ROUTE GENERATING DEVICE

Abstract

This includes a route generation device capable of creating a journey plan based on a user's preference when the user specifies a destination. It also provides a route (driving route) to avoid an ACC / CACC vehicle group or to actively follow an ACC / CACC vehicle, according to the user's preference, in cases where the vehicle can join the ACC / CACC vehicle. When the user specifies the destination, the driving route is generated taking into account the user's preference, driving level, and the autonomous driving capability section. If the vehicle is traveling parallel to an ACC / CACC vehicle group on its own route, a route to bypass the ACC / CACC vehicle group is generated in advance, thus avoiding travel hindered by the ACC / CACC vehicle group.In a case where the vehicle also travels from within the autonomous driving area through a section outside of an autonomous driving area, the route that includes the section outside the autonomous driving area is generated taking into account the user's driving skill level and driving frequency, so that it is possible to reduce the anxiety of a driver who is worried about their driving skill.

Description

Technical field

[0001] The present invention relates to a route generation device that provides (generates) a route (driving route) for avoiding or actively following a following group of vehicles, taking into account the user's preference. State of the art

[0002] PTL 1 discloses the following as a task: "A driving control plan generation device is provided that is capable of generating a driving control plan to enable a vehicle to drive autonomously, taking into account the driver's driving preferences." It further discloses that "in the driving control plan generation device 1, a priority input unit 104 receives the priority of each of the driver's driving preferences, and a parameter value setting unit 104 sets a value of a driving control plan generation parameter according to the input priority. A plan generation unit 106 further generates a driving control plan using the driving control plan generation parameters, in which the driver's driving preferences are reflected." References Patent literature

[0003] PTL 1: JP 2008-180591 A Summary of the invention: Technical problem

[0004] Essentially, autonomous driving technology is realized through an autonomous driving system, primarily incorporating adaptive cruise control (ACC), cooperative adaptive cruise control (CACC), or a lane keeping assist system (LKAS). Furthermore, an in-line driving experiment based on an autonomous driving system using existing technology will be conducted.

[0005] However, as described above, in a scenario where autonomous driving becomes widely adopted and the number of ACC / CACC vehicle groups increases, there is a possibility that if a general vehicle and an ACC / CACC vehicle group are driving in parallel, the general vehicle's progress could be impeded by the ACC / CACC vehicle group. Furthermore, the increasing prevalence of autonomous driving could lead to a rise in the number of drivers who do not usually drive and are concerned about their driving skills.

[0006] In a current autonomous driving device, when a self-driving vehicle starts moving, a case in which there is the possibility of driving in parallel with an ACC / CACC vehicle group or on a route where the self-driving vehicle can follow an ACC / CACC vehicle can only be determined in a scenario in which the self-driving vehicle is already driving nearby.

[0007] Therefore, there is concern that a driver who is not familiar with driving may experience safety anxiety when their own vehicle is driving near an ACC / CACC vehicle and parallel to a group of large vehicles equipped with ACC / CACC, or may feel uncomfortable driving when entering a section where autonomous driving is impossible.

[0008] The conventional technique disclosed in PTL 1 selects a route to a destination using all driving information, such as a destination, driving preferences, a break schedule entered by a driver, information from a navigation system, information from an infrastructure facility, and the like. However, since the driving route of an ACC / CACC vehicle group and a driver's skill level are not taken into account in advance, the above problem cannot be solved.

[0009] In current route planning methods and route changes based on external factors, after a user has set a destination and created a route plan, the plan is adjusted according to the situation on the vehicle's route. Therefore, it is possible that a route plan reflecting the user's preferences cannot be created if the user sets the destination themselves.

[0010] The present invention was developed accordingly taking into account the above circumstances, and it is an object of the present invention to provide a route generation device that is capable of creating a route plan taking into account a user's preference when the user specifies a destination, and of providing a route (driving route) to bypass an ACC / CACC vehicle group or actively follow an ACC / CACC vehicle according to a user's preference in a case where a separate vehicle can join the ACC / CACC vehicle. Solution to the problem

[0011] To solve the above problem, a route generation device according to the present invention comprises a timetable acquisition unit that acquires a foreign vehicle timetable of another vehicle which a vehicle of its own follows by controlling an intermediate vehicle distance, a preference acquisition unit that acquires a preference of a user of the vehicle of its own, and a route generation unit that generates a route to a destination of the vehicle of its own, wherein the route generation unit generates the route to avoid or follow the other vehicle based on the preference of the user and the foreign vehicle timetable. Advantageous effects of the invention

[0012] The present invention makes it possible to create a route plan that takes into account a user's preference when the user specifies a destination and avoids an ACC / CACC vehicle group. Furthermore, in a case where a user's own vehicle can join an ACC / CACC vehicle, it is possible to provide a route on which the user's own vehicle actively follows the ACC / CACC vehicle according to a user's preference.

