Route information generating device and route information generating method

Abstract

A route information generating device according to the present disclosure includes: a first route data acquiring unit that acquires first route information calculated using a first map; a second map acquiring unit that acquires a second map displayed in a different format from that of the first map; a link determining unit that determines whether first node information is linked to a second link based on the first route information and the link information; and a second route information creating unit.If a second node associated with a certain first node does not comprise a second outflow link leading out of the second node and corresponding to a first outflow link leading out of the first node, the linking information comprises information for linking a further second outflow link flowing out of a further second node in the vicinity of the second node, and if the second node does not comprise a second inflow link flowing into the second node and corresponding to a first inflow link flowing into the first node, the linking information comprises information for linking a further second inflow link flowing into a further second node in the vicinity of the second node to the first inflow link.

Description

BACKGROUND OF THE INVENTIONField of the invention

[0001] The present invention relates to a route information generating apparatus and a route information generating method that generate route information contributing to driving assistance. Description of the state of the art

[0002] Conventionally, a technology has been disclosed that determines a second route corresponding to a first route on a second map displayed in a different format than that of a first map database (DB), based on information about the first route acquired by performing a route search using the first map database. The technology includes, for example, an in-vehicle information system (IVI) that performs a route search using a normal-resolution map database including road-based road shape information as the first map database, and an advanced driving assistance system (ADAS) that provides driving assistance using a high-resolution map database including lane-based road shape information as the second map database.The ADAS generates second route information from the high-resolution map database based on the first route information acquired by the IVI system (see, for example, Patent Document 1). PRIOR ART DOCUMENT PATENT DOCUMENT

[0003] Patent Document 1: Japanese Patent Application No. 2019-184493 SUMMARY OBJECT OF THE INVENTION

[0004] When a road topology represented by the first map database is identical to a road topology represented by the second map database, the second route information linked to the first route information can be created using the technology of Patent Document 1.

[0005] When the policies for collecting road information are different, when the policies for creating map databases are different, or when the map development periods are different, the road topology of the first map database may differ from the road topology of the second map database. This causes problems because a node or link in the first map database cannot be linked to a node or link in the second map database, and the second route information corresponding to the first route information cannot be created even using the technology of Patent Document 1. Furthermore, the system using the second map database cannot perform proper operation if the second route information corresponding to the first route information cannot be created.

[0006] The present invention has been conceived to solve such problems, and the object is to provide a route information generating apparatus and a route information generating method that can generate the second route information associated with the first route information even when the road topology represented by the first map database is different from the road topology represented by the second map database. MEANS TO SOLVE THE TASK

[0007] To solve the problems, a route information generating device according to the present invention comprises: a first route data acquiring unit for acquiring first route data including at least first node information including information for determining an inflow link or an outflow link in a first route calculated using a first map including road shape information on a per-road basis; a second map acquiring unit for acquiring a second map including road shape information displayed in a different format than the format of the first map; a link determining unit for determining, based on the first route information and link information indicating a correspondence between the first node information in the first map and the second link in the second map, whether the first node information,which are included in the first route information, are linked to at least one second link, wherein the first route information is acquired by the first route information acquisition unit; and a second route information generation unit for generating second route information in a second route on the second map corresponding to the first route based on the second link determined by the link determination unit to which the first node information is linked and based on the second map acquired by the second map acquisition unit, the second route information including the second link, wherein, when a second node on the second map associated with a certain first node on the first map does not include a second outflow link flowing out of the second node on the second map associated with a first outflow link,which flows out of the specific first node, the linking information comprises information for linking to the first outflow link another second outflow link flowing out of another second node near the second node, and if the second node does not comprise a second inflow link flowing into the second node on the second map associated with a first inflow link flowing into the specific first node, the linking information comprises information for linking another second inflow link to the first inflow link flowing into another second node near the second node. EFFECTS OF THE INVENTION

[0008] The present invention enables the creation of second route information linked to the first route information even if the road topology represented by the first map database is different from the road topology represented by the second map database.

