Route setting system, program, definition information of road network, and route setting method

Abstract

To use highly accurate definition information of a road network which can be used for automatic driving or the like while suppressing an increase in data amount and calculation amount.SOLUTION: Definition information of a road network including road definition information including a road name and set for each same configuration section in which a road configuration is the same, and intersection definition information including an intersection name for uniquely identifying an intersection, coordinates indicating a center point of the intersection, and a road name connected to the intersection, the road vector definition information includes first and second road coordinates indicating coordinates of center points in a width direction of the road at one end and the other end of the road having the road name, and coordinates of a connection point with an intersection in a case where the road is connected to the intersection having the road name, the road network is defined using the road definition information and the intersection definition information, and the information processing device creates a route list including the road name and the intersection name arranged in order to the departure point and the destination point where the moving object travels based on the defined road network.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a route setting system, a program, road network definition information, and a route setting method.The information processing program is executed by an information processing device, and specifically can be realized as a simulation program, a navigation program, an ADAS (Advanced Driver-Assistance Systems) program, an autonomous driving program, etc. [Background technology]

[0002] Digital road networks that allow computers to recognize individual road elements have been developed for use in car navigation systems and road management systems (Non-Patent Document 1). [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Japan Digital Road Map Association, "Considerations on next-generation digital road maps," [online], [Retrieved August 2, 2021], Internet <URL: https: / / www.drm.jp / database / future / > Summary of the Invention [Problem to be solved by the invention]

[0004] Toward the realization of future cooperative automated driving systems, it is expected that road networks will be developed that can be applied to use cases such as lane-level positioning and high-precision road-to-vehicle and vehicle-to-vehicle position referencing (Non-Patent Document 1). To achieve this, it is necessary to define various information about roads in as much detail as possible, but this is in a trade-off relationship with an increase in the amount of data and calculations.

[0005] In view of the above circumstances, an object of the present invention is to provide highly accurate road network definition information that can be used for automated driving, etc. while suppressing increases in data volume and calculation volume, as well as a route setting system, program, and route setting method that use this road network definition information. [Means for solving the problem]

[0006] A method for defining a road network according to one aspect of the present invention includes: When the information processing device executes the information processing program, a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information that is set for each identical section of the road, which is a section having the same road configuration, and that defines lanes included in the road; Enter definition information for the road network including road definition information including The road network including the road is defined using the road vector definition information and lane definition information set for each of the identical sections.

[0007] Since the lane definition information can be used in common for sections with the same road configuration, the amount of data required for the lane definition information is small, yet highly accurate, and the amount of calculation involved can also be reduced.

[0008] the lane definition information defines a configuration of lanes in one direction of travel of the road, but does not define a configuration of lanes in the other direction of travel of the road; The lane definition information may be used to define the road network including the road including the lane in one direction of travel and the other lane in one direction of travel that has a symmetrical configuration to the lane in one direction of travel across the center of the road in the width direction.

[0009] Since road definition information for one direction of travel can be used to define roads for both directions of travel, the amount of data required for road definition information is effectively halved, with high accuracy, and the amount of calculation required can also be reduced.

[0010] The lane definition information may include the number of lanes, the lane type for each lane, and the width for each lane.

[0011] The information processing device can define the configuration of the road based on road vector definition information and lane definition information, set the lane to be traveled from the lanes included in the road, and generate a sequence of lane points at predetermined positions in the width direction of the travel lane.

[0012] The lane type may indicate a roadway, a sidewalk, a shared road, or a median strip.

[0013] The information processing device can generate a sequence of lane points of a driving lane of a lane type appropriate for the type of moving object (person, vehicle).

[0014] If the road is a one-way road, the lane definition information may include the number of lanes on the road and the width of each lane.

[0015] Each of the three lanes included in the road can be defined based on the number of lanes, the width of each lane, the coordinates of the bending points, and the like included in the lane definition information.

[0016] The road network definition information is Intersection definition information including an intersection name that uniquely identifies an intersection, the coordinates of the intersection, the size of the intersection, and road names that uniquely identify roads that connect to the intersection. It may further include:

[0017] The information processing device can generate a sequence of driving points at an intersection and a sequence of lane points at a predetermined position (e.g., the center position) in the width direction of the driving lane of the road to be entered based on the road vector definition information and the number of lanes and width of each lane in the lane definition information.