[0013] According to the present invention, it is possible to avoid the risk of a vehicle's journey being disrupted by a group of ACC / CACC vehicles at the time a destination is set. Furthermore, it is possible to generate a route along which the vehicle moves towards the destination by maximizing the number of autonomous driving segments, in which the vehicle can safely travel from these autonomous segments to areas outside of autonomous driving capability segments, according to user preference and driving ability level.

[0014] Problems, configurations and effects other than those described above are further clarified by the following description of embodiments. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a block diagram illustrating a configuration example of a system that includes a route generation device and a server according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a diagram illustrating an example setting of a personal information setting of a user preference, driving ability level and driving frequency. [ Fig. 3] Fig. Figure 3 is a diagram illustrating a processing flow for generating an ACC / CACC vehicle group bypass route for a vehicle. [ Fig. 4] Fig. Figure 4 is a diagram illustrating the processing flow of capturing data from a server. [ Fig. 5] Fig. Figure 5 is a diagram illustrating an autonomous driving segment detection processing flow. [ Fig. 6] Fig. Figure 6 is a diagram illustrating a configuration example of a bypass route generation case. [ Fig. 7] Fig. Figure 7 is a diagram illustrating the processing flow of generating a driving route on which a self-driving vehicle can follow an ACC / CACC vehicle. [ Fig. 8] Fig. Figure 8 is a diagram illustrating the processing flow of capturing data from a server. [ Fig. 9] Fig. Figure 9 is a diagram illustrating an autonomous driving segment detection processing flow. [ Fig. 10] Fig. Figure 10 is a diagram illustrating a configuration example of a subsequent route generation case. Description of the embodiments

[0015] The following describes embodiments of the present invention with reference to the drawings. <Erste Ausführungsform>

[0016] Fig. Figure 1 is a block diagram illustrating a configuration example of a system that includes a route generation device and a server according to a first embodiment.

[0017] The system comprising the route generation device of the present embodiment includes a personal information setting server 1, a vehicle 2 to which a route generation device 20 is attached, a large CACC vehicle group timetable server 3, a vehicle information / road information server 4 and a network 5.

[0018] The personal information setting server 1 and the vehicle 2 are configured to receive personal information setting data 10 via network 5. The large CACC vehicle group timetable server 3 and the vehicle 2 are further configured to receive large CACC vehicle group timetable data 30 via network 5. Additionally, the vehicle information / road information server 4 and the vehicle 2 are configured to receive ACC / CACC vehicle group driving data via network 5.

[0019] The personal information setting 10, which is contained in the personal information setting server 1, further includes data on a user preference 101, a driving ability level 102 and a driving frequency 103.

[0020] The Large CACC Vehicle Group Timetable Data 30, which is contained in the Large CACC Vehicle Group Timetable Server 3, also includes timetable data that is updated by a truck transport company or a travel company, such as a coach company.

[0021] The vehicle information / road information server 4 includes possible environment information 41 for autonomous Lv4 driving, ACC vehicle group driving information 42 and CACC vehicle group driving information 43.

[0022] The possible environment information 41 for autonomous Lv4 driving includes in particular information regarding an environment in which autonomous Lv4 driving is possible, and the ACC vehicle group driving information 42 and the CACC vehicle group driving information 43 include ACC / CACC vehicle group driving data that are captured from vehicle information / road information.

[0023] The vehicle 2 also includes the route generation device 20, as well as a route generation unit 221, a section detection unit 222, a timetable detection unit 223, a preference detection unit 224 and a driving level detection unit 225, which are contained in the route generation device 20.

[0024] In addition, the vehicle 2 includes a route transmission unit 21, which transmits a route generated by (the route generation unit 221 of the) route generation device 20 to the vehicle information / road information server 4.

[0025] Fig. Figure 2 is a diagram illustrating an example of information (including user preference 101, driving ability level 102 and driving frequency 103) that is set in the personal information setting 10, which is contained in the personal information setting server 1 of the first embodiment.

[0026] In the personal information setting 10, information that the user defines on the internet is stored. For example, the user can define and save the driver's preference (user preference 101) according to the intended use, along with the driver's driving ability level 102 and driving frequency 103.

[0027] The route generation device 20, which is attached to the vehicle 2 of the present embodiment, is also described below.

[0028] The section detection unit 222 is configured to receive ODD data in map data contained in the vehicle 2 and possible environment information data for autonomous Lv4 driving contained in the possible environment information 41 for autonomous Lv4 driving via the network 5 (i.e. information regarding an autonomous driving section in which the vehicle can move by autonomous driving).