[0009] The object, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS [ Fig. 1] is a block diagram illustrating an example configuration of a route information generating apparatus according to an embodiment. [ Fig. 2] is a block diagram illustrating an example configuration of an on-vehicle device including a route information generating device according to the embodiment. [ Fig. 3] is a flowchart illustrating example operations of the route information generating apparatus according to the embodiment. [ Fig. 4] is a diagram illustrating the first node information according to the embodiment. [ Fig. 5] is a diagram illustrating the first node information according to the embodiment. [ Fig. 6] is a diagram illustrating the first node information according to the embodiment. [ Fig. 7] is a diagram illustrating the first node information according to the embodiment. [ Fig. 8] illustrates exemplary linked information according to the embodiment. [ Fig. 9] shows an example of a real road geometry according to the embodiment. [ Fig. 10] shows an example road topology that shows the road geometry in Fig. 9 using a second card. [ Fig. 11] shows an example road topology that shows the road geometry in Fig. 9 using the first card. [ Fig. 12] shows example link information in the road geometry in Fig. 9. [ Fig. 13] shows an example of the first route information according to the embodiment. [ Fig. 14] shows an example of the second route information according to the embodiment. [ Fig. 15] shows an example of linked information according to the embodiment. [ Fig. 16] shows an example of the second route information according to the embodiment. [ Fig. 17] shows an example of the first route information according to the embodiment. [ Fig. 18] shows an example of the second route information according to the embodiment. [ Fig. 19] shows an example of linked information according to the embodiment. [ Fig. 20] shows an example of a real road geometry according to the embodiment. [ Fig. 21] shows an example of a road topology that describes the road geometry in Fig. 20 using the second card. [ Fig. 22] shows an exemplary road topology that shows the road geometry in Fig. 20 using the first card. [ Fig. 23] shows exemplary linked information in the road geometry in Fig. 20. [ Fig. 24] shows an example of the first route information according to the embodiment. [ Fig. 25] shows an example of the second route information according to the embodiment. [ Fig. 26] shows exemplary linked information according to the embodiment. [ Fig. 27] shows an example of the second route information according to the embodiment. [ Fig. 28] shows an example of the first route information according to the embodiment. [ Fig. 29] shows an example of the second route information according to the embodiment. [ Fig. 30] shows an example of the second route information according to the embodiment. [ Fig. 31] shows exemplary linked information according to the embodiment. [ Fig. 32] shows an exemplary real road geometry according to the embodiment. [ Fig. 33] shows an exemplary road topology that shows the road geometry in Fig. 32 using the second map. [ Fig. 34] shows an exemplary road topology that shows the road geometry in Fig. 32 using the first map. [ Fig. 35] shows exemplary linked information in the road geometry in Fig. 32. [ Fig. 36] shows an example of the first route information according to the embodiment. [ Fig. 37] shows an example of the second route information according to the embodiment. [ Fig. 38] shows exemplary linked information according to the embodiment. [ Fig. 39] shows an example of the second route information according to the embodiment. [ Fig. 40] shows an example of a real road geometry according to the embodiment. [ Fig. 41] shows an example of a road topology that describes the road geometry in Fig. 40 using the second map. [ Fig. 42] shows an example of a road topology that describes the road geometry in Fig. 40 using the first map. [ Fig. 43] shows exemplary information on the link in the road geometry in Fig. 40. [ Fig. 44] shows an exemplary road topology represented by the first map according to the embodiment. [ Fig. 45] shows an exemplary road topology represented by the second map according to the embodiment. [ Fig. 46] shows exemplary link information according to the embodiment. [ Fig. 47] is a diagram illustrating the first node information according to a modification of the embodiment. [ Fig. 48] is a diagram illustrating the first node information according to a modification of the embodiment. [ Fig. 49] is a diagram illustrating the first node information according to a modification of the embodiment. [ Fig. 50] is a diagram illustrating the first node information according to a modification of the embodiment. [ Fig. 51] shows exemplary linked information according to a modification of the embodiment. [ Fig. 52] shows an exemplary hardware configuration of the route information generating apparatus according to the embodiment. [ Fig. 53] shows an exemplary hardware configuration of the route information generating apparatus according to the embodiment. DESCRIPTION OF THE PREFERRED EMBODIMENTS<Ausführungsform> <konfiguration>

[0010] Fig. 1 is a block diagram illustrating an example configuration of a route information creating apparatus 1 according to an embodiment. Fig. 1 illustrates the minimum components of the route information generating apparatus according to the embodiment.

[0011] The route information creation device 1 comprises a first route data acquisition unit 2, a second map acquisition unit 3, a link determination unit 4, and a second route data creation unit 5.

[0012] The first route information acquiring unit 2 acquires first route information including at least a piece of first node information including information for determining an inflow link or an outflow link in a first route calculated using a first map including road shape information on a per-road basis.

[0013] The second map acquisition unit 3 acquires a second map including road shape information represented by a format different from that of the first map.

[0014] The link determination unit 4 determines whether the first node information included in the first route information is linked to a second link on the second map based on the first route information acquired by the first route information acquisition unit 2 and link information indicating a match between the first node information on the first map and the second link.

[0015] If there is no second outflow link originating from a second node on the second map and associated with a first outflow link originating from a first node on the first map, the linking information includes information for linking another second outflow link originating from another second node near the second node to the first outflow link. Furthermore, if there is no second inflow link flowing into the second node on the second map associated with a first inflow link into the first node on the first map, the linking information includes information for linking another second inflow link flowing into another second node near the second node to the first inflow link.

[0016] The second route information generation unit 5 generates, in a second route on the second map associated with the first route, second route information including the second link based on the at least one second link determined by the link determination unit 4 to which the first node information is linked and based on the second map acquired by the second map acquisition unit 3.

[0017] Next, another configuration of a route information generating device will be described, which includes the route information generating device 1 in Fig. 1 includes.

[0018] Fig. 2 is a block diagram illustrating an example configuration of an on-vehicle device 6 including a route information generating device 8 having the other configuration.

[0019] The on-board vehicle device 6 includes an information processing device 7, the route information generation device 8, a driving assistance information formulation device 9, a positioning device 10, and a driving assistance system 11.

[0020] The route information generation device 8 is applicable not only to the on-board device 6, but also to a portable navigation device (PND) that can be mounted in a vehicle, and a device constructed as a system by appropriately combining, for example, a server arranged outside the vehicle. Here, functions or components of the route information generation device 8 are distributedly assigned to functions that construct the system.

[0021] Although Fig. 2 illustrates a case where the information processing device 7, the route information generation device 8, the driving assistance information formulation device 9, the positioning device 10, and the driving assistance system 11 are provided separately. These devices may optionally be combined and configured as a single device. For example, the route information generation device 8, the driving assistance information formulation device 9, and the driving assistance system 11 may be integrally configured.

[0022] The information processing device 7 belongs to the aforementioned IVI system and is, for example, a navigation device. The information processing device 7 includes a first map database 12 and an application execution unit 13. The information processing device 7 can be arranged outside the vehicle.

[0023] The first map database 12 is a storage medium such as a memory or a hard disk drive (HDD), and stores the first map (a normal resolution map) including road shape information on a per-road basis. The first map database 12 may be arranged in the on-vehicle device 6, separate from the information processing device 7, or outside the vehicle.

[0024] The application execution unit 13 executes, for example, a navigation function using the first map stored in the first map database 12. Examples of the navigation function include a travel route search and a travel route prediction. The information processing device 7 outputs the first route information, including the first node information associated with the first route obtained through execution by the application execution unit 13, to the route information creation device 8. The application execution unit 13 performs a travel route search or a travel route prediction using a position of the vehicle determined by a positioning unit included in the information processing device 7 and not shown, or using a position of the vehicle determined by the positioning device 10.

