Spatial information output device, spatial information output method, and spatial information output program

Abstract

This invention provides a spatial information output device, a spatial information output method, and a spatial information output program that suppress the increase of unnecessary information in the output map data. [Solution] The spatial information output unit 66 of the spatial information output device 60, which executes a spatial information output method and a spatial information output program, acquires map data Md including the position of the vehicle 20 and the type of road. The spatial information output unit 66 also extracts the range from the position of the vehicle 20 to a set distance from the map data Md and outputs the map data Md for the extracted range. Furthermore, the spatial information output unit 66 changes the set distance based on the type of road on which the vehicle 20 is located.

Description

Technical Field

[0001] The present disclosure relates to a spatial information output apparatus, a spatial information output method, and a spatial information output program.

Background Art

[0002] Conventionally, as described in Patent Document 1, a map information generating apparatus that generates map information used for automatic driving control of vehicles is known. This map information generating apparatus comprises a position acquisition unit, a route information acquisition unit, a map information acquisition unit, and a map information generation unit. The position acquisition unit acquires the current position of the vehicle. The route information acquisition unit acquires route information that describes the planned travel route from the current position of the vehicle to the destination. The map information acquisition unit acquires high-precision map information. Based on the current position of the vehicle and the route information, the map information generation unit acquires desired map information from the high-precision map information acquired by the map information acquisition unit and outputs it. Further, the map information generation unit generates route information within a first distance range from the current position of the vehicle, and first map information within a second distance range that is shorter than the first distance from the current position of the vehicle.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] Vehicles travel on roads that include expressways, national highways (which are different from expressways), and general roads (which are different from both expressways and national highways). The amount of information available about general roads is greater than the amount of information available about expressways and national highways. Furthermore, the speed of vehicles traveling on general roads is lower than that of vehicles traveling on expressways and national highways. Therefore, a large amount of information about general roads is likely to be unnecessary. Consequently, the map information generation device described in Patent Document 1, which only generates first map information for a range of a second distance shorter than the first distance from the vehicle's current position, may produce a lot of unnecessary information in the output map information depending on the type of road the vehicle is traveling on. Therefore, the processing load of the automated driving control using the information generated by the map information generation device described in Patent Document 1 may increase.

[0005] This disclosure aims to provide a spatial information output device, a spatial information output method, and a spatial information output program that suppress the increase of unnecessary information in the output map data. [Means for solving the problem]

[0006] The invention described in claim 1 is a spatial information output device comprising: an acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road; and an output unit that extracts a range from the position of the vehicle to a set distance from the map data and outputs map data of the extracted range, wherein the output unit changes the set distance based on the type of road on which the vehicle is located.

[0007] Furthermore, the invention described in claim 14 is a spatial information output method that includes acquiring map data (Md) including the position of the vehicle (20) and the type of road, extracting a range from the position of the vehicle to a set distance from the map data, and outputting the map data of the extracted range, and changing the set distance based on the type of road on which the vehicle is located.

[0008] Furthermore, the invention described in claim 15 is a spatial information output program, wherein the spatial information output device functions as an acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road, and an output unit that extracts a range from the position of the vehicle to a set distance from the map data and outputs map data of the extracted range, and the output unit changes the set distance based on the type of road on which the vehicle is located.

[0009] This process extracts map data appropriate to the type of road from the map data. As a result, a map data with an appropriate amount of information is extracted. Therefore, the increase of unnecessary information in the output map data Md is suppressed.

[0010] The reference numerals in parentheses attached to each component indicate an example of the correspondence between that component and the specific components described in the embodiments described later. [Brief explanation of the drawing]

