situation (d2) in FIG. 11. Also, in the situation (d2), the map processing device 2 (route selection section 23) refers to the lane attribute data of each lane group section existing along the candidate route Rc2 and determines whether the candidate route Rc2 is actually suitable for the automatic driving travel of the host vehicle. In Figure 11 ​In the example shown, a case is considered in which the candidate route Rc2 is actually suitable for automatic driving. In this case, in the situation (d2), the map processing device 2 (route selection section 23) determines the candidate route Rc2 as the new route Rn. Thereafter, the map processing device 2 sequentially acquires other high-precision map data from the pre-reading target location close to the host vehicle on the new route Rn.

[0133] In the case where the route deviates Figure 10 and Figure 11 In the route deviation shown, the route change action is performed by the map processing device 2 as described above. Further, even in the above-described second route change action example, the high-precision map data of each lane group section that has been used or unused is appropriately deleted (discarded) along with the progress of the host vehicle. In addition, in the above-described second route change action example, a case is described in which the original route Ro before the deviation is set by the vehicle navigation 3, but the present application is not limited to this. For example, even in the case where the original route Ro before the deviation is set by the map processing device 2 (control section 10), the new route Rn is determined as in the above-described second route change action example.

[0134] [Various Effects]

[0135] As described above, in the map processing device 2 of the present embodiment, when the high-precision map data is pre-read (acquired) from the map distribution server 5, the category of the high-precision map data pre-read (acquired) is changed according to the distance on the predetermined travel route from the host vehicle position to the pre-reading target location. For example, as described above, if the distance on the travel route from the host vehicle position to the pre-reading target location is a short distance, all categories of high-precision map data are pre-read, and if it is a long distance, only the lane group connection data is pre-read. Therefore, in the map processing device 2 of the present embodiment, it is possible to reduce the capacity of the high-precision map data held in the device, and thereby it is possible to reduce the capacity of the storage device that holds the map data in the device, and reduce the cost. In addition, in the present embodiment, at the pre-reading target location that is present at a short distance from the host vehicle position, all categories of high-precision map data, i.e., various high-precision map data required for support for automatic driving and the like, are pre-read, so the performance of the map processing device 2 is maintained. According to the above, in the map processing device 2 of the present embodiment, it is possible to balance the reduction of the capacity of the storage device that holds the map data in the device and the maintenance of the performance of the device.

[0136] In the map processing device 2 of the present embodiment, when the map data is pre-read (acquired) from the map distribution server 5, in the case where the pre-reading target location is not on the predetermined travel route, only the lane group connection data of the pre-reading target location is pre-read. Therefore, in the present embodiment, it is possible to further reduce the capacity of the high-precision map data held in the device.

[0137] In the map processing device 2 of the present embodiment, for a location existing in a close distance from the host vehicle, a peripheral image in front of the host vehicle is acquired, and with respect to a lane that is not captured in the peripheral image, high-precision map data is not acquired. Thus, in the present embodiment, the capacity of the high-precision map data held in the device can be further reduced.

[0138] The map processing device 2 of the present embodiment has the route departure prediction function as described above. Specifically, in a case where there is a branch point on the predetermined travel route at which there is a possibility of departure, with respect to a location (a part of the location after the branch point) in a range of a predetermined distance from the branch point on the route at which there is a possibility of departure, not only the lane group connection data but also, for example, various high-precision map data required for support for automatic driving and the like, such as lane connection data, is read in advance. Thus, in the present embodiment, even if the travel route departs from the predetermined travel route, since the various high-precision map data such as the lane connection data is read in advance in a part of the decided new route, it is possible to more quickly recover to automatic driving in the new route.

[0139] In the map processing device 2 of the present embodiment, when the host vehicle departs from the predetermined travel route in automatic driving, the new predetermined travel route is searched using the lane group connection data read in the route after the departure. Thus, in the present embodiment, even if the host vehicle departs from the predetermined travel route in automatic driving, it is possible to quickly decide the new predetermined travel route, and it is also possible to achieve early recovery to automatic driving in the new predetermined travel route.

[0140] Further, in the map processing device 2 of the present embodiment, in a case where a plurality of candidate routes are found in the search processing of the candidate route at the time of route departure, each candidate route is picked up in a predetermined order set in advance, and it is determined whether the picked-up candidate route can be traveled. At this time, in the present embodiment, as a criterion of the pickup order of the candidate route that can be set, a plurality of kinds of criteria are provided. Specifically, as described above, there are provided the pickup order criteria of the order of the amount of read-in high-precision map data from small to large, the order of the distance of the candidate route from short to long, the order of the required time to the destination from short to long, the order considering the search condition of the initial predetermined travel route set by the vehicle navigation 3 and the like, and the like. Also, in the present embodiment, from among these criteria, the predetermined criterion can be selected by the driver and the like. Thus, in a case where such a function is provided, it is possible to perform the decision processing of the new route corresponding to the user's demand, priority.