[0029] The timetable acquisition unit 223 is further configured to receive the large CACC vehicle group timetable data 30, the ACC vehicle group driving information 42 and the CACC vehicle group driving information 43 via the network 5 (i.e., it can acquire a foreign vehicle timetable of other vehicles (ACC / CACC vehicle group) which the own vehicle follows for driving by controlling an intermediate vehicle distance).

[0030] The preference acquisition unit 224 is further configured to receive (acquire) user preference data 101, contained in the personal information setting 10, via the network 5.

[0031] Furthermore, the driving level detection unit 225 is configured to receive (capture) data on the driving ability level 102 and the driving frequency 103, which are contained in the personal information setting 10, via the network 5.

[0032] Taking into account the user preference data 101 received by the preference acquisition unit 224 and the driving ability level data 102 received by the driving level acquisition unit 225, the route generation unit 221 generates a driving route to avoid driving parallel to and cutting into an ACC / CACC vehicle group of large vehicles.

[0033] At the time of setting a destination, the vehicle 2 accordingly causes the route generation unit 221 to generate a driving route to avoid parallel driving with and cutting into the ACC / CACC vehicle group of large vehicles based on the preference acquisition unit 224, the user preference 101 contained in the driving level acquisition unit 225, and the driving ability level 102.

[0034] The route generation unit 221 generates a driving route to avoid parallel driving with and cutting into an ACC / CACC vehicle group of large vehicles from the possible section information for autonomous driving contained in the section detection unit 222 and the large CACC vehicle group timetable data 30 (information contained in the timetable detection unit 223) contained in the large CACC vehicle group timetable server 3.

[0035] In a case where the route selection defines, for example, an "ACC / CACC vehicle group avoidance priority", the user preference data 101, captured by the preference capture unit 224, defines "I want to move safely", and the large CACC vehicle group timetable data 30 and the vehicle's own route, captured by the timetable capture unit 223, define "there is a possibility of parallel driving with the vehicle (multiple lanes and a large number of vehicles)," the route generation unit 221 generates the route such that the vehicle travels along a road that does not intersect a route in the foreign vehicle timetable of a large vehicle (see also Fig. 6).

[0036] Fig. Figure 3 is a diagram illustrating a processing flow of generating an ACC / CACC vehicle group bypass route of a vehicle in vehicle 2.

[0037] As in Fig. As illustrated in Figure 3, the processing of generating the vehicle's ACC / CACC vehicle group bypass route after a destination has been specified (S101) involves processing to acquire data (S102) from the server, autonomous segment acquisition processing (S108) and bypass route generation (S111).

[0038] As in Fig. As illustrated in Figure 4, during the processing for data acquisition (S102), the server acquires the user preference 101 during user preference acquisition (S103), the driving ability level 102 and the driving frequency 103 during driving ability level acquisition (S104), the large CACC vehicle group timetable data 30 during large CACC vehicle group timetable acquisition (S105), the ACC vehicle group driving information 42 during ACC vehicle group driving information acquisition (S106), and the CACC vehicle group driving information 43 during CACC vehicle group driving information acquisition (S107).

[0039] As in Fig. As illustrated in S108, during autonomous driving section detection processing, the section detection unit 222 is also detected during autonomous driving section detection (S109) and the possible environmental information 41 for autonomous Lv4 driving is detected during possible environmental information detection for autonomous Lv4 driving (S110).

[0040] When generating bypass routes (S111), the route is further generated in such a way that the vehicle travels along a road that does not overlap with the route in the other vehicle's timetable, as described above.

[0041] Fig. Figure 6 is a diagram that provides an example of each case of "bypass route generation processing" in Fig. 3 illustrated.

[0042] For example, in the case of a bypass route generation case 3-1, the route is generated as "bypass route 2" such that the vehicle travels along a road that does not intersect the route in the foreign vehicle timetable of the large vehicle.

[0043] As described above, the route generation device 20, according to the present embodiment, comprises the timetable acquisition unit 223, which acquires a timetable of other vehicles (ACC / CACC vehicle group) that the own vehicle follows by controlling an intermediate vehicle distance; the preference acquisition unit 224, which acquires a user's preference for the own vehicle; and the route generation unit 221, which generates a route to a destination for the own vehicle. The route generation unit 221 generates the route to avoid the other vehicles (ACC / CACC vehicle group) based on the user's preference and the timetable of the other vehicles.

[0044] Furthermore, the route generation device 20 of the present embodiment comprises the driving level detection unit 225, which detects a driving level of a driver of the vehicle itself, and the section detection unit 222, which detects information regarding an autonomous driving section in which the vehicle can move by autonomous driving, and the route generation unit 221 generates the driving route on the basis of the driving level and the autonomous driving section.