[0011] [Figure 1] A diagram illustrating the configuration of a vehicle system in which the spatial information output device of the embodiment is used. [Figure 2] A diagram showing map data. [Figure 3] A flowchart illustrating the processing of the position determination unit of a spatial information output device. [Figure 4] A flowchart illustrating the processing of the spatial information output section of a spatial information output device. [Figure 5] This diagram illustrates the processing of the spatial information output unit when the vehicle's position is on a highway. [Figure 6] This diagram illustrates the processing of the spatial information output unit when the vehicle's position is on a national highway. [Figure 7] This diagram illustrates the processing of the spatial information output unit when the vehicle's position is on a public road. [Figure 8] A subflowchart showing the processing of the spatial information output unit. [Figure 9] This diagram illustrates the processing of the spatial information output unit when the vehicle's position is on a highway. [Figure 10] Figure showing processing of a spatial information output unit. [Figure 11] Figure showing processing of a spatial information output unit. [Figure 12] Figure showing processing of a spatial information output unit. [Figure 13] Figure showing processing of a spatial information output unit. [Figure 14] Sub-flowchart showing processing of a spatial information output unit. [Figure 15] Figure showing processing of a spatial information output unit when the position of the own vehicle is on a general national road. [Figure 16] Figure showing processing of a spatial information output unit. [Figure 17] Figure showing processing of a spatial information output unit. [Figure 18] Figure showing processing of a spatial information output unit. [Figure 19] Figure showing processing of a spatial information output unit. [Figure 20] Sub-flowchart showing processing of a spatial information output unit. [Figure 21] Figure showing processing of a spatial information output unit when the position of the own vehicle is on a general road. [Figure 22] Figure showing processing of a spatial information output unit. [Figure 23] Figure showing processing of a spatial information output unit. [Figure 24] Figure showing processing of a spatial information output unit. [Figure 25] Figure showing processing of a spatial information output unit in a spatial information output device according to another embodiment. [Figure 26] Figure showing processing of a spatial information output unit in a spatial information output device according to another embodiment. MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments will be described with reference to the drawings. In the following respective embodiments, portions that are identical or equivalent to each other are assigned the same reference signs, and descriptions thereof are omitted.

[0013] The spatial information output method and spatial information output device that execute the spatial information output program of this embodiment suppress the increase of unnecessary information in the output map data. Specifically, the spatial information output device is used in a vehicle system. First, this vehicle system will be described.

[0014] As shown in Figure 1, the vehicle system 10 comprises a center 15 and the vehicle 20. The center 15 is an engine or facility. The center 15 holds map data Md.

[0015] Map data Md is a high-precision map created using NDS. NDS stands for Navigation Data Standard. NDS is a standardized database format for car navigation systems, jointly developed by automobile manufacturers and suppliers.

[0016] Furthermore, as shown in Figure 2, the map data Md includes multiple lane groups LG and branching points Pb, etc.

[0017] Lane group LG includes vehicle direction of travel and lanes, etc. (not shown). Vehicle direction of travel is the direction of travel for a vehicle, which is the direction in which a vehicle traveling on a road should travel. Lanes represent the lanes of the modeled road. Furthermore, lanes include shape points, etc., that indicate the position of the lane.

[0018] Furthermore, the lane group LG includes the group direction D_LG and the type of road, etc. The group direction D_LG is the digitization direction of the lane group LG and corresponds to the direction of vehicle travel and the direction of the lane.

[0019] Road types include expressways, national highways, and general roads. Expressways are trunk roads connecting areas of particular political, economic, and cultural importance, such as large cities, industrial cities, important ports, and airports, and are legally and structurally designed to allow automobiles to travel quickly, safely, and comfortably. In Japan, expressways refer to expressways and motorways. National highways are national highways distinct from expressways, which together with expressways form a nationwide trunk road network and meet certain legal requirements. National highways are roads that make up the trunk road network constructed and managed by the national government. General roads are roads distinct from expressways and national highways, and refer to roads other than expressways and national highways. In Japan, general roads are prefectural roads and municipal roads. Note that in Figure 2, when the road type of lane group LG is an expressway, it is shown with a thick line. When the road type is a national highway, it is shown with a thinner line than the line indicating an expressway. When the road type is a general road, it is shown with a thinner line than the line indicating a national highway. In the following diagram, the types of roads in lane group LG are indicated by the same line thickness as above.

[0020] The branching point Pb is the point where one lane group LG branches into multiple lane groups LG.

[0021] Returning to Figure 1, the vehicle 20 travels on the road by being equipped with a drive source such as an engine or motor. The vehicle 20 is equipped with a communication device 22, a GNSS receiver 24, a navigation system 26, an angular velocity sensor 28, an acceleration sensor 30, a wheel speed sensor 32, a camera sensor 34, a search wave sensor 36, and an autonomous driving ECU 50.

[0022] The communication device 22 has an interface for communicating with the center 15 and the automatic driving ECU 50 described later.

[0023] The GNSS receiver 24 receives signals from multiple positioning satellites (not shown). Furthermore, the GNSS receiver 24 estimates the position of the vehicle 20 based on these received signals. The GNSS receiver 24 also transmits a signal corresponding to the estimated position of the vehicle 20 to the automatic driving ECU 50, which will be described later. The positioning satellites used in the GNSS receiver 24 include, for example, GPS satellites, GLONASS satellites, Galileo satellites, and quasi-zenith satellites.

[0024] The navigation system 26 is a system that provides route guidance for the vehicle 20 to its destination. When providing route guidance to the destination, the navigation system 26 transmits route guidance information to the autonomous driving ECU 50, which will be described later.