[0025] The route information generating device 8 includes the first route information obtaining unit 2, the link determining unit 4, the second route information creating unit 5, a second map database 14, and a link information storage 15.

[0026] The first route information obtaining unit 2 obtains the first route information from the information processing device 7.

[0027] The second map database 14 is a storage medium such as a memory or a hard disk, and stores the second map (a high-resolution map) including the road shape information on a lane-by-lane basis. Although the route information generation device 8 includes the second map database 14, the route information generation device 8 may include the second map acquisition unit 3 instead of the second map database 14. Furthermore, the second map database 14 may be arranged in the on-vehicle device 6 separately from the route information generation device 8 or outside the vehicle.

[0028] The link information storage 15 stores the link information indicating a relationship between the first node information on the first map and the second link on the second map. The link information storage 15 may be arranged in the on-board vehicle device 6, separate from the route information generation device 8, or outside the vehicle.

[0029] The link determination unit 4 determines whether the first node information included in the first route information acquired by the first route information acquisition unit 2 is linked to the second link based on the first node information and the link information stored in the link information storage 15.

[0030] The second route information generation unit 5 determines the second route corresponding to the first route on the second map based on the first route information, the link information, and the second map, and generates the second route information including the second link in the second route. The second route information generation unit 5 outputs the generated second route information to the driving assistance information formulation device 9.

[0031] The positioning device 10 determines the current position of the vehicle using a global navigation satellite system (GNSS). Furthermore, the positioning device 10 can determine the current position of the vehicle by considering detection results from, for example, a gyro sensor and a vehicle speed sensor installed in the vehicle (not shown).

[0032] The driving assistance information formulation device 9 formulates driving assistance information for traveling the second route based on the second route information generated by the second route information generation unit 5, the second map stored in the second map database 14, and the position of the vehicle determined by the positioning device 10. The driving assistance information formulation device 9 outputs the formulated driving assistance information to the driving assistance system 11. Examples of the driving assistance information when traveling the second route include road shape information associated with the second route.

[0033] The driving assistance system 11 provides driving assistance to the driver of the vehicle based on the driving assistance information acquired by the driving assistance information formulation device 9. Examples of driving assistance include automated driving, ADAS, and notification assistance. <betrieb>

[0034] Fig. 3 is a flowchart illustrating the operation of the route information generation device 8. Once the vehicle starts traveling, the application execution unit 13 of the information processing device 7 performs a route search or route prediction using the first map stored in the first map database 12 and generates the first route information including the first node information in the first route. Then, the information processing device 7 transmits the first route information generated by the application execution unit 13 to the route information generation device 8.

[0035] In step S10, the first route information acquisition unit 2 acquires from the information processing device 7 the first route information including N pieces of first node information associated with the first route. The information processing device 7 may transmit all pieces of first node information from the beginning to the end of the first route, or transmit only the first node information according to a predetermined rule. Examples of the predefined rule include a rule for transmitting the first node information within a certain distance (e.g., 10 km) from a vehicle in which the on-vehicle device 6 is mounted, a rule for transmitting the first node information on a map mesh basis, and a rule for transmitting pieces of the first node information in a number corresponding to the number of predefined nodes (e.g., up to 10).The predefined rule may be any rule other than these rules. The information processing device 7 may transmit the first route information repeatedly at a certain cycle or at certain distances traveled.

[0036] The Fig. 4 to 7 are diagrams illustrating the first node information. As in Fig. 4 to 7, the first node information at the first node n includes the node coordinates Pn, an inflow orientation θn (an inflow i, a first inflow connection orientation) and an outflow orientation θn (an outflow j, a first outflow connection orientation).

[0037] Here, link information is described that indicates an affiliation between the first node information and the second connection. Fig. 8 shows example link information. The link information in Fig. 8 belong to link information in a road section, which is described in the later Fig. 10 and Fig. 11. A link information generation system (not shown) executes a predetermined link information generation process (first and second generation processes) to generate the link information. The first generation process and the second generation process will be described sequentially. The route information generation device 8 according to the embodiment is characterized in that the second route information is generated using the link information generated by the second generation process.

[0038] In the first generation process, the link information generation system compares the road topology of the first map with the road topology of the second map in the same section. Then, if the second node on the second map associated with a specific first node on the first map has the second outflow link on the second map corresponding to the first outflow link flowing out of the specific first node, the link information generation system generates information for linking the first outflow link with the second outflow link.Furthermore, when the second node on the second map associated with the first node on the first map has the second inflow link on the second map associated with the first inflow link flowing into the specific first node, the linking information creating system creates information to link the first inflow link to the second inflow link.

[0039] In the second creation process, the link information creation system compares the road topology of the first map with the road topology of the second map in the same section. If the second node on the second map corresponding to the first node on the first map does not have the second outflow link flowing out of the second node on the second map corresponding to the first outflow link flowing out of the specific first node, the link information creation system selects another second outflow link flowing out of another second node near the second node and creates information to link the selected other second outflow link with the first outflow link.Further, when the second node on the second map associated with the first node on the first map does not have the second inflow link flowing into the second node on the second map associated with the first inflow link flowing into the specific first node, the linking information creating system selects another second inflow link flowing into another second node near the second node and creates information to link the selected another second inflow link to the first inflow link.

[0040] Fig. 9 shows an example of a real road geometry (a road structure) when the first map and the second map have the same road topology. Fig. Figure 9 shows two merging lanes and one turning lane in relation to a main lane consisting of two lanes.

[0041] Fig. 10 shows an exemplary road topology that shows the road geometry in Fig. 9 using the second map. In Fig. 10, "HN1, HN2, HN3, HN4, HN5, HN6" denote the numbers (second node numbers) of nodes (second nodes) on the second map. In addition, "a, b, c, d, e, f, g, h, i, j" denote the numbers (numbers of the second nodes) of nodes (second nodes) on the second map. In Fig. 10, the connections of a plurality of lanes are represented by a road connection to simplify the description.