[0141] [Various Modified Examples]

[0142] In the above-described embodiments, a configuration example in which the vehicle navigation 3 is provided independently of the map processing device 2 is described, but the present application is not limited to this. The vehicle navigation 3 can also have the above-described various functions of the map processing device 2. In this case, the vehicle navigation 3 functions as the map processing device 2. In addition, the functions of the vehicle navigation 3 can also be provided to the map processing device 2, in which case the vehicle navigation 3 need not be provided. In addition, likewise, the automatic driving control device 4 can also have the above-described various functions of the map processing device 2.

[0143] In the above-described embodiments, an example in which the high-precision map data that is the processing target, the lane connection data, the lane attribute data, the lane boundary data, the lane center line shape data, the lane boundary shape data, and the lane group connection data are provided independently is described, but the present application is not limited to this. It is possible to group some of these high-precision map data as one high-precision map data, or to finely divide one high-precision map data into a plurality of high-precision map data. In addition, as the high-precision map data that is the processing target, for example, similar map data including the same information as the above-described various high-precision map data, or associated data from which the above-described various high-precision map data can be derived can also be used.

[0144] In the above-described embodiments, an example in which the map processing device 2 is provided to a vehicle having an automatic driving function is described, but the present application is not limited to this, and the map processing device 2 of the above-described embodiments can also be applied to a vehicle that does not have an automatic driving function.

[0145] In addition, the above-described embodiment examples describe the configuration of the device in detail and specifically in order to easily and clearly describe the present application, but are not limited to having all of the described configurations. In addition, the present application can employ other various application examples and modifications as long as the spirit of the present application described in the claims is not deviated from.

[0146] (Symbol Description)

[0147] 1: in-vehicle system; 2: map processing device; 3: vehicle navigation; 4: autonomous driving control device; 5: map distribution server; 10: control section; 11: storage section; 12: sensor section; 20: surrounding recognition section; 21: self-position estimation section; 22: candidate route search section; 23: route selection section; 24: lane data pre-reading section; 25: map access section; 31: lane connection / attribute data storage section; 32: lane boundary data storage section; 33: lane shape data storage section; 34: lane group connection data storage section; 40: lane group section; 41: lane group connection data; 42: lane connection data; 43: lane attribute data, lane center line shape data; 44: lane boundary data, lane boundary shape data; 45: physical structure; 51, 52, 53, 54: pre-reading target location.

Claims

1. A map processing device comprising a map data pre-reading unit, The map data pre-reading unit is capable of obtaining multiple types of map data, including lane connection data indicating connection information between lane sections in the extension direction of the lane, and lane group connection data indicating connection information between lane group sections in the extension direction of a lane group consisting of one or more lanes. When obtaining map data of a predetermined location ahead of the vehicle from the multiple types of map data, the map data of the type corresponding to the conditions of the predetermined location is obtained.

2. The map processing device according to claim 1, wherein: The condition of the predetermined location is the distance from the vehicle position to the predetermined location. The map data pre-reading unit obtains the plurality of types of map data if the distance from the vehicle position to the predetermined location is within a predetermined range, and obtains only the lane group connection data if the distance from the vehicle position to the predetermined location is within a specific range that is greater than the predetermined range.

3. The map processing device according to claim 1, wherein: The condition of the predetermined location is whether the predetermined location is a location on the predetermined driving path of the vehicle. The map data pre-reading unit acquires the lane connection data when the predetermined point is a point on the planned driving route of the vehicle, and acquires the lane group connection data when the predetermined point is a point on a route branching from the planned driving route of the vehicle.

4. The map processing device according to claim 3, wherein: The map processing device further includes a route search unit that searches for a candidate route that can become a new planned driving route by referring to the lane group connection data obtained at a point on a route where the vehicle can travel after the deviation when the vehicle deviates from the planned driving route.

5. The map processing device according to claim 4, wherein: The plurality of types of map data include lane attribute data including information on lane characteristics and driving conditions. The map processing device further includes a route determination unit that, when a plurality of candidate routes are obtained by the route search unit, sequentially selects one candidate route from the plurality of candidate routes in accordance with a predetermined selection order, obtains the lane attribute data of the selected candidate route, and determines whether the selected candidate route is suitable for driving the vehicle.

6. The map processing device according to claim 3, wherein: The map data pre-reading unit acquires the lane connection data for a portion of points on a route that branches off from a planned travel route of the vehicle and subsequent to a branch point.

7. The map processing device according to claim 1, wherein: The map processing device further includes a photographing device for photographing an image of the surrounding area in front of the vehicle. The map data pre-reading unit does not acquire the map data related to a lane not captured in the surrounding image.

8. A map processing method, comprising: A map processing device including a map data pre-reading unit capable of acquiring a plurality of types of map data, including lane connection data indicating connection information between lane sections in an extension direction of a lane and lane group connection data indicating connection information between lane group sections in an extension direction of a lane group consisting of one or more lanes, wherein the map data pre-reading unit acquires map data of a type corresponding to conditions of a predetermined location ahead of a vehicle when acquiring map data of the predetermined location from the plurality of types of map data.

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