[0025] The angular velocity sensor 28 detects the angular velocity Ωc of the vehicle 20. Furthermore, the angular velocity sensor 28 transmits a signal corresponding to the detected angular velocity Ωc to the automatic driving ECU 50, which will be described later. Note that the angular velocity Ωc includes the roll angular velocity, pitch angular velocity, and yaw angular velocity.

[0026] The acceleration sensor 30 detects the acceleration Ac of the vehicle 20. The acceleration sensor 30 also transmits a signal corresponding to the detected acceleration Ac to the autonomous driving ECU 50, which will be described later. The acceleration Ac includes the acceleration of the vehicle 20 in the longitudinal direction, the lateral direction, and the vertical direction.

[0027] The wheel speed sensor 32 detects the rotational speed of the wheels of the vehicle 20. This allows the wheel speed sensor 32 to detect the vehicle speed Vc. Furthermore, the wheel speed sensor 32 transmits a signal corresponding to this detected vehicle speed Vc to the automatic driving ECU 50, which will be described later. Note that the vehicle speed Vc is the speed of the vehicle 20.

[0028] The camera sensor 34 includes a camera (not shown) and an image processing unit. The camera is a monocular camera or a stereo camera that captures images of the area around the vehicle 20. The image processing unit identifies the type of object in the image by, for example, comparing the object in the image captured by the camera with a pre-set template image of the object. The image processing unit also calculates the relative position of the object in the image captured by the camera with respect to the vehicle 20 by performing a coordinate transformation from the image coordinate system to the vehicle coordinate system based on the camera's orientation and focal length. Furthermore, the image processing unit transmits a signal corresponding to this calculated relative position, along with the object identification information, to the automatic driving ECU 50, which will be described later.

[0029] The probe sensor 36 transmits probe waves such as millimeter waves, sonar, and infrared to objects around the vehicle 20. The probe sensor 36 also receives probe waves reflected by these objects. Furthermore, based on the information obtained from these probe waves, the probe sensor 36 identifies the type of object and calculates the relative position of the object to the vehicle 20. The probe sensor 36 also transmits the object identification information, along with a signal corresponding to this calculated relative position, to the automated driving ECU 50, which will be described later.

[0030] The autonomous driving ECU 50 is mainly composed of a microcontroller and includes a CPU, ROM, flash memory, RAM, I / O, communication interface, and bus lines connecting these components. Furthermore, the autonomous driving ECU 50 is equipped with a spatial information output device 60 and a control device 70.

[0031] The spatial information output device 60 includes a map storage unit 62, a location determination unit 64, and a spatial information output unit 66 as functional blocks.

[0032] The map storage unit 62 acquires map data Md from the center 15 via the communication device 22. The map storage unit 62 also stores the map data Md acquired from the center 15.

[0033] The position determination unit 64 executes a program stored in the ROM of the autonomous driving ECU 50. This allows the position determination unit 64 to acquire map data Md from the map storage unit 62. Furthermore, the position determination unit 64 acquires signals from the GNSS receiver 24, angular velocity sensor 28, acceleration sensor 30, and wheel speed sensor 32. The position determination unit 64 also determines the current position of the vehicle 20 on the map data Md based on the acquired map data Md and signals. This allows the position determination unit 64 to determine the lane on the map data Md in which the vehicle 20 is traveling. Finally, the position determination unit 64 outputs the map data Md containing the vehicle 20's current position to the spatial information output unit 66, which will be described later. Details of the processing by the position determination unit 64 will be described later.

[0034] The spatial information output unit 66 executes a program stored in the ROM of the autonomous driving ECU 50. This allows the spatial information output unit 66 to obtain map data Md, which determines the current position of the vehicle 20, from the position determination unit 64. The spatial information output unit 66 also sets and modifies the set distance Ls based on the type of road on which the vehicle 20 is located. Furthermore, the spatial information output unit 66 extracts the range from the vehicle 20's position to the set distance Ls from the acquired map data Md. The spatial information output unit 66 then outputs this extracted range of map data Md as spatial information Ms to the control device 70, which will be described later. Details of the processing by the spatial information output unit 66 will be described later.

[0035] The control device 70 includes a fusion unit 72, a localization unit 74, and an operation execution unit 76 as functional blocks.