[0045] The route generation unit 221 generates the route in such a way that the user's own vehicle travels along a road based on the user's preference, which does not intersect a route in the other vehicle's timetable.

[0046] That is, the route generation device 20 of the present embodiment changes the driving route to a different driving route in order to avoid parallel driving with the ACC / CACC vehicle group.

[0047] According to the present embodiment, it is therefore possible to avoid the risk that a journey of one's own vehicle will be disrupted by the ACC / CACC vehicle group at the time a destination is set. <Zweite Ausführungsform>

[0048] A route generation device 20 of a second embodiment has the same configuration as that of the first embodiment, wherein the route generation unit 221 generates a driving route to avoid parallel driving with and cutting into an ACC / CACC vehicle group of large vehicles from the possible section information for autonomous driving contained in the section detection unit 222 and the large CACC vehicle group timetable data 30 contained in the large CACC vehicle group timetable server 3 (information contained in the timetable detection unit 223).

[0049] In a case where the route selection defines, for example, an "ACC / CACC vehicle group bypass priority", the user preference data 101, captured by the preference capture unit 224, defines "I want to move safely", and the large CACC vehicle group timetable data 30 and the vehicle's own route, captured by the timetable capture unit 223, define "there is a possibility of parallel driving with the vehicle (there is a small number of vehicles moving)", the route generation unit 221 generates a route by allowing a shared road with a predetermined number or more of lanes to be included, with the shared road intersecting the route in the large vehicle's foreign vehicle timetable (see also Fig. 6).

[0050] The processing sequence of the second embodiment is the same as that of the first embodiment ( Fig. 3) wherein, in the bypass route generation (S111) as described above, the route is generated by allowing the shared road to be included with a predetermined number or more of lanes, the shared road intersecting the route in the foreign vehicle timetable of the large vehicles.

[0051] Fig. Figure 6 is a diagram that provides an example of each case of "bypass route generation processing" in Fig. 3 illustrated.

[0052] For example, in the case of a bypass route generation case 3-2, a route is generated as "Bypass Route 3" by allowing a shared road with a predetermined number or more of lanes to be included, with the shared road intersecting the route in the foreign vehicle timetable of the large vehicles.

[0053] As described above, in the route generation device 20 according to the second embodiment, the route generation unit 221 generates the route based on the user's preference by allowing a shared road with a predetermined number or more of lanes to be included, the shared road intersecting the route in the foreign vehicle timetable of the large vehicles.

[0054] This means that the route generation device 20 of the present embodiment travels on a lane that differs from that of the ACC / CACC vehicle group.

[0055] According to the present embodiment, it is therefore possible to avoid the risk that a journey of one's own vehicle will be disrupted by the ACC / CACC vehicle group at the time a destination is set. <Dritte Ausführungsform>

[0056] A route generation device 20 of a third embodiment has the same configuration as that of the first embodiment, wherein the route generation unit 221 generates a driving route to avoid parallel driving with and cutting into an ACC / CACC vehicle group of large vehicles from the possible section information for autonomous driving contained in the section detection unit 222 and the large CACC vehicle group timetable data 30 contained in the large CACC vehicle group timetable server 3 (information contained in the timetable detection unit 223).

[0057] If, for example, the route selection defines an "ACC / CACC vehicle group avoidance priority", the user preference data 101, captured by the preference capture unit 224, defines "I want to move safely", and the large CACC vehicle group schedule data 30, captured by the schedule capture unit 223, or the ACC vehicle group driving information 42, the CACC vehicle group driving information 43, and the own vehicle route define "there is a possibility of parallel driving with the own vehicle (multiple lanes and a large number of moving vehicles)", the route generation unit 221 generates the route such that the own vehicle's travel time on the shared road does not overlap with the travel time of the autonomous vehicle when the shared road, which overlaps the route in the foreign vehicle schedule of the large vehicles,is included in the route based on the user's preference.

[0058] The processing sequence of the third embodiment is the same as that of the first embodiment ( Fig. 3) wherein, as described above, if the shared road which intersects the route in the foreign vehicle timetable of the large vehicles is included in the route in the bypass route generation (S111), the route is generated such that the travel time of the own vehicle on the shared road and the travel time of the ACC / CACC vehicle group do not overlap.

[0059] Fig. Figure 6 is a diagram that provides an example of each case of "bypass route generation processing" in Fig. 3 illustrated.

[0060] For example, in the case of bypass route generation case 1 or case 2, if a shared road that overlaps the route in the foreign vehicle timetable of the large vehicles is included in the route as "bypass route 1", the route is generated in such a way that the travel time of the own vehicle on the shared road and the travel time of the ACC / CACC vehicle group do not overlap.