[0018] The intersection may be represented as a circle or an oval.

[0019] The intersection definition information is Traffic light list information in which a traffic light name that identifies a traffic light, the coordinates of the traffic light, and a road name that uniquely identifies a road facing the traffic light are set It may further include:

[0020] The traffic light list information may further include an operation start time and an operation end time for each traffic light.

[0021] A route setting method according to one aspect of the present invention includes: When the information processing device executes the information processing program, a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information that is set for each identical section of the road, which is a section having the same road configuration, and that defines lanes included in the road; road definition information including Intersection definition information including an intersection name that uniquely identifies an intersection, the coordinates of the intersection, the size of the intersection, and road names that uniquely identify roads that connect to the intersection; Enter the definition information of the road network, including creating a route list including road names and intersection names that identify roads and intersections along which the mobile object travels, and defining a route along which the mobile object travels using the route list; The lanes included in the route are set using the road vector definition information and lane definition information set for each of the identical sections.

[0022] The lane definition information includes the number of lanes, the type of each lane, and the width of each lane, In response to a predetermined instruction, the lane definition information may be used to generate a sequence of lane points at predetermined positions in the width direction of the travel lane in which the mobile object travels.

[0023] The lane may be set by generating a sequence of driving points at predetermined positions in the width direction of the driving lane in which the moving body travels within the intersection using a sequence of lane points at predetermined positions in the width direction of the driving lane of the road through which the moving body enters the intersection and a sequence of lane points at predetermined positions in the width direction of the driving lane of the road through which the moving body exits the intersection.

[0024] An information processing device according to one aspect of the present invention includes: a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information that is set for each identical section of the road, which is a section having the same road configuration, and that defines lanes included in the road; a road definition information input unit for inputting definition information of a road network including road definition information including: a road network definition unit that defines the road network including the road using the road vector definition information and lane definition information set for each of the identical sections; It is equipped with:

[0025] An information processing program according to an embodiment of the present invention includes: a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information that is set for each identical section of the road, which is a section having the same road configuration, and that defines lanes included in the road; road definition information including intersection definition information including an intersection name that uniquely identifies an intersection, the coordinates of the intersection, the size of the intersection, and a road name that uniquely identifies a road that connects to the intersection; An information processing program that uses definition information of a road network including: The processor of the information processing device creating a route list including road names and intersection names that identify roads and intersections along which the mobile object will travel in the simulation; defining a route along which the moving object will travel in simulation using the list; The lane definition information set for the section of the road having the same configuration and the one point is used to set the lanes included in the route. Make it work like this.

[0026] The definition information of the road network according to one embodiment of the present invention includes: a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information that is set for each identical section of the road, which is a section having the same road configuration, and that defines lanes included in the road; road definition information including Equipped with The road network including the road is defined using the road vector definition information and lane definition information set for each of the identical sections. [Effects of the Invention]

[0027] According to the present invention, it is possible to provide highly accurate road network definition information that can be used for automated driving, etc. while suppressing increases in data volume and calculation volume, as well as an information processing device, an information processing program, and various information processing methods that use this road network definition information.

[0028] The effects described here are not necessarily limited to those described herein, and may be any of the effects described in this disclosure. [Brief explanation of the drawings]

[0029] [Figure 1] 1 illustrates a model of a road network according to an embodiment of the present invention. [Figure 2] 3 shows a structure of road network definition information according to an embodiment of the present invention. [Figure 3] 2 shows an example of a road defined by road definition information. [Figure 4] 1 shows an example of an intersection defined by the intersection definition information. [Figure 5] 1 shows the configuration of an information processing device. [Figure 6] 1 shows a flowchart illustrating an information processing method. [Figure 7] The route list is shown. [Figure 8] A first specific example will be given. [Figure 9] A second specific example is shown below. [Figure 10] A third specific example is shown below. [Figure 11] A specific example of road configuration is shown below. [Figure 12] A specific example of a sequence of points inside a tunnel is shown below. DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0031] 1. Road network definition information

[0032] FIG. 1 shows a model of a road network according to an embodiment of the present invention.