[0036] The fusion unit 72 executes a program stored in the ROM of the autonomous driving ECU 50. This allows the fusion unit 72 to acquire object identification information and relative position from the camera sensor 34 and the probe sensor 36. Furthermore, the fusion unit 72 acquires spatial information Ms from the spatial information output unit 66. The fusion unit 72 also fuses the information acquired from the camera sensor 34 and the probe sensor 36 with the spatial information Ms acquired from the spatial information output unit 66. For example, the fusion unit 72 reflects the type and position of the object detected by the camera sensor 34 and the probe sensor 36 onto the map data Md included in the spatial information Ms. Finally, the fusion unit 72 outputs this fused spatial information Ms to the localization unit 74, which will be described later.

[0037] The localization unit 74 executes a program stored in the ROM of the autonomous driving ECU 50. This allows the localization unit 74 to acquire the spatial information Ms fused by the fusion unit 72. The localization unit 74 also determines the current position of the vehicle 20 on the spatial information Ms fused by the fusion unit 72. This allows the localization unit 74 to determine the lane the vehicle 20 is traveling in on the spatial information Ms fused by the fusion unit 72. Furthermore, the localization unit 74 outputs this determined spatial information Ms to the driving execution unit 76, which will be described later.

[0038] The driving execution unit 76 executes a program stored in the ROM of the automatic driving ECU 50. This allows the driving execution unit 76 to acquire signals from the angular velocity sensor 28, the acceleration sensor 30, and the wheel speed sensor 32. The driving execution unit 76 also acquires spatial information Ms, which has been fused in the fusion unit 72 and determines the current position of the vehicle 20, from the localization unit 74. Furthermore, the driving execution unit 76 uses these acquired signals and spatial information Ms to automatically control the behavior of the vehicle 20. As a result, for example, the driving execution unit 76 performs automatic driving of the vehicle 20 by accelerating, decelerating, stopping, starting, turning left or right, etc. Therefore, the vehicle 20 travels on the road without the driver of the vehicle 20 operating the vehicle. Note that the driving execution unit 76 is not limited to performing automatic driving of the vehicle 20; it may also provide driving assistance to support the driver of the vehicle 20.

[0039] As described above, the vehicle system 10 equipped with the spatial information output device 60 is configured. Next, the processing by program execution of the position determination unit 64 will be explained with reference to the flowchart in Figure 3. The program of the position determination unit 64 is executed, for example, when the power of the vehicle 20 is turned on. The processing period of the position determination unit 64 is defined as the processing cycle of the position determination unit 64, from the start of processing in step S100 to the return to processing in step S100.

[0040] In step S100, the position determination unit 64 acquires various information. Specifically, the position determination unit 64 acquires map data Md from the map storage unit 62. The position determination unit 64 also acquires the position of the vehicle 20 from the GNSS receiver 24. Furthermore, the position determination unit 64 acquires the angular velocity Ωc from the angular velocity sensor 28. The position determination unit 64 also acquires the acceleration Ac from the acceleration sensor 30. Furthermore, the position determination unit 64 acquires the vehicle speed Vc from the wheel speed sensor 32.

[0041] In step S102, following step S100, the position determination unit 64 calculates a relative trajectory based on the current position determined in step S104 (described later) in the previous processing cycle, and the angular velocity Ωc and acceleration Ac obtained in step S100. The origin of the relative trajectory is the current position determined in step S104 (described later) in the previous processing cycle. The position determination unit 64 also estimates the position of the vehicle 20 from this calculated relative trajectory. The position determination unit 64 may also calculate the relative trajectory using the vehicle speed Vc obtained in step S100 instead of the angular velocity Ωc and acceleration Ac obtained in step S100.

[0042] In step S104, following step S102, the position determination unit 64 uses the position of the vehicle 20 obtained from the GNSS receiver 24 in step S100, the position of the vehicle 20 based on the relative trajectory estimated in step S102, and composite navigation. This allows the position determination unit 64 to determine the current position using composite navigation. For example, the position determination unit 64 decides whether to accept or reject the positions based on the accuracy of the position from the GNSS receiver 24 and the position of the vehicle 20 based on the relative trajectory. Furthermore, the position determination unit 64 determines weighting coefficients for these positions based on their accuracy. The position determination unit 64 also corrects either the position from the GNSS receiver 24 or the position based on the relative trajectory based on these determined weighting coefficients. This allows the position determination unit 64 to determine the current position using composite navigation.

[0043] In step S106, following step S104, the position determination unit 64 performs map matching. Specifically, the position determination unit 64 matches the map data Md acquired in step S100 with the relative trajectory with the current position determined in step S104 as the endpoint. This allows the position determination unit 64 to determine the current position of the vehicle 20 on the map data Md. Furthermore, the position determination unit 64 determines the lane on the map data Md in which the vehicle 20 is traveling. The position determination unit 64 also outputs the map data Md in which the current position of the vehicle 20 has been determined to the spatial information output unit 66. After that, the processing of the position determination unit 64 returns to step S100.