[0061] As described above, in the route generation device 20 of the third embodiment, if the shared road which intersects a route in the foreign vehicle timetable is included in the route based on the user's preference, the route generation unit 221 generates the route in such a way that the travel time of the own vehicle and the travel time of the other vehicles (ACC / CACC vehicle group) on the shared road do not overlap.

[0062] That is, the route generation device 20 of the present embodiment shifts the travel time in order to avoid interfering with the ACC / CACC vehicle group.

[0063] According to the present embodiment, it is therefore possible to avoid the risk that a journey of one's own vehicle will be disrupted by the ACC / CACC vehicle group at the time a destination is set. <Vierte Ausführungsform>

[0064] A route generation device 20 of a fourth embodiment has the same configuration as that of the first embodiment, wherein the route generation unit 221 generates a driving route to avoid parallel driving with and cutting into the ACC / CACC vehicle group of large vehicles from the possible section information for autonomous driving contained in the section detection unit 222 and the large CACC vehicle group timetable data 30 contained in the large CACC vehicle group timetable server 3 (information contained in the timetable detection unit 223).

[0065] In a case where, for example, the route selection defines an "ACC / CACC vehicle group avoidance priority", the user preference data 101, captured by the preference capture unit 224, defines "I want to move safely", and the large CACC vehicle group timetable data 30, captured by the timetable capture unit 223, or the ACC vehicle group driving information 42, the CACC vehicle group driving information 43, and the own vehicle route define "there is a possibility of parallel driving with the own vehicle (multiple lanes and a large number of moving vehicles)", the route generation unit 221 generates the driving route using a result of determining whether there is an obstacle during the journey, based on attribute information of the shared road that intersects the route in the foreign vehicle timetable of the large vehicles.

[0066] The processing sequence of the fourth embodiment is the same as that of the first embodiment ( Fig. 3) where, in the case of bypass route generation (S111), the route is generated using the result of the determination of whether or not there is an obstacle during the journey, based on the attribute information of the shared road that intersects the route in the foreign vehicle timetable of the large vehicles, as described above.

[0067] Fig. Figure 6 is a diagram that provides an example of each case of "bypass route generation processing" in Fig. 3 illustrated.

[0068] For example, in the case of a bypass route generation case 3-1, the route is generated as “bypass route 2” using the result of the determination of whether or not there is an obstacle during the journey, based on the attribute information of the shared road that intersects the route in the foreign vehicle timetable of the large vehicles.

[0069] As described above, in the route generation device 20 according to the fourth embodiment, the route generation unit 221 generates the driving route using a result of the determination of whether or not an obstacle is present during the journey, based on attribute information of a shared road that intersects a route in the foreign vehicle timetable.

[0070] That is, in a case where a traffic jam occurs due to the ACC / CACC vehicle group, the route generation device 20 of the present embodiment causes the own vehicle to drive on a different route.

[0071] According to the present embodiment, it is therefore possible to avoid the risk that a journey of one's own vehicle will be disrupted by the ACC / CACC vehicle group at the time a destination is set. <Fünfte Ausführungsform>

[0072] A route generation device 20 of a fifth embodiment has the same configuration as that of the first embodiment, wherein the route generation unit 221 generates a driving route to avoid parallel driving with and cutting into the ACC / CACC vehicle group of large vehicles from the possible section information for autonomous driving contained in the section detection unit 222 and the large CACC vehicle group timetable data 30 contained in the large CACC vehicle group timetable server 3 (information contained in the timetable detection unit 223).

[0073] In a case where the route selection also defines, for example, an "ACC / CACC vehicle group avoidance priority", the user preference data 101, which is captured by the preference capture unit 224, defines "I want to move safely", and the large CACC vehicle group timetable data 30 or the ACC vehicle group driving information 42, the CACC vehicle group driving information 43 and the own vehicle route, which are captured by the timetable capture unit 223, define "there is a possibility of parallel driving at the merging point" or "there is a possibility of parallel driving near the exit", the route generation unit 221 generates a driving route on which the own vehicle avoids cutting into the ACC / CACC vehicle group at the entrance / exit of the expressway.

[0074] The processing sequence of the fifth embodiment is the same as that of the first embodiment ( Fig. 3), wherein in the bypass route generation (S111) a route is generated on which the own vehicle avoids cutting into the ACC / CACC vehicle group at the entrance / exit of a highway.

[0075] Fig. Figure 6 is a diagram that provides an example of each case of "bypass route generation processing" in Fig. 3 illustrated.

[0076] In the case of bypass route generation case 1 or case 2, for example, a route is generated as "bypass route 1" on which the vehicle avoids cutting into the ACC / CACC vehicle group at the entrance / exit of the highway.