[0033] The road network model 1 includes at least an object representing an intersection 11 and an object representing a road 12. The road network model 1 may further include objects representing traffic lights, objects representing signs, and objects representing events (construction work, accident sites, etc.) (not shown).

[0034] The intersection 11 is a node where multiple roads 12 meet. The intersection 11 is represented by a circular or elliptical object, which has a shape similar to that of an actual intersection.

[0035] A road 12 is a link from one intersection 11 to another intersection 11. In other words, a road 12 links two intersections 11 and does not include any other intersections 11 in between. The road 12 is represented by a straight or curved object with a shape (curvature, etc.) that is close to the shape of an actual road.

[0036] FIG. 2 shows the structure of road network definition information according to one embodiment of the present invention.

[0037] The road network definition information 2 includes intersection definition information 21 , road definition information 22 , traffic light definition information 23 , sign definition information 24 , and event definition information 25 .

[0038] The traffic light definition information 23, sign definition information 24, and event definition information 25 are each defined by a name 201 and coordinates 202. The name 201 is identification information that uniquely identifies a traffic light, sign, or event (construction, accident, etc.). The coordinates 202 include at least the two-dimensional coordinates (X, Y) (latitude and longitude) of the traffic light, sign, or event site (construction, accident site, etc.), and may further include the ground surface elevation, i.e., three-dimensional position information (Z) in the height or depth direction.

[0039] FIG. 3 shows an example of a road defined by road definition information.

[0040] 2 includes a name 201, a direction of travel 206, lane definition information 210, and road vector definition information 220. In other words, each road 12 is defined using the name 201, the direction of travel 206, the lane definition information 210, and the road vector definition information 220.

[0041] The name 201 is identification information (road name) that uniquely identifies the road 12.

[0042] The road vector definition information 220 includes the coordinates of multiple points along the center of the road 12 in the width direction. In other words, the road vector definition information 220 defines the road 12 as a latitude and longitude vector defined by a sequence of center points connecting multiple points. A vector refers to the direction (travel direction) and length (distance) of the line connecting each two consecutive points.

[0043] The road vector definition information 220 includes road entrance coordinates 221, road exit coordinates 222, the number of bending points 223, and the coordinates 224 of the bending points.

[0044] The road entrance coordinates 221 are the coordinates of the connection point between one end of the road 12 and one intersection 11 (the coordinates of the center point in the width direction of the road 12; the same applies below).

[0045] The road exit coordinates 222 are the coordinates of the connection point between the other end of the road 12 and another intersection 11 .

[0046] The number of bending points 223 is the number of bending points included in the road 12. For example, a winding road 12 has a large number of bending points 223, while a straight road 12 has a small or no number of bending points 223. The bending point coordinates 224 are the coordinates of each bending point included in the road 12.

[0047] The road entrance coordinates 221, road exit coordinates 222, and bend point coordinates 224 include at least two-dimensional coordinates (X, Y) (latitude and longitude), and may further include ground surface elevation, i.e., three-dimensional position information (Z) in the height or depth direction.

[0048] The direction of travel 206 identifies either one of the directions of travel along the road 12 (eg, an uphill direction) or the other of the directions of travel along the road 12 (eg, a downhill direction).

[0049] The lane definition information 210 defines the configuration of lanes in one direction of travel (e.g., the uphill direction) specified by the travel direction 206. Conversely, the lane definition information 210 does not define the configuration of lanes in the other direction of travel (e.g., the downhill direction). On a typical road 12, the uphill lanes and the downhill lanes are configured symmetrically (line-symmetrically) with respect to the center of the road 12's width. For example, the uphill lanes and the downhill lanes are symmetrical in terms of the number of lanes, lane type, lane width, and other configurations. Therefore, in this embodiment, by utilizing the symmetry of the road 12, the lane definition information 210 for the lanes in one direction of travel (the travel direction 206) is used to define lanes not only in this one direction of travel but also in both directions of travel. Because the road 12 can be defined in both directions of travel using the road definition information 22 for one direction of travel 206, the data volume of the road definition information 22 is essentially halved, the data is highly accurate, and the associated calculation volume can be reduced.