[0044] As described above, the position determination unit 64 performs the processing. Next, the processing by program execution of the spatial information output unit 66 will be explained with reference to the flowchart in Figure 4. Note that the program of the spatial information output unit 66 is executed, for example, when the power of the vehicle 20 is turned on and route guidance is not being provided by the navigation system 26.

[0045] In step S200, the spatial information output unit 66 acquires information. Specifically, the spatial information output unit 66 acquires map data Md, which determines the current position of the vehicle 20, from the position determination unit 64. As a result, the spatial information output unit 66 acquires map data Md, which includes the position of the vehicle 20 and the type of road.

[0046] In step S202, following step S200, the spatial information output unit 66 determines from the map data Md acquired in step S200 whether or not the position of the vehicle 20 is on a highway.

[0047] When the vehicle 20 is located on a highway, the spatial information output unit 66 proceeds to step S204. When the vehicle 20 is not located on a highway, that is, when the vehicle 20 is located on either a national highway or a general road, the spatial information output unit 66 proceeds to step S206.

[0048] In step S204, following step S202, the spatial information output unit 66 performs a first extraction on the map data Md acquired in step S200. In the first extraction, the spatial information output unit 66 sets the set distance Ls to the first distance L1. Furthermore, as shown in Figure 5, the spatial information output unit 66 extracts a first range from the map data Md acquired in step S200. The first range is the range from the position of the vehicle 20 to the first distance L1. The first distance L1 is set by experiments or simulations to avoid a relatively large amount of unnecessary data. For example, the first distance L1 is 6000m. Also, in Figure 5, the lane group LG outside the first range is shown by a dashed line.

[0049] Furthermore, in the first extraction, the spatial information output unit 66 may change the extraction range by changing the set distance Ls from the first distance L1. Details of this first extraction will be described later. After the first extraction is performed by the spatial information output unit 66, the processing of the spatial information output unit 66 proceeds to step S212.

[0050] In step S206, following step S202 in the flowchart of Figure 4, the spatial information output unit 66 determines from the map data Md acquired in step S200 whether the position of the vehicle 20 is on a national highway.

[0051] When the vehicle 20 is located on a national highway, the spatial information output unit 66 proceeds to step S208. When the vehicle 20 is not located on a national highway, that is, when the vehicle 20 is located on a public road, the spatial information output unit 66 proceeds to step S210.

[0052] In step S208, following step S206, the spatial information output unit 66 performs a second extraction on the map data Md acquired in step S200. In the second extraction, the spatial information output unit 66 sets the set distance Ls to the second distance L2. Furthermore, as shown in Figure 6, the spatial information output unit 66 extracts a second range from the map data Md acquired in step S200. The second range is the range from the position of the vehicle 20 to the second distance L2. The second distance L2 is a shorter distance than the first distance L1 and is set through experiments or simulations to avoid a relatively large amount of unnecessary data. For example, the second distance L2 is 3000m. Also, in Figure 6, the lane group LG outside the second range is shown by a dashed line.

[0053] Furthermore, in the second extraction, the spatial information output unit 66 may change the extraction range by changing the set distance Ls from the second distance L2. Details of this second extraction will be described later. After the second extraction is performed by the spatial information output unit 66, the processing of the spatial information output unit 66 proceeds to step S212.

[0054] In step S210, following step S206 in the flowchart of Figure 4, the spatial information output unit 66 performs a third extraction on the map data Md acquired in step S200. In the third extraction, the spatial information output unit 66 sets the set distance Ls to the third distance L3. Furthermore, as shown in Figure 7, the spatial information output unit 66 extracts a third range from the map data Md acquired in step S200. The third range is the range from the position of the vehicle 20 to the third distance L3. The third distance L3 is a shorter distance than the second distance L2 and is set through experiments or simulations to avoid a relatively large amount of unnecessary data. For example, the third distance L3 is 500m. Also, in Figure 7, the lane group LG outside the third range is shown by a dashed line.

[0055] Furthermore, in the third extraction, the spatial information output unit 66 may change the extraction range by changing the set distance Ls from the third distance L3. Details of this third extraction will be described later. After the third extraction is performed by the spatial information output unit 66, the processing of the spatial information output unit 66 proceeds to step S212.