[0042] Fig. 11 illustrates an example road topology that shows the road geometry in Fig. 9 using the first map. In Fig. 11, "N0, N1, N2, N3, Na, Nf, Ni, Nj" denote the numbers (first node numbers) of the nodes (first nodes) on the first map. The area of ​​the first map, which is in Fig. 11 is enclosed by a dashed line, belongs to the area of ​​the second map in Fig. 10.

[0043] Although the number of first nodes does not always match that of second nodes, due to differences in map format, as shown in the Fig. 10 and Fig. As shown in Figure 11, the road topologies in the first nodes, which belong to a merging point and a branching point, correspond to the road topologies in the second nodes.

[0044] For example, a connection topology in the first node N1, which corresponds to a threading point, corresponds to a connection topology in the second node HN1, which corresponds to the first node N1. In particular, the first connections Na-N1, N0-N1, and N1-N2 correspond 1:1 to the second connections a, b, and c, respectively. This applies to the second node HN4, which corresponds to the first node N2, which corresponds to a threading point, and the second node HN6, which corresponds to the first node N3, which corresponds to a branching point.

[0045] Fig. 12 illustrates exemplary link information in the road geometry in Fig. 9. As in Fig. 12, the link information storage 15 stores the link information indicating a correspondence between the first inflow link or the first outflow link included in the first node information on the first map and the second link on the second map. Fig. Figure 12 omits the representation of the coordinates contained in the first node information to facilitate the description.

[0046] Fig. 13 illustrates an example of the first route information. Fig. 13 illustrates a case where the application execution unit 13 of the information processing device 7 has searched the first route passing through the first nodes Na → N1 → N2 → N3 → Ni. Here, the first route information obtaining unit 2 of the route information creating device 8 obtains the first route information including the first node information in the first nodes N1, N2, and N3 (star marks in Fig. 13) from the information processing device 7.

[0047] With reference to the description in Fig. 3, the link determination unit 4 sets n = 1 in step S11.

[0048] In step S12, the link determination unit 4 determines the presence or absence of the second link associated with the first node information. Specifically, the link determination unit 4 compares the n-th information of the first node with the link information and determines the presence or absence of the second link associated with the node coordinates, an orientation (the inflow link orientation) of the first inflow link, and an orientation (the outflow link orientation) of the first outflow link included in the n-th information of the first node. If the second link is associated with the first node information, the processes proceed to step S13. If the second link is not associated with the first node information, the processes proceed to step S14.

[0049] For example, if n = 1 in Fig. 13, the link determination unit 4 compares the node coordinates P(N1), an orientation θN1 (inflow 1) of the first inflow link, and an orientation θN1 (outflow 1) of the first outflow link included in the first node information with the link information. Then, the link determination unit 4 extracts the second link a associated with the node coordinates P(N1) and the orientation θN1 (inflow 1) of the first inflow link, and the second link c associated with the node coordinates P(N1) and the orientation θN1 (outflow 1) of the first outflow link. Here, both the second link a and the second link c are adopted as second links associated with the first node information. Then, a memory, not shown, stores the second links associated with the first node information in step S13.The memory storing the second links may be a memory included in the route information generating device 8 or a memory external to the route information generating device 8, for example, a register of a central processing unit (CPU) or a cache memory of a system on a chip (SoC).

[0050] If n = 2 in Fig. 13, the link determination unit 4 compares the node coordinates P(N2), an orientation θN2 (inflow 1) of the first inflow link, and an orientation θN2 (outflow 1) of the first outflow link included in the first node information with the link information. Then, the link determination unit 4 extracts the second link e associated with the node coordinates P(N2) and the orientation θN2 (inflow 1) of the first inflow link, and the second link g associated with the node coordinates P(N2) and the orientation θN2 (outflow 1) of the first outflow link. Then, the memory, which is not shown, stores the second links (the second links e and g) associated with the first node information in step S13.

[0051] For example, if n = 3 in Fig. 13, the link determination unit 4 compares the node coordinates P (N3), an orientation θN3 (inflow 1) of the first inflow link, and an orientation θN3 (outflow 1) of the first outflow link included in the first node information with the link information. Then, the link determination unit 4 extracts the second link h associated with the node coordinates P (N3) and the orientation θN3 (inflow 1) of the first inflow link, and the second link i associated with the node coordinates P (N3) and the orientation θN3 (outflow 1) of the first outflow link. Then, the unillustrated memory stores the second links (the second links h and i) associated with the first node information in step S13.

[0052] When the link determination unit 4 determines the absence of the second link associated with the first node information in step S12, the unillustrated memory stores the absence of the second link associated with the first node information in step S14.

[0053] In step S15, the link determination unit 4 adds "1" to n.

[0054] In step S16, the link determination unit 4 determines whether a process of comparing all pieces of the first node information (N pieces of first node information) with the link information has been completed. If the process has been completed, the processes proceed to step S17. If the process has not been completed, the processes return to step S12.

[0055] In step S17, the second route information generation unit 5 generates the second route information based on the second link linked to the first node information. Specifically, the second route information generation unit 5 generates the second route information including the second route on the second map linked to the first route using a plurality of the second links stored in step S13.

[0056] Fig. Figure 14 shows an example of the second route information captured by a primary process. The thick lines in Fig. 14 indicate connection lines including the second connections a, c, e, g, h and i stored by the memory in step S13. Fig. 15 shows the link information. Hatched parts in Fig. 15 respectively indicate that the second connection is extracted for the first node information.

[0057] The second route information generation unit 5 performs a complementary process so that the link lines including the second links become continuous. Fig. Figure 16 shows an example of the second route information acquired by the complementary process. As in Fig. 16, the second route information generation unit 5 supplements the second link d to generate the second route information including the second route, which is a link line consisting of the second links a, c, d, e, g, h, and i.