[0077] As described above, in the route generation device 20 of the fifth embodiment, if an entrance / exit of a highway is included in an attribute of a shared road that intersects the route in the foreign vehicle timetable, the route generation unit 221 generates the route to avoid the entrance / exit (with respect to transit time).

[0078] This means that the route generation device 20 of the present embodiment shifts the travel time so that the ACC / CACC vehicle group does not block the entrance / exit of the expressway.

[0079] According to the present embodiment, it is therefore possible to avoid the risk that a journey of one's own vehicle will be disrupted by the ACC / CACC vehicle group at the time a destination is set. <Sechste Ausführungsform>

[0080] A route generation device 20 of a sixth embodiment has the same configuration as that of the first embodiment, wherein the vehicle 2 further generates a driving route at the time of setting a destination, along which the vehicle 2 moves towards the vicinity of the destination by increasing the number of autonomous driving segments as much as possible using the route generation unit 221 based on the preference acquisition unit 224, the user preference 101 contained in the driving level acquisition unit 225, and the driving ability level 102.

[0081] The route generation unit 221 determines a possible section for autonomous Lv4 driving from the possible section information for autonomous driving contained in the section detection unit 222 and the possible environment information 41 for autonomous Lv4 driving contained in the vehicle information / road information server 4.

[0082] The preference capture unit 224 and the driving level capture unit 225 capture information (including user preference 101, driving ability level 102 and driving frequency 103) that is set in the personal information setting 10, which is contained in the personal information setting server 1.

[0083] The timetable acquisition unit 223 also acquires a route on which the vehicle can follow an ACC / CACC vehicle from the ACC vehicle group driving information 42 and the CACC vehicle group driving information 43, which are contained in the vehicle information / road information server 4.

[0084] In a case where a vehicle travels from within an autonomous driving area through a section outside the autonomous driving area, the route generation unit 221 generates a driving route that includes the section outside the autonomous driving area, taking into account the user's driving skill level and driving frequency.

[0085] In a case where the route selection is defined, for example, "follow the ACC / CACC vehicle", the user preference 101 captured by the preference capture unit 224 is defined as "I want to have fun / relax", and the large CACC vehicle group timetable data 30 or the ACC vehicle group driving information 42, the CACC vehicle group driving information 43, and the own vehicle's driving route captured by the timetable capture unit 223 are defined as "on the own vehicle's target route", the route generation unit 221 generates a route to recommend a route on which the own vehicle can actively follow an ACC / CACC vehicle group according to a speed of the ACC / CACC vehicle group and a speed of the own vehicle (see also Fig. 10).

[0086] Fig. Figure 7 is a diagram illustrating a processing flow for generating a driving route on which vehicle 2 can follow an ACC / CACC vehicle.

[0087] As in Fig. As illustrated in S201, the processing of generating a route on which the vehicle can follow an ACC / CACC vehicle after a destination has been set involves processing the acquisition of data (S202) from a server, autonomous route acquisition processing (S207) and subsequent route generation (S210).

[0088] As in Fig. As illustrated in Figure 8, during the processing of data acquisition (S202) by the server, the user preference 101 is acquired by the personal information settings server 1 during user preference acquisition (S203), the driving ability level 102 and driving frequency 103 are acquired during driving ability level acquisition (S204), the ACC vehicle group driving information 42 is acquired by the vehicle information / road information server 4 during ACC vehicle group driving information acquisition (S205), and the CACC vehicle group driving information 43 is acquired during CACC vehicle group driving information acquisition (S206).

[0089] As in Fig. As illustrated in S207, the section detection unit 222 is also detected during autonomous section detection (S208) and the possible environmental information 41 for autonomous Lv4 driving is detected during possible environmental information detection for autonomous Lv4 driving (S209).

[0090] During the following route generation (S210), as described above, a driving route is generated to recommend a route on which the own vehicle actively follows the ACC / CACC vehicle group, according to the speed of the ACC / CACC vehicle group and the speed of the own vehicle.

[0091] Fig. 10 is a diagram that provides an example of each case of the “route generation processing to follow” in Fig. 7 illustrates.

[0092] In the case of a subsequent route generation case 1, for example, a driving route is generated as "route to follow 1" to recommend a route on which the own vehicle can actively follow the ACC / CACC vehicle group, according to the speed of the ACC / CACC vehicle group and the speed of the own vehicle.

[0093] As described above, the route generation device 20 of the sixth embodiment comprises the timetable acquisition unit 223, which acquires the timetable of the other vehicles (ACC / CACC vehicle group) that the own vehicle follows by controlling an intermediate vehicle distance; the preference acquisition unit 224, which acquires the preference of the user of the own vehicle; and the route generation unit 221, which generates the route to the destination of the own vehicle. The route generation unit 221 generates the route on which the own vehicle follows the other vehicles (ACC / CACC vehicle group) based on the user's preference and the timetable of the other vehicles.