[0056] In step S212 of the flowchart in Figure 4, the spatial information output unit 66 outputs the map data Md extracted in the first extraction in step S204, the second extraction in step S208, or the third extraction in step S210 as spatial information Ms to the autonomous driving ECU 50. The spatial information Ms output to the autonomous driving ECU 50 is fused with the information from the camera sensor 34 and the probe wave sensor 36 in the fusion unit 72. The spatial information Ms fused with the information from the camera sensor 34 and the probe wave sensor 36 in the fusion unit 72 is used by the localization unit 74 to determine the current position of the vehicle 20. The spatial information Ms fused with the information from the camera sensor 34 and the probe wave sensor 36 in the fusion unit 72, and whose current position of the vehicle 20 is determined by the localization unit 74, is used by the driving execution unit 76 to automatically control the behavior of the vehicle 20. After that, the processing of the spatial information output unit 66 returns to step S200.

[0057] As described above, the spatial information output unit 66 performs the processing. Next, the processing of the first extraction by the spatial information output unit 66 will be explained with reference to the subflowchart in Figure 8.

[0058] In step S300 of the subflowchart in Figure 8, which is the first extraction in step S204 following step S202 in the flowchart in Figure 4, the spatial information output unit 66 sets the set distance Ls to the first distance L1. The spatial information output unit 66 also extracts the first range from the map data Md acquired in step S200.

[0059] In step S302, following step S300, the spatial information output unit 66 determines whether or not the first range extracted in step S300 includes roads of a different type than expressways.

[0060] If no roads of a different type than expressways are included in the first range, the first extraction process by the spatial information output unit 66 is completed, and the spatial information output unit 66 proceeds to step S212. Furthermore, if roads of a different type than expressways are included in the first range, the spatial information output unit 66 proceeds to step S304.

[0061] In step S304, following step S302, the spatial information output unit 66 determines whether or not a national highway is included in the first range extracted in step S300.

[0062] If a national highway is not included in the first range, the spatial information output unit 66 proceeds to step S308. Furthermore, if a national highway is included in the first range, the spatial information output unit 66 proceeds to step S306.

[0063] In step S306, following step S304, the amount of information increases compared to the case where only expressways are included in the first range, because national highways are included in the first range. For this reason, the spatial information output unit 66 changes the set distance Ls from the first distance L1 to the fourth distance L4, as shown in Figure 9. The spatial information output unit 66 also changes the extraction range from the first range to the fourth range. This reduces the range of the output map data Md. As a result, the increase in unnecessary information in the output map data Md is suppressed. After that, the processing of the spatial information output unit 66 moves to step S212. The fourth distance L4 is a distance of 2 or more than the second distance L2 and less than the first distance L1. For example, the fourth distance L4 is the same as the second distance L2, which is 3000m. The fourth range is the range from the position of the vehicle 20 to the fourth distance L4. In Figure 9, the lane group LG outside the fourth range is shown by a dashed line.

[0064] of In step S308, following step S304 in the subflowchart of Figure 8, the first range includes roads of a different type than expressways, but does not include national highways, thus indicating that general roads are included. At this point, the spatial information output unit 66 determines whether or not general roads are included in the third range.

[0065] If general roads are not included in the third range, the spatial information output unit 66 proceeds to step S312. Furthermore, if general roads are included in the third range, the spatial information output unit 66 proceeds to step S310.

[0066] In step S310, following step S308, the amount of information increases compared to the case where only expressways are included in the first range, because general roads are included in the third range. For this reason, the spatial information output unit 66 changes the set distance Ls from the first distance L1 to the fifth distance L5, as shown in Figure 10. The spatial information output unit 66 also changes the extraction range from the first range to the fifth range. This reduces the range of the output map data Md. As a result, the increase in unnecessary information in the output map data Md is suppressed. The fifth distance L5 is a distance between the third distance L3 and the second distance L2. For example, the fifth distance L5 is the same as the third distance L3, which is 500m. The fifth range is the range from the position of the vehicle 20 to the fifth distance L5. In Figure 10, the lane group LG outside the fourth range is shown by a dashed line.

[0067] In this case, the spatial information output unit 66 may exclude data relating to general roads that are outside the range from the position of the vehicle 20 to the end of lane group LG, which starts at the Nth branching point Pb, as shown in Figure 11. Hereinafter, N is a natural number, for example, 3. In Figure 11, the excluded lane group LG is shown by a dashed line.

[0068] Then, after the spatial information output unit 66 has completed the processing in step S310, the processing of the spatial information output unit 66 proceeds to step S212.

[0069] In step S312, following step S308 in the subflowchart of Figure 8, the general road is included in the first range but not in the third range, and is therefore included outside the third range. Since the general road included outside the third range is located relatively far from the vehicle 20, it is highly likely to be unnecessary data. For this reason, the spatial information output unit 66 excludes the data relating to the general road included outside the third range from the first range, as shown in Figure 12. This suppresses the increase of unnecessary information in the output map data Md. In Figure 12, the excluded lane group LG is shown by a dashed line.