[0058] In step S18, the route information generation device 8 determines whether the vehicle has stopped. If the vehicle has finished its journey, the processes in Fig. 3. If the vehicle does not complete its journey, the processes return to step S10.

[0059] If the processes in Fig. 3, the second route information generation unit 5 outputs the generated second route information to the driving assistance information formulation device 9. The driving assistance information formulation device 9 formulates driving assistance information for driving the second route based on the second route information generated by the second route information generation unit 5, the second map (the road shape information and the lane shape information on the second route) stored in the second map database 14, and the position of the vehicle determined by the positioning device 10. The driving assistance system 11 provides driving assistance to the driver of the vehicle based on the driving assistance information acquired by the driving assistance information formulation device 9.

[0060] If the second route is through the complementation process, as in Fig. 16, the link information for the redundant second links in the link information may be represented by "zero (0)". For example, one of the second inflow link or the second outflow link linked to the first node information, for example, the link information for the second links c, g, and h, may be "zero".

[0061] When the second link associated with the determined first node information includes two links, namely the second inflow link and the second outflow link, the link determination unit 4 may select one or both of the second inflow link and the second outflow link according to a predefined selection rule for the second link.The second link selection rule is, for example, a rule in which, when there are a plurality of first outflow links and a first inflow link for the one first node, not the first inflow link but each of the first outflow links is selected as the second link; when there are a plurality of first inflow links and a first outflow link for the one first node, not the first outflow link but each of the first inflow links is selected as the second link; and when there are a first inflow link and a first outflow link for the one first node, the one first inflow link and the one first outflow link are selected as the second links.

[0062] Fig. 17 shows an example of the first route information. Fig. 17 shows a case where the application execution unit 13 of the information processing device 7 has searched the first route passing through the first nodes Nf → N2 → N3 → Nj. Here, the first route information acquisition unit 2 of the route information generation device 8 acquires the first route information containing the first node information in the first nodes N2 and N3 (star marks in Fig. 17) from the information processing device 7.

[0063] Fig. 18 shows an example of the second route information generated by the second route information generating unit 5. The thick lines in Fig. 18 show the second route, which corresponds to the first route in Fig. 17. In addition, Fig. 19 the link information. The hatched parts in Fig. 19 respectively indicate that the second connection is extracted for the first node information.

[0064] As in Fig. As shown in Figure 18, the second route information generation unit 5 generates the second route in which the connection lines of the second links are continuous. Here, the second route information generation unit 5 does not need to perform the complementary process.

[0065] Above, we described that the first map and the second map have the same road topology. Below, we describe a case where the first map and the second map have different road topologies (Examples 1 to 4). <Beispiel 1, in dem die erste Karte und die zweite Karte unterschiedliche Straßentopologien aufweisen>

[0066] Fig. 20 shows an example of a real road geometry. Fig. Figure 20 shows two merging lanes and a branch lane in relation to a main lane consisting of two lanes. When a vehicle enters the merging lane in the middle of Fig. 20 (hereinafter referred to as "middle merging lane") enters the main lane 20 (hereinafter referred to as "middle merging lane") enters the main lane, a section from a position where the vehicle enters the main lane from the merging lane to a position of the branch lane is a lane change prohibition section (a bold part in Fig. 20), and for example, a rule defines that the vehicle entering from the middle merging lane cannot escape through the branching lane.

[0067] Fig. 21 shows an example road topology that shows the road geometry in Fig. 20 using the second card. As in Fig. 21, the road topology in the second map is identical to a road topology in the real road geometry in Fig. 20.

[0068] Fig. 22 shows an exemplary road topology that shows the road geometry in Fig. 20 using the first map. The area of ​​the first map, which is Fig. 22 is enclosed by a dashed line, belongs to the area of ​​the second map in Fig. 21.

[0069] As in Fig. 22, the road topology on the first map differs from the road topology in the real road geometry in Fig. 20. In particular, the first connection is that of the second connection f, which is connected to the second node HN4 (see Fig. 21) is not connected to the first node N2, but to the first node N3. Furthermore, the first link corresponding to the second link i connected to the second node HN6 is not connected to the first node N3, but to the first node N2. In other words, the first link N2-Ni and the first link Nf-N3 on the first map, and the second link i and the second link f on the second map are swapped in the road topology between the front and rear positions in the traveling direction. This occurs because the application execution unit 13 intentionally changes the road topology on the first map to prevent the vehicle entering from the second link f from searching for the first route that allows the vehicle to escape from the second link i.

[0070] Thus, the route information generating device 8 according to the embodiment is characterized in that it uses the link information, so that the route information generating device 8 can correctly generate the second route based on the first route information even if the first map and the second map have different road topologies.

[0071] The link information in Fig. 23 include link information when the first map and the second map have different road topologies. For example, the first inflow link θN2 (inflow 1) flowing into the first node N2 is linked to the second link e having the same road topology on the second map. Since the first outflow link θN2 (outflow 2) is restored by the complementary process of the second route information generation unit 5, the second link linked to the first outflow link θN2 (outflow 2) is "none = 0 (zero)". Although the second link does not always need to be "zero", in some cases, a unique route cannot be created when the differences in road topology between the first and second maps are complicated. In such cases, the link information creation system sometimes creates "zero" information in advance.Although the first inflow link θN3 (Inflow 2) flowing into the first node N3 does not have a second link with identical road topology on the second map, the second link f is linked as the second link for the first inflow link θN3 (Inflow 2).

[0072] Fig. 24 shows an example of the first route information. In Fig. 24, solid arrows represent the first route on the first map and dashed arrows represent the second route on the second map, which is associated with the first route.