[0050] The lane definition information 210 is set for each section of the road 12 having the same configuration (same-configuration section). The "road configuration" is specified by the number of lanes, lane type, width of each lane, etc. For example, if the number of lanes changes on the same continuous road 12, the point where the number of lanes changes marks the boundary between different sections of the same configuration.

[0051] The lane definition information 210 is independent of the road vector definition information 220. The road vector definition information 220 represents the shape of the road 12. The lane definition information 210 defines the configuration of the road 12, and is set for each section of the road 12 having the same configuration (same configuration section). This allows the lane definition information 210 to be used in common for sections of the road 12 having the same configuration (same configuration section) regardless of the length of the road 12. This means that the lane definition information 210 requires a small amount of data, is highly accurate, and also reduces the amount of calculation involved.

[0052] The lane definition information 210 includes the number of lanes 211, lane types 212, and widths 213 of each lane.

[0053] The number of lanes 211 is the number of lanes in one direction of travel specified by the direction of travel 206 .

[0054] The lane type 212 indicates the type of each lane in one direction of travel specified by the travel direction 206 (for example, roadway, sidewalk, shared pedestrian and bicycle path, or median strip, etc.).

[0055] The width 213 of each lane is the length of the width of each lane in one direction of travel specified by the direction of travel 206.

[0056] FIG. 4 shows an example of an intersection defined by the intersection definition information.

[0057] 2 includes a name 201, coordinates 202, size 203, connecting roads 204, and directions of the connecting roads 205. In other words, each intersection 11 is defined using the name 201, coordinates 202, size 203, connecting roads 204, and directions of the connecting roads 205.

[0058] The name 201 is identification information (intersection name) that uniquely identifies the intersection 11.

[0059] Coordinates 202 include at least the two-dimensional coordinates (X, Y) (e.g., latitude and longitude) of the center of intersection 11, and may further include the ground surface elevation, i.e., three-dimensional position information (Z) in the height or depth direction.

[0060] The size 203 is the size (extent) of the intersection 11 represented by a circular or elliptical object. For example, the size 203 may be represented by the length of the radius of the intersection 11 (in the case of a circle) or the lengths of the major and minor axes (in the case of an ellipse).

[0061] The connecting roads 204 are identification information (ie, road names) that uniquely identify the plurality of roads 12 that connect to the intersection 11 as a node.

[0062] The direction 205 of the connecting road is the direction (east, west, north, south) of the plurality of roads 12 that are connected at the intersection 11 as a node.

[0063] The intersection definition information 21 may further include traffic light list information. The traffic light list information is a list of one or more traffic lights if there are one or more traffic lights at (or around) the intersection 11. The traffic light list information includes the name 201 of the traffic light (traffic light component name), the coordinates 202 of the traffic light, and the name (road name) of the road 12 facing the traffic light. If there is a traffic light shutdown period (for example, from midnight to 5:00 AM), the traffic light list information includes the operation start time and operation end time of the traffic light.

[0064] The road network definition information 2 may further include tunnel definition information that defines a tunnel. The tunnel definition information includes tunnel entrance coordinates, tunnel exit coordinates, the number of bend points in the tunnel, and the coordinates of the bend points in the tunnel. This information is similar to the road entrance coordinates 221, road exit coordinates 222, the number of bend points 223, and the coordinates of the bend points 224 in the road vector definition information 220. The tunnel entrance coordinates, tunnel exit coordinates, and the coordinates of the bend points in the tunnel include at least two-dimensional coordinates (X, Y) (latitude and longitude) and may further include ground surface elevation, i.e., three-dimensional position information (Z) in the height or depth direction.

[0065] 2. Information processing equipment

[0066] FIG. 5 shows the configuration of the information processing device.

[0067] The information processing device 100 receives road network definition information 2 and executes an information processing program to process the received road network definition information 2. For example, the information processing device 100 is implemented in a simulation device, a personal computer, a navigation device, a mobile object (typically, an autonomously driven vehicle or a non-autonomously driven vehicle; the same applies below), a roadside unit, etc. For example, the information processing program is incorporated into a simulation program, a navigation program, an ADAS program, an autonomous driving program, etc.