[0070] In this case, as shown in Figure 13, the spatial information output unit 66 may extract, without excluding, the lane group LG that starts at branching point Pb from the data relating to general roads included outside the third range. In Figure 13, the excluded lane group LG is indicated by a dashed line.

[0071] Then, after the spatial information output unit 66 has completed the processing in step S312, the processing of the spatial information output unit 66 proceeds to step S212.

[0072] As described above, the spatial information output unit 66 performs the first extraction. Next, the processing of the second extraction by the spatial information output unit 66 will be explained with reference to the subflowchart in Figure 14.

[0073] In step S400 of the subflowchart in Figure 14, which is the second extraction step S208 following step S206 in the flowchart in Figure 4, the spatial information output unit 66 sets the set distance Ls to the second distance L2. The spatial information output unit 66 also extracts the second range from the map data Md acquired in step S200.

[0074] In step S402, following step S400, the spatial information output unit 66 determines whether or not general roads are included in the second range extracted in step S400.

[0075] If general roads are not included in the second range, the second extraction process by the spatial information output unit 66 is completed, and the spatial information output unit 66 proceeds to step S212. Furthermore, if general roads are included in the second range, the spatial information output unit 66 proceeds to step S404.

[0076] In step S404, following step S402, the spatial information output unit 66 determines whether or not a general road is included in the third range.

[0077] If general roads are not included in the third range, the spatial information output unit 66 proceeds to step S412. If general roads are included in the third range, the spatial information output unit 66 proceeds to step S406.

[0078] In step S406, following step S404, general roads are included in the third range, resulting in a greater amount of information compared to the case where only national highways are included in the second range. Therefore, as shown in Figure 15, the spatial information output unit 66 changes the set distance Ls from the second distance L2 to the sixth distance L6. Furthermore, the spatial information output unit 66 changes the extraction range from the second range to the sixth range. This reduces the range of the output map data Md. As a result, the increase in unnecessary information in the output map data Md is suppressed. The sixth distance L6 is a distance greater than or equal to the third distance L3 and less than the second distance L2. The sixth distance L6 is, for example, the same as the third distance L3 and the fifth distance L5, which is 500m. The sixth range is the range from the position of the vehicle 20 to the sixth distance L6.

[0079] In this case, the spatial information output unit 66 may exclude data relating to general roads that are outside the range from the position of the vehicle 20 to the end of lane group LG, which starts at the Nth branching point Pb, as shown in Figure 16. Hereinafter, N is a natural number, for example, 3. In Figure 16, the excluded lane group LG is shown by a dashed line.

[0080] In step S408, following step S406 in the subflowchart of Figure 14, the spatial information output unit 66 determines whether or not the sixth range extracted in step S406 includes an expressway or a national highway.

[0081] If expressways or national highways are not included in the sixth range, the second extraction process by the spatial information output unit 66 ends, and the spatial information output unit 66 proceeds to step S212. If expressways or national highways are included in the sixth range, the spatial information output unit 66 proceeds to step S410.

[0082] In step S410, following step S408, since expressways or national roads are included in the sixth range, the amount of information is likely to be less compared to the case where only general roads are included in the sixth range. Therefore, even if information is added, the amount of information is unlikely to become excessive. For this reason, the spatial information output unit 66 changes the set distance Ls from the sixth distance L6 to the seventh distance L7. Furthermore, as shown in Figure 17, the spatial information output unit 66 changes the extraction range from the sixth range to the seventh range. This suppresses the shortage of information included in the output map data Md. After that, the processing of the spatial information output unit 66 moves to step S212. The seventh distance L7 is a distance of 2nd distance L2 or more and less than the first distance L1. The seventh distance L7 is, for example, the same as the second distance L2 and the fourth distance L4, and is 3000m. The seventh range is the range from the position of the vehicle 20 to the seventh distance L7. In Figure 17, the lane group LG outside the seventh range is shown by a dashed line.

[0083] In step S412 following step S404 in the subflowchart of Figure 14, the general road is included in the second range but not in the third range, and is therefore included outside the third range. Since the general road included outside the third range is located relatively far from the vehicle 20, it is highly likely to be unnecessary data. For this reason, the spatial information output unit 66 excludes the data relating to the general road included outside the third range from the second range, as shown in Figure 18. This suppresses the increase of unnecessary information in the output map data Md. Note that in Figure 18, the excluded lane group LG is indicated by a dashed line.