[0094] Furthermore, the route generation device 20 of the sixth embodiment comprises the driving level detection unit 225, which detects a driving level of the driver of the vehicle, and the section detection unit 222, which detects information regarding an autonomous driving section in which the vehicle can move by autonomous driving, and the route generation unit 221 generates the driving route on the basis of the driving level and the autonomous driving section.

[0095] The route generation unit 221 determines the other vehicles (ACC / CACC vehicle group) that the own vehicle follows, furthermore according to a driving speed of the other vehicles (ACC / CACC vehicle group) based on the user's preference, and generates the driving route on which the own vehicle can follow the other vehicles (ACC / CACC vehicle group).

[0096] That is, the route generation device 20 of the present embodiment recommends a route on which the own vehicle can actively follow the ACC / CACC vehicle group, according to a speed of the ACC / CACC vehicle group and a speed of the own vehicle.

[0097] According to the present embodiment, it is accordingly possible to generate a route for moving towards a destination by increasing the number of autonomous driving sections, in which the vehicle can safely travel from the autonomous driving sections to areas outside of autonomous driving sections, as much as possible according to user preference and driving ability level. <Siebte Ausführungsform>

[0098] A route generation device 20 of a seventh embodiment also has the same configuration as that of the first embodiment, wherein the vehicle 2 furthermore generates a driving route at the time of setting a destination, along which the vehicle 2 moves towards the vicinity of the destination by increasing the number of autonomous driving segments as much as possible using the route generation unit 221 according to the preference acquisition unit 224, the user preference 101 contained in the driving level acquisition unit 225 and the driving ability level 102.

[0099] The route generation unit 221 determines a possible section for autonomous Lv4 driving from the possible section information for autonomous driving contained in the section detection unit 222 and the possible environment information 41 for autonomous Lv4 driving contained in the vehicle information / road information server 4.

[0100] The preference capture unit 224 and the driving level capture unit 225 also capture information (including user preference 101, driving ability level 102 and driving frequency 103) that is set in the personal information setting 10, which is contained in the personal information setting server 1.

[0101] The timetable acquisition unit 223 further acquires a route on which the own vehicle can follow an ACC / CACC vehicle, from the ACC vehicle group driving information 42 and the CACC vehicle group driving information 43, which are contained in the vehicle information / road information server 4.

[0102] In a case where a vehicle travels from within an autonomous driving area through a section outside the autonomous driving area, the route generation unit 221 generates a driving route that includes the section outside the autonomous driving area, taking into account the user's driving skill level and driving frequency.

[0103] In a case where the route selection is defined, for example, "follow an ACC / CACC vehicle", the user preference 10 captured by the preference capture unit 224 is defined as "I want to have fun / relax", the large CACC vehicle group timetable data 30 captured by the timetable capture unit 223, or the ACC vehicle group driving information 42, the CACC vehicle group driving information 43, and the own vehicle's route is defined as "on the own vehicle's target route", and the autonomous driving segment captured by the section capture unit 222 is defined as a "road with possible autonomous driving (segment where autonomous driving is not possible is partially present)", the route generation unit 221 increases the number of autonomous driving segments as much as possible and moves closer to the destination according to the driver's driving skill level (see also Fig. 10).

[0104] The processing sequence of the seventh embodiment is the same as that of the sixth embodiment ( Fig. 7), wherein in the following route generation (S210) a route to be generated is determined, if the driving level is equal to or higher than a predetermined level, a route is determined that has a shorter driving path than that of other route candidates, and if the driving level is lower than the predetermined level, a route is determined that has a longer autonomous driving segment than that of other route candidates.

[0105] Fig. 10 is a diagram that provides an example of each case of the “route generation processing to follow” in Fig. 7 illustrates.

[0106] For example, in the following route generation case 3-1, if the driving level is equal to or higher than a predetermined level, a route is determined that has a shorter driving path than other route candidates, and if the driving level is lower than the predetermined level, a route is determined that has a longer autonomous driving segment than other route candidates.

[0107] As described above, in the route generation device 20 of the seventh embodiment, the route generation unit 221 determines as a driving route a driving route which has a shorter driving path than that of other driving route candidates when the driving level is equal to or higher than a predetermined level, and a driving route which has a longer autonomous driving section than that of other driving route candidates when the driving level is lower than the predetermined level.

[0108] That is, the route generation device 20 of the present embodiment causes the vehicle to move closer to the destination by increasing the number of autonomous driving segments as much as possible according to the driver's driving ability level.