[0068] The information processing device 100 includes an auxiliary storage device such as a ROM, a control circuit 101 including a CPU (processor) and RAM, an input device 102 such as a switch, microphone or keyboard, an output device 103 such as a display or speaker, and a network communication interface 104.

[0069] The information processing device 100 operates as a road definition information input unit 111, a road network definition unit 112, a route definition unit 113, and a lane setting unit 114 by having a CPU (processor) load an information processing program stored in an auxiliary storage device such as a ROM into RAM and execute it in the control circuit 101.

[0070] 3. Information Processing Method

[0071] FIG. 6 shows a flowchart illustrating the information processing method.

[0072] The information processing device 100 inputs road network definition information 2 and executes an information processing program, thereby realizing a road network definition method (steps S101 and S102) and a route setting method (steps S103 and onward).

[0073] The road definition information input unit 111 of the information processing device 100 inputs road network definition information 2 in units of data volume as needed (step S101). The road network definition unit 112 of the information processing device 100 uses the road network definition information 2 to define a road network including intersections 11 and roads 12 (step S102).

[0074] The route definition unit 113 of the information processing device 100 determines a starting point and a destination point along which the moving object will travel (step S103). The starting point and the destination point may be points where the moving object starts and ends its travel, or may be intermediate points along the way. Note that "moving object travels" may mean either an actual moving object (vehicle) traveling on an actual road (for example, when the information processing device 100 is an automatic driving device), or an object representing the moving object virtually traveling on an object representing a road (for example, when the information processing device 100 is a simulator device).

[0075] The route definition unit 113 of the information processing device 100 creates a route list 300 including road names 302 and intersection names 301 that identify the roads 12 and intersections 11 that are arranged in order from the starting point to the destination point along which the mobile object travels, and defines the route along which the mobile object travels using this route list 300 (step S104). The route means the route along which the mobile object travels from the starting point to the destination point. In other words, the route includes the roads 12 and intersections 11 from the starting point to the destination point.

[0076] FIG. 7 shows the route list.

[0077] As described above, the road definition information 22 includes a traveling direction 206. The traveling direction 206 specifies either one of the traveling directions on one side of the road 12 (e.g., an uphill direction) or the other traveling direction on the other side of the road 12 (e.g., a downhill direction). If the traveling direction on the route of the road 12 specified by the road name 302 included in the route list 300 is the opposite direction (e.g., a downhill direction) to the traveling direction on one side of the road 12 specified by the traveling direction 206 of the road definition information 22 (e.g., an uphill direction), a flag 303 " / " is added to the road name 302 included in the route list 300.

[0078] In this way, since the road definition information 22 includes the travel direction 206, there is no need to create road definition information 22 for both travel directions. Road definition information 22 for one travel direction 206 can be used to define roads 12 for both travel directions. In other words, the data volume of the road definition information 22 is essentially halved, and it is highly accurate, and the amount of calculation involved can also be reduced. In addition, the route list 300 can be reused as a single hierarchical definition. For example, the route list 300 for the outbound route can also be reused for the return route. For example, a return route list can be created by reversing the ascending and descending order of the outbound route list 300 and reversing the presence or absence of the flag 303 " / ".

[0079] When traveling along a route defined by the route list 300, the lane setting unit 114 of the information processing device 100 inputs a predetermined instruction from the input device 102 operated by the user or the driver or an external device (step S105). The predetermined instruction is, for example, an instruction to start traveling, an instruction to travel straight without changing the lane currently being traveled, an instruction to change lanes and travel straight, an instruction to turn at an intersection and enter another road, etc.

[0080] The lane setting unit 114 of the information processing device 100 sets lanes included in the route defined (step S104) using the road vector definition information 220 included in the road definition information 22 of the road network definition information 2 input (step S103) and the lane definition information 210 set for each identical section. Specifically, for a specific position on the road 12 where the vehicle is to travel, the lane setting unit 114 of the information processing device 100 reads the road vector definition information 220 of a sequence of points corresponding to this position, and reads the lane definition information 210 set for the identical section including this position (step S106). The lane setting unit 114 of the information processing device 100 defines the configuration of the road 12 (number of lanes, width, etc.) based on the road vector definition information 220 and the lane definition information 210, and sets the lane to travel (driving lane) from among the lanes included in the road 12 (step S107). The lane setting unit 114 of the information processing device 100 generates a sequence of lane points at a predetermined position (for example, the center position) in the width direction of the driving lane (step S108). This allows the moving object to travel along the sequence of lane points of the driving lane.