[0084] In this case, as shown in Figure 19, the spatial information output unit 66 may extract, without excluding, the lane group LG that starts at branching point Pb from the data relating to general roads included outside the third range. In Figure 19, the excluded lane group LG is indicated by a dashed line.

[0085] Then, after the spatial information output unit 66 has completed the processing in step S412, the processing of the spatial information output unit 66 proceeds to step S212.

[0086] As described above, the spatial information output unit 66 performs the second extraction. Next, the processing of the third extraction by the spatial information output unit 66 will be explained with reference to the subflowchart in Figure 20.

[0087] In step S500 of the subflowchart in Figure 20, which is the third extraction in step S210 following step S206 in the flowchart of Figure 4, the spatial information output unit 66 sets the set distance Ls to the third distance L3. The spatial information output unit 66 also extracts the third range from the map data Md acquired in step S200.

[0088] In step S502, following step S500, the spatial information output unit 66 determines whether or not the third range extracted in step S500 includes an expressway or a national highway.

[0089] If expressways or national highways are not included in the third range, the processing of the third extraction by the spatial information output unit 66 is completed, and the processing of the spatial information output unit 66 proceeds to step S212. Furthermore, if expressways or national highways are included in the third range, the processing of the spatial information output unit 66 proceeds to step S504.

[0090] In step S504, following step S502, the spatial information output unit 66 determines whether or not the third range extracted in step S500 includes a highway.

[0091] If the expressway is not included in the third range, the spatial information output unit 66 proceeds to step S510. If the expressway is included in the third range, the spatial information output unit 66 proceeds to step S506.

[0092] In step S506, following step S504, since expressways are included in the third range, the amount of information is likely to be less compared to the case where only general roads are included in the third range. Therefore, even if information is added, the amount of information is unlikely to become excessive. For this reason, the spatial information output unit 66 changes the set distance Ls from the third distance L3 to the eighth distance L8, as shown in Figure 21. Furthermore, the spatial information output unit 66 changes the extraction range from the third range to the eighth range. This suppresses the shortage of information included in the output map data Md. The eighth distance L8 is a distance greater than or equal to the second distance L2 and less than the first distance L1. The eighth distance L8 is, for example, the same as the second distance L2, the fourth distance L4, and the seventh distance L7, and is 3000m. The eighth range is the range from the position of the vehicle 20 to the eighth distance L8. In Figure 21, the lane group LG outside the eighth range is shown by a dashed line.

[0093] In step S508, following step S506 in the subflowchart of Figure 20, if a highway is included in the eighth range, highways located outside the third range are likely to be unnecessary data because they are located relatively far from the vehicle 20. Therefore, as shown in Figure 22, the spatial information output unit 66 excludes data related to highways located outside the third range from the eighth range. This suppresses the increase of unnecessary information in the output map data Md. After that, the processing of the spatial information output unit 66 proceeds to step S212. Note that in Figure 22, the excluded lane group LG is indicated by a dashed line.

[0094] In step S510 following step S504 in the subflowchart of Figure 20, since national highways are included in the third range, the amount of information is likely to be less compared to the case where only general roads are included in the third range. Therefore, even if information is added, the amount of information is unlikely to become excessive. For this reason, the spatial information output unit 66 changes the set distance Ls from the third distance L3 to the ninth distance L9, as shown in Figure 23. The spatial information output unit 66 also changes the extraction range from the third range to the ninth range. This suppresses the shortage of information included in the output map data Md. The ninth distance L9 is a distance greater than or equal to the second distance L2 and less than the first distance L1. The ninth distance L9 is, for example, the same as the second distance L2, the fourth distance L4, the seventh distance L7, and the eighth distance L8, and is 3000m. The ninth range is the range from the position of the vehicle 20 to the ninth distance L9. In Figure 23, the lane group LG outside the ninth range is shown with a dashed line.

[0095] In step S512, following step S510, if a national highway is included in the 9th range, the national highway located outside the 3rd range is likely to be unnecessary data because it is located relatively far from the vehicle 20. Therefore, as shown in Figure 24, the spatial information output unit 66 excludes data related to national highways located outside the 3rd range from the 9th range. This suppresses the increase of unnecessary information in the output map data Md. After that, the processing of the spatial information output unit 66 proceeds to step S212. Note that in Figure 24, the excluded lane group LG is indicated by a dashed line.

[0096] As described above, the spatial information output unit 66 performs the third extraction. Next, we will explain how the spatial information output device 60 suppresses the increase of unnecessary information in the output map data Md.

[0097] The spatial information output unit 66 of the spatial information output device 60 acts as an acquisition unit, acquiring map data Md including the position of the vehicle 20 and the type of road. Furthermore, the