[0073] In the example of Fig. 24, the first route information acquisition unit 2 acquires the first route information including the first node information at the first nodes N1 and N2. The link determination unit 4 extracts the second links a and c as the second links linked to the first node N1, and extracts the second links e and i as the second links linked to the first node N2. Since the first node information including the first node N3 is different information from the first route searched by the application execution unit 13, the information processing device 7 does not output the first node information.

[0074] Fig. Figure 25 shows an example of the second route information captured by the primary process. The thick lines in Fig. 25 indicate connection lines comprising the second connections a, c, e and i stored by the memory in step S13 in Fig. 3 are saved. Fig. 26 shows the linked information. The hatched parts in Fig. 26 each indicate that the second connection is extracted for the first node information.

[0075] Fig. Figure 27 shows an example of the second route information acquired by the complementation process. As in Fig. 27, the second route information generation unit 5 supplements the second link d to generate the second route information including the second route, which is a link line consisting of the second links a, c, d, e, g, h, and i. <Beispiel 2, bei dem die erste Karte und die zweite Karte unterschiedliche Straßentopologien aufweisen>

[0076] Fig. 28 shows an example of the first route information. In Fig. 28, solid arrows represent the first route on the first map and dashed arrows represent the second route on the second map, which is associated with the first route.

[0077] In the example of Fig. 28, the first route information acquisition unit 2 acquires the first route information including the first node information at the first node N3. The link determination unit 4 extracts the second links f and j as the second links linked to the first node N3. Since the first node information including the first node N2 is different information from the first route searched by the application execution unit 13, the information processing device 7 does not output the first node information.

[0078] Fig. Figure 29 shows an example of the second route information captured by the primary process. The thick lines in Fig. 29 indicate connection lines comprising the second connections f and j stored by the memory in step S13 in Fig. 3 are saved. Fig. 30 shows the link information. The hatched parts in Fig. 30 each indicate that the second connection is extracted for the first node information.

[0079] Fig. Figure 31 shows an example of the second route information acquired by the complementation process. As shown in Fig. 31, the second route information generation unit 5 supplements the second links g and h to generate the second route information including the second route, which is a link line consisting of the second links f, g, h and j. <Beispiel 3, bei dem die erste und die zweite Karte unterschiedliche Straßentopologien aufweisen>

[0080] Fig. 32 shows an example of a real road geometry. Fig. Figure 32 shows a merging lane in relation to a main lane consisting of two lanes. When a vehicle merges from the merging lane into the main lane, a section from a position where the vehicle merges from the merging lane into the main lane to a predefined position is a lane-change prohibition section (a bold part in Fig. 32), so that the vehicle merging from the merging lane cannot change lanes within a certain distance after merging.

[0081] Fig. 33 shows an example road topology that shows the road geometry in Fig. 32 using the second map. As in Fig. 33, the second connections e and f are connected to the second node HN4.

[0082] Fig. 34 shows an exemplary road topology that shows the road geometry in Fig. 32 using the first map. The area of ​​the first map that is Fig. 34 is enclosed by a dashed line, corresponds to the area of ​​the second map in Fig. 33.

[0083] As in Fig. 34, the first link corresponding to the second link f is represented as the first inflow link Nf-N3, which flows not into the second node HN4 but into the second node HN6. The first map and the second map have different road topologies. This is because a merging point to which the application execution unit 13 guides the vehicle along the first route is not a point corresponding to the second node HN4 but to the first node N3, and the application execution unit 13 makes the route guidance announcement for merging with the correct timing. The link information in Fig. 35 include link information when the first map and the second map have different road topologies.

[0084] Fig. 36 shows an example of the first route information. In Fig. 36, solid arrows represent the first route on the first map and dashed arrows represent the second route on the second map, which belongs to the first route.

[0085] In the example of Fig. 36, the first route information acquisition unit 2 acquires the first route information including the first node information at the first node N3. The link determination unit 4 extracts the second links f and j as the second links linked to the first node N3.

[0086] Fig. Figure 37 shows an example of the second route information captured by the primary process. The thick lines in Fig. 37 indicate connection lines comprising the second connections f and j stored by the memory in step S13 in Fig. 3 are saved. Fig. 38 shows the link information. Hatched parts in Fig. 38 each indicate that the second connection is extracted for the first node information.

[0087] Fig. Figure 39 shows an example of the second route information acquired by the complementation process. As in Fig. 39, the second route information generation unit 5 supplements the second links g and h to generate the second route information including the second route, which is a link line consisting of the second links f, g, h and j. <Beispiel 4, bei dem die erste und die zweite Karte unterschiedliche Straßentopologien aufweisen>

[0088] In this Example 4, a case is described where the second map does not include the second link associated with the first link in the first map. Examples where such circumstances occur include a case where the policies for adopting road links are different in the first map and the second map, and the second link associated with the first link is intentionally not created in the second map, and a case where differences in the development period between the first map database 12 and the second map database 14 allow the first link associated with the second link, which did not exist when the second map database was developed, to exist when the first map database was developed.

[0089] Fig. 40 shows an example of a real road geometry. Fig. 40 shows a merging lane and a branching lane in relation to a main lane consisting of two lanes.

[0090] Fig. 41 shows an exemplary road topology that shows the road geometry in Fig. 40 using the second map. As in Fig. 41, due to a mapping policy, the second map does not include the turning lane corresponding to the first link N2-N4 (see Fig. 42) on the first map.

[0091] Fig. 42 shows an exemplary road topology that shows the road geometry in Fig. 40 using the first map. The area of ​​the first map, which is Fig. 42 is enclosed by a dashed line, belongs to the area of ​​the second map in Fig. 41.