[0081] 4. Specific Examples

[0082] FIG. 8 shows a first specific example.

[0083] For example, the information processing device 100, which is a simulation device, can generate a sequence of lane points of a driving lane of a lane type appropriate for the type of moving object (person, vehicle).

[0084] As shown in (A), when a person 31 (moving body) is walking on a road 12, if the lane type 212 in the lane definition information 210 includes “sidewalk,” the information processing device 100 sets the sidewalk 12A as the driving lane and generates a sequence of lane points 34 on the sidewalk 12A.

[0085] As shown in (B), when a person 31 (moving body) is walking on the road 12, if the lane type 212 of the lane definition information 210 does not include "sidewalk" but only "roadway," the information processing device 100 sets the roadway 12B as the driving lane and generates a sequence of lane points 34 on the roadway 12B.

[0086] As shown in (A), the information processing device 100 inputs an instruction for the vehicle 32 (mobile body) to change lanes and travel straight ahead (step S105). Then, for a specific position on the road 12 where the vehicle is to travel, the information processing device 100 reads the road vector definition information 220 for a sequence of points corresponding to this position, and reads the lane definition information 210 set for the identical section including this position (step S106). The information processing device 100 sets the destination travel lane based on the number of lanes 211, lane type 212, etc., of the lane definition information 210. The information processing device 100 generates a lane point sequence 35 for a predetermined position (e.g., center position) in the width direction of the destination travel lane based on the road vector definition information 220 and the number of lanes 211 and lane width 213, etc., of the lane definition information 210 (step S108).

[0087] FIG. 9 shows a second specific example.

[0088] The information processing device 100 inputs an instruction for the vehicle 32 (mobile body) to turn at an intersection and enter another road (step S105). The information processing device 100 then reads out the road exit coordinates 222 of the road 12 currently being traveled, the intersection coordinates 202, the size 203, the road entrance coordinates 221 of the road 12 to be entered, and the like. The information processing device 100 reads out road vector definition information 220 of a sequence of points corresponding to the positions of these coordinates, and reads out lane definition information 210 set for the identical section including this position (step S106). The information processing device 100 sets the driving lane of the road 12 to be entered based on the number of lanes 211, lane type 212, and the like of the lane definition information 210. Based on the road vector definition information 220 and the number of lanes 211 and width 213 of each lane in the lane definition information 210, the information processing device 100 generates a sequence of driving points at the intersection 11 and a sequence of lane points 35 at a predetermined position (e.g., center position) in the width direction of the driving lane of the road 12 to be entered (step S108).

[0089] In this way, the information processing device 100 can set lanes by generating a sequence of driving points at predetermined positions in the width direction of the driving lane in which the mobile body travels within the intersection 11 using a sequence of lane points at predetermined positions in the width direction of the driving lane of the road 12 in which the mobile body enters the intersection 11 and a sequence of lane points at predetermined positions in the width direction of the driving lane of the road 12 in which the mobile body exits the intersection 11.

[0090] FIG. 10 shows a third specific example.

[0091] The information processing device 100 can read the event definition information 25 and manage, for example, events (construction, accidents, etc.) that occur during a simulation. The information processing device 100 may also manage the location of occurrence, the size of the area, the time of occurrence, and the duration of occurrence, etc., in association with the event definition information 25.

[0092] 5. When the road configuration is asymmetric (one-way streets, etc.)

[0093] FIG. 11 shows a specific example of a road configuration.

[0094] As described above, in this embodiment, the lane definition information 210 for the lane in one direction of travel (direction of travel 206) is used to define lanes not only for this one direction of travel but also for both directions of travel, taking advantage of the symmetry of the road 12. Regardless of whether vehicles drive on the left (B) or the right (C), if the configuration of the road 12 is symmetrical (line symmetrical) with respect to the center of the width of the road 12, the lane definition information 210 for the lane in one direction of travel (direction of travel 206) can be used to not only directly define the lane in this one direction of travel, but also virtually define a lane in the other direction of travel.