[0109] According to the present embodiment, it is accordingly possible to generate a route for moving towards a destination by increasing the number of autonomous driving sections, in which the vehicle can safely travel from the autonomous driving sections to areas outside of autonomous driving sections, as much as possible according to user preference and driving ability level. <zusammenfassung>

[0110] As described above, in the present embodiment it is possible to create a route plan taking into account a user's preference when the user specifies a destination and to avoid an ACC / CACC vehicle group. Furthermore, in a case where a vehicle can join an ACC / CACC vehicle, it is possible to provide a route on which the vehicle actively follows the ACC / CACC vehicle according to a user's preference.

[0111] According to the present embodiment, it is possible to avoid the risk of the vehicle's journey being disrupted by the ACC / CACC vehicle group at the time a destination is set. Furthermore, it is possible to generate a route along which the vehicle moves towards the destination by maximizing the number of autonomous driving segments, in which the vehicle can safely travel from these autonomous driving segments to areas outside of autonomous driving capability segments, according to user preference and driving ability level.

[0112] It should be noted that the present invention is not limited to the embodiments described above and may include various modifications. For example, the embodiments of the present invention described above have only been described in such detail to facilitate understanding, and the embodiments need not necessarily be limited to those that have all of the described configurations.

[0113] Furthermore, some or all of the configurations, functions, processing units, processing means, and the like described above can be implemented by hardware, for example, by executing them with an integrated circuit. Additionally, each of the configurations, functions, and the like described above can also be implemented by software, with a processor interpreting and executing a program to implement each function. Information, such as a program, a table, and a file for implementing each function, can then be stored in a recording device, such as memory, a hard disk drive, or a solid-state drive (SSD), or a recording medium, such as an IC card, an SD card, or a DVD.

[0114] Furthermore, the control lines and information lines only indicate what was deemed necessary for the description, but not necessarily all control lines and information lines on the product. In practice, it can also be assumed that almost all configurations are interconnected. Reference symbol list 1 personal information settings server 2 vehicles 3 Large CACC vehicle group timetable servers 4 Vehicle Information / Road Information Servers 5 Network 10 personal information settings 101 User Preference 102 Driving ability level 103 Driving frequency 20 Route generation device 21 Route transmission unit 221 Route generation unit 222 Section recording unit 223 Timetable recording unit 224 Preference recording unit 225 Ride height detection unit 30 Large CACC vehicle group timetable data 41 Possible environmental information for autonomous Lv4 driving 42 ACC vehicle group driving information 43 CACC vehicle group driving information QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] JP 2008-180591 A

[0003] < / zusammenfassung>

Claims

[1] A route generation device comprising: a timetable acquisition unit that records a foreign vehicle timetable of another vehicle, which a vehicle of its own follows for driving by controlling an intermediate vehicle distance; a preference recording unit that records a user's preference for their own vehicle; and a route generation unit that generates a driving route to a destination for the own vehicle, the route generation unit generates the route to avoid or follow the other vehicle based on the user's preference and the other vehicle's timetable. [2] The route generation device according to claim 1, further comprising: a ride level detection unit that detects the ride level of a driver of their own vehicle; and a section detection unit that records information regarding an autonomous driving section in which the vehicle is capable of driving autonomously, where the route generation unit generates the driving route based on the driving level and the autonomous driving segment. [3] The route generation device according to claim 2, wherein the route generation unit determines a driving route which has a shorter driving path than a driving path of other driving route candidates when the driving level is equal to or greater than a predetermined level, and determines a driving route which has a longer autonomous driving section than an autonomous driving section of other driving route candidates when the driving level is lower than the predetermined level. [4] The route generation device according to claim 1, wherein the route generation unit determines the other vehicle which the own vehicle is following according to a driving speed of the other vehicle based on the user's preference and generates the driving route on which the own vehicle is able to follow the other vehicle. [5] The route generation device according to claim 1, wherein the route generation unit generates the driving route such that the own vehicle travels along a road that does not intersect a route in the foreign vehicle timetable based on the user's preference. [6] The route generation device according to claim 1, wherein the route generation unit generates the route by allowing a shared road with a predetermined number or more of lanes to be included, the shared road intersecting the route in the foreign vehicle timetable based on the user's preference. [7] The route generation device according to claim 1, wherein the route generation unit, if the route includes a shared road which intersects a route in the other vehicle's timetable, generates the route such that a travel time of the own vehicle and a travel time of the other vehicle on the shared road do not overlap based on the user's preference. [8] The route generation device according to claim 1, wherein the route generation unit generates the driving route using a result of determining whether or not an obstacle is present during the journey, based on attribute information of a shared road that intersects a route in the foreign vehicle timetable. [9] The route generation device according to claim 1, wherein if an entrance / exit of a highway is included in an attribute of a shared road which intersects a route in the foreign vehicle timetable, the route generation unit generates a route to bypass the entrance / exit.

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