[0092] As in Fig. 42, the first map includes the first link N2-N4 (the orientation θN2 (Inflow 1) of the first inflow link) flowing out of the first node N2. Here, there is no second link (null) corresponding to the orientation θN2 (Inflow 1) of the first inflow link in the link information in Fig. 43. Alternatively, the orientation θN2 (outflow 1) may be linked to the second link closest to the N2 coordinates on the second map. Furthermore, the associative information may additionally include a "topology difference" presence / absence indicator indicating the presence or absence of differences in road topology between the first map and the second map, as shown in Fig. 43 shown.

[0093] Fig. 44 shows an example of the first route information. In Fig. 44 Solid arrows represent the first route on the first map and dashed arrows represent the second route on the second map, which belongs to the first route.

[0094] In the example of Fig. 44, the first route information acquisition unit 2 acquires the first route information including the first node information at the first nodes N1 and N2. The link determination unit 4 extracts the second links a, c, and d as the second links linked to the first nodes N1 and N2.

[0095] Fig. 45 shows an example of the second route information. The thick lines in Fig. 45 indicate connection lines comprising the second connections a, c and d stored by the memory in step S13 in Fig. 3 are saved. Fig. 46 shows the link information. The hatched parts in Fig. 46 respectively indicate that the second connection is extracted for the first node information. As shown in the Fig. 45 and Fig. 46, the second link, that of the first link N2-N4 flowing out of the first node N2, does not exist. Therefore, the second route information generation unit 5 terminates the generation process on the second route at the second link d as the end. Then, when the first route information acquisition unit 2 acquires the first route information again, the second route information generation unit 5 continues the generation process on the second route. When the vehicle enters the second link present in the second map from the first link present only in the first map, the second route information generation unit 5 starts or continues the generation process on the second route. <Modifikation 1>

[0096] Although the first node information described in the embodiment includes the node coordinates Pn, the inflow orientation θn (inflow i), and the outflow orientation θn (outflow j) at the first node n, the first node information may include information other than these parts as long as the first node information is information for identifying the first node. For example, the first node information at the first node n may include the node coordinates Pn and an orientation difference dθn (i, j) between the inflow orientation θn (inflow i) and a relative outflow orientation θn (outflow j) when viewed from the inflow orientation θn (inflow i). Fig. 47 to 50 are diagrams illustrating the first node information according to Modification 1.

[0097] Fig. 51 shows exemplary link information according to Modification 1. As in Fig. As shown in Figure 51, two second links are associated with each of the first node information. As described in the embodiment, either of these two second links can be adopted. <Modifikation 2>

[0098] The first route information output from the information processing device 7 may include type information indicating a type of the first map. Here, the route information creation device 8 downloads link information corresponding to the type of the first map from an external server based on the type information obtained from the information processing device 7 and stores the link information in the link information storage 15. The link information storage 15 may rewrite the existing link information into new link information.

[0099] With such a configuration, the route information generating device 8 can properly generate the second route information even if another information processing device (an IVI system) having a different road generation policy is used. <Modifikation 3>

[0100] Although the embodiment describes the second map as a high-resolution map with road shape information on a per-lane basis, the second map is not limited to a high-resolution map but should be a map different in format from the first map. <hardware-konfiguration>

[0101] A processing circuit implements functions of the first route information acquisition unit 2, the link determination unit 4, and the second route information generation unit 5 in the route information generation device 8 described in the embodiment. In other words, the route information generation device 8 includes the processing circuit for acquiring the first route information, determining whether the first node information is linked to the second link, and generating the second route information. The processing circuit may be dedicated hardware or a processor (also referred to as a central processing unit (CPU)), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a digital signal processor (DSP) that executes a program stored in a memory.

[0102] When the processing circuit is an associated hardware, a processing circuit 20 as shown in Fig. 52, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or any combination thereof. Each of the functions of the first route information acquisition unit 2, the link determination unit 4, and the second route information generation unit 5 may be performed by the processing circuit 20, or the functions may be performed jointly by the single processing circuit 20.

[0103] If the processing circuit 20 is a processor 21 in Fig. 53, the functions of the first route information acquiring unit 2, the link determining unit 4, and the second route information generating unit 5 are implemented, for example, by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in a memory 22. The processor 21 performs the functions by reading and executing the programs stored in the memory 22. In other words, the route information generating device 8 includes the memory 22 for storing the programs, which thus execute a step of acquiring the first route information, a step of determining whether the first node information is linked to the second link, and a step of generating the second route information.Furthermore, these programs cause a computer to execute procedures or methods of the first route information acquisition unit 2, the link determination unit 4, and the second route information generation unit 5. Examples of the memory here may include non-volatile or volatile semiconductor memories such as a RAM (Random Access Memory), a ROM (Read-Only Memory), a flash memory, an EPROM (Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM), a magnetic disk, a flexible disk, an optical disk, a compact disc, a digital versatile disc (DVD), and further any storage medium to be used in the future.

[0104] A portion of the functions of the first route information acquiring unit 2, the link determining unit 4, and the second route information creating unit 5 may be performed by dedicated hardware, and the other functions may be performed by software or firmware.

[0105] As described above, the processing circuitry may implement any of the functions through hardware, software, firmware, or any combination thereof.

[0106] The embodiment may be modified and omitted accordingly within the scope of the present invention.