[0095] On the other hand, there are also cases where the road 12 has an asymmetric configuration (for example, one-way streets) with the center of its width as the boundary.

[0096] (A) indicates a road 12 that has one lane and is passable in both directions of travel. In this case, the one lane included in the road 12 can be defined based on the number of lanes 211 ("1") included in the lane definition information 210, the width of each lane 213, the coordinates 224 of the bending points, etc.

[0097] (D) indicates a road 12 that has three lanes and is one-way. In this case, the three lanes included in the road 12 can be defined based on the number of lanes 211 ("3") included in the lane definition information 210, the width of each lane 213, the coordinates 224 of the bending points, etc.

[0098] 6. Defining the sequence of points inside the tunnel

[0099] FIG. 12 shows a specific example of a sequence of points inside a tunnel.

[0100] Referring to (A), an example of calculating the two-dimensional coordinates (X, Y) (latitude and longitude) of each bending point in tunnel T will be explained. Based on the coordinates (X, Y) of the tunnel entrance (start), the coordinates (X, Y) of the tunnel exit (last), and the coordinates (X, Y) of the bending points in the tunnel, two-dimensional straight lines and curves can be calculated.

[0101] Referring to (B), an example of calculating the three-dimensional coordinate (Z) (elevation) of each bend point within tunnel T will be explained. The elevation of the tunnel entrance, i.e., the Z value of the coordinate of the tunnel entrance (start), is defined as (start.high). The difference between the Z value of the tunnel entrance coordinate and the Z value of the coordinate of each bend point within tunnel T, i.e., the relative elevation (δh) of each bend point within tunnel T relative to the elevation of the tunnel entrance (start.high), is calculated. The elevation of each bend point within the tunnel is calculated by adding the relative elevation (δh) to the elevation of the tunnel entrance (start.high). The relative elevation (δh) of each bend point will be negative (-δh2, -δh3) if it is lower than the elevation of the tunnel entrance (start.high), and will be positive (δh4) if it is higher. The elevation between each bend point within the tunnel is interpolated to connect them in a straight line. In addition, if the coordinates of each bending point within the tunnel do not exist between the coordinates of the tunnel entrance (start) and the coordinates of the tunnel exit (last) in the road network definition information 2, the elevations of the coordinates of the tunnel entrance (start) and the coordinates of the tunnel exit (last) are interpolated to connect them in a straight line.

[0102] Although the embodiments and modified examples of the present technology have been described above, the present technology is not limited to the above-described embodiments, and it goes without saying that various modifications can be made within the scope of the gist of the present technology. [Explanation of symbols]

[0103] 1 Road network model 100 Information processing device 11 Intersection 111 Road definition information input section 112 Road network definition part 113 Route definition section 114 Lane setting section 12 Road 2 Road network definition information 201 Name 202 coordinates 203 Size 204 Road 205 Direction 206 Direction of travel 21 Intersection definition information 210 Lane definition information 211 lanes 212 Lane Type 213 Width 22 Road definition information 220 Road Vector Definition Information 221 mouth coordinates 222 Road exit coordinates 224 coordinates 23 Traffic light definition information 24 Indicator definition information 25 Event definition information 300 Route List 301 Intersection name 302 Road Name 303 Flag

Claims

1. a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information defining lanes included in the road; road definition information set for each identical section, which is a section having the same road configuration; intersection definition information including an intersection name that uniquely identifies the intersection, coordinates indicating the center point of the intersection, and the name of the road that connects to the intersection; Definition information of a road network including The road vector definition information is a first road coordinate indicating the coordinate of the center point of one end of the road in the width direction of the road; a second road coordinate indicating the coordinate of the center point of the other end of the road in the width direction of the road; If one end or the other end of the road named above connects to the intersection, the coordinates of the connecting point with the intersection will be Including, defining the road network using the road definition information and the intersection definition information; The information processing device creates a route list including the names of the roads and the names of the intersections arranged in order from the starting point to the destination point along which the mobile body travels, based on the defined road network. Routing system.

2. 2. The route setting system according to claim 1, the lane definition information defines a configuration of lanes in one direction of travel of the road, but does not define a configuration of lanes in the other direction of travel of the road; Using the lane definition information, the road network including the road including the lane in one direction of travel and the other lane in one direction of travel having a symmetrical configuration with respect to the lane in one direction of travel with respect to the center of the width direction of the road as a boundary is defined. Routing system.

3. 3. The route setting system according to claim 2, The lane definition information includes the direction of travel, the number of lanes, the lane type for each lane, and the width for each lane. Routing system.

4. 4. The route setting system according to claim 3, The lane type indicates a roadway, a sidewalk, a shared road, or a median strip. Routing system.

5. 5. A route setting system according to claim 1, The lane definition information includes, if the road is one-way, the number of lanes on the road and the width of each lane. Routing system.

6. 6. A route setting system according to claim 1, The intersection is represented by a circle or an oval. Routing system.

7. 7. A route setting system according to claim 1, The intersection definition information is Traffic light list information in which a traffic light name that identifies a traffic light, the coordinates of the traffic light, and a road name that uniquely identifies a road facing the traffic light are set Also includes Routing system.

8. 8. The route setting system according to claim 7, The traffic light list information further includes an operation start time and an operation end time of each traffic light. Routing system.

9. A route setting system according to any one of claims 1 to 8, The road network definition information further includes tunnel definition information that defines a tunnel provided on a part of the road, The tunnel definition information includes two-dimensional coordinate information consisting of the coordinates of the tunnel entrance, the coordinates of the tunnel exit, the number of bending points in the tunnel, and the coordinates of each bending point, and three-dimensional position information in the height direction indicating the ground surface altitude. Routing system.

10. a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information defining lanes included in the road; road definition information set for each identical section, which is a section having the same road configuration; intersection definition information including an intersection name that uniquely identifies the intersection, coordinates indicating the center point of the intersection, and the name of the road that connects to the intersection; Definition information of a road network including The road vector definition information is a first road coordinate indicating the coordinate of the center point of one end of the road in the width direction of the road; a second road coordinate indicating the coordinate of the center point of the other end of the road in the width direction of the road; If one end or the other end of the road named above connects to the intersection, the coordinates of the connecting point with the intersection will be Including, defining the road network using the road definition information and the intersection definition information; A program that causes an information processing device to execute a step of creating a route list including the names of the roads and intersections arranged in order from a starting point to a destination point along which a mobile object travels, based on the defined road network.

11. Information processed by an information processing device, a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information defining lanes included in the road; road definition information set for each identical section, which is a section having the same road configuration; intersection definition information including an intersection name that uniquely identifies the intersection, coordinates indicating the center point of the intersection, and the name of the road that connects to the intersection; Definition information of a road network including The road vector definition information is a first road coordinate indicating the coordinate of the center point of one end of the road in the width direction of the road; a second road coordinate indicating the coordinate of the center point of the other end of the road in the width direction of the road; If one end or the other end of the road named above connects to the intersection, the coordinates of the connecting point with the intersection will be Including, The road network is defined using the road definition information and the intersection definition information. Road network definition information.

12. a road name that uniquely identifies a road within the road network; road vector definition information including coordinates of a plurality of points along the center of the road in the width direction; lane definition information defining lanes included in the road; road definition information set for each identical section, which is a section having the same road configuration; intersection definition information including an intersection name that uniquely identifies the intersection, coordinates indicating the center point of the intersection, and the name of the road that connects to the intersection; Definition information of a road network including The road vector definition information is a first road coordinate indicating the coordinate of the center point of one end of the road in the width direction of the road; a second road coordinate indicating the coordinate of the center point of the other end of the road in the width direction of the road; If one end or the other end of the road named above connects to the intersection, the coordinates of the connecting point with the intersection will be Including, defining the road network using the road definition information and the intersection definition information; An information processing device creates a route list including names of the roads and intersections arranged in order from a starting point to a destination point along which the mobile body travels, based on the defined road network. Routing methods.

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