[0107] While the present invention has been described in detail above, the foregoing description is in all respects illustrative and not limiting. It should be understood that numerous modifications not yet illustrated may be developed. EXPLANATION OF REFERENCE SYMBOLS 1 route information generating device, 2 first route information acquisition unit, 3 second card capture unit, 4 Linkage determination unit, 5 second route information generation unit, 6 vehicle-side device, 7 Information processing device, 8 route information generating device, 9 Driving assistance information formulation device, 10 Positioning device, 11 Driver assistance system, 12 first map database, 13 Application execution unit, 14 second map database, 15 link information storage, 20 processing circuit, 21 processor, 22 storage. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-184493

[0003] < / betrieb> < / konfiguration>

Claims

[1] A route information generating device comprising: a first route information acquiring unit for acquiring first route information, including at least first node information including information for determining an inflow link or an outflow link, in a first route calculated using a first map including road shape information on a per-road basis; a second map acquisition unit for acquiring a second map including road shape information represented by a format different from a format of the first map; a link determination unit for determining whether the first node information included in the first route information is linked to at least one second link based on the first route information and link information indicating a correspondence between the first node information in the first map and the second link in the second map, wherein the first route information is acquired by the first route information acquisition unit; and a second route information generation unit for generating second route information in a second route on the second map associated with the first route based on the second link determined by the link determination unit to which the first node information is linked and based on the second map acquired by the second map acquisition unit, the second route information including the second link, wherein, if a second node on the second map associated with a particular first node on the first map does not comprise a second outflow link flowing out of the second node on the second map associated with a first outflow link flowing out of the particular first node, the linking information comprises information for linking to the first outflow link another second outflow link flowing out of another second node in a vicinity of the second node, and if the second node does not comprise a second inflow link flowing into the second node on the second map associated with a first inflow link flowing into the particular first node, the linking information comprises information for linking another second inflow link flowing into another second node in the vicinity of the second node. [2] The route information generating device according to claim 1, wherein, when a second node on the second map associated with a certain first node on the first map includes the second outflow link on the second map associated with the first outflow link flowing out of the certain first node, the link information includes information for linking the first outflow link to the second outflow link, and when the second node includes the second inflow link on the second map associated with the first inflow link flowing into the certain first node, the link information includes information for linking the first inflow link to the second inflow link. [3] Route information generating apparatus according to claim 1, wherein the first node information includes first node coordinates, which are coordinates of a first node, a first inflow link orientation, which is an orientation of the first inflow link flowing into the first node in the first route, and a first outflow link orientation, which is an orientation of the first outflow link flowing out of the first node in the first route, and the linking information includes information for linking a pair of the first node and the first inflow link orientation to the second link and information for linking a pair of the first node and the first outflow link orientation to the second link. [4] The route information generating apparatus according to claim 1, wherein the second map includes road shape information on a per lane basis. [5] The route information generating device according to claim 1, wherein, in a second node group consisting of a plurality of second nodes that are continuous on the second map and that have a geometric correspondence to a first node group consisting of a plurality of first nodes that are continuous on the first map, a first link branching from or joining the first node group and the second link branching from or joining the second node group and belonging to the first link are exchanged in a topology between front and rear positions in a traveling direction, the linking information includes information for linking the second link to the first inflow link or the first outflow link belonging to the second link. [6] The route information generating device according to claim 4, wherein in a road structure that does not allow a vehicle to escape from a next designated branch lane to an outside of a main lane due to an influence of a lane change prohibition section defined in the main lane after the vehicle enters the main lane from a designated merging lane, the linked information indicates the belonging based on the first map in which a first link indicating the merging lane and a first link indicating the branch lane have been swapped between front and rear positions in a traveling direction, and based on the second map in which a second link indicating the merging lane and a second link indicating the branch lane have not been swapped between front and rear positions in a traveling direction. [7] The route information generating device according to claim 4, wherein in a road structure that does not allow a vehicle to escape from a next designated branch lane to an outside of a main lane due to an influence of a lane change prohibition section defined in the main lane after the vehicle enters the main lane from a designated merging lane, the linked information indicates the belonging based on the first map and the second map that are different in the coordinates of the first node to which a first link indicating the merging lane is connected and that are different in the coordinates of the second node to which the second link belonging to the first link is connected. [8] The route information generating device according to claim 1, wherein, when the second map does not include the second link corresponding to the first outflow link flowing out of a first node included in the first node information or the first inflow link flowing into the first node, the link information includes information indicating an absence of the second link or information indicating that the first map and the second map have different topologies. [9] The route information generating device according to claim 8, wherein, when the second map does not include the second link corresponding to a first link on the first map, the second route information generating unit generates the second route information in the second route up to the second link corresponding to the first link on the first map. [10] The route information generating device according to claim 1, wherein, when a plurality of second links included in the at least one second link determined by the link determining unit to which the first node information is linked are discontinuous, the second route information generating unit supplements a discontinuous section between the second links using the second map to generate the second route information in the second route. [11] Route information generating apparatus according to claim 1, wherein the first route information includes type information indicating a type of the first map, and the link information is information associated with the type information. [12] The route information generating device according to claim 1, wherein, when the link determining unit determines that the first node information is associated with the second link including the second inflow link and the second outflow link, the link determining unit selects at least one of the second inflow link or the second outflow link according to a predetermined second link selection rule. [13] The route information generating device according to claim 12, wherein, when the first node has a plurality of first outflow links and the first inflow link, the link determining unit determines that each of the first outflow links is linked to the second link, when the first node has a plurality of first inflow links and the first outflow link, the link determining unit determines that each of the first inflow links is linked to the second link, and when the first node has the first inflow link and the first outflow link, the link determining unit determines that the first inflow link and the first outflow link are linked to the second link. [14] A route information generating method comprising: Acquiring first route information including at least first node information including information for determining an inflow link or an outflow link in a first route calculated using a first map including road shape information on a per-road basis; Acquiring a second map including road shape information presented in a different format than the format of the first map; Determining whether the first node information included in the first route information is linked to at least one second link based on the first route information and link information indicating a match between the first node information in the first map and the second link in the second map; and Creating second route information in a second route on the second map associated with the first route based on the second link to which the first node information is linked and based on the second map, wherein the second route information includes the second link, wherein, in the absence of a second outflow link flowing out of a second node on the second map and associated with a first outflow link flowing out of a first node on the first map, the linking information comprises information for linking another second outflow link flowing out of another second node near the second node, and in the absence of a second inflow link flowing into the second node on the second map and associated with a first inflow link flowing into the first node on the first map, the linking information comprises information for linking another second inflow link flowing into another second node near the second node to the first inflow link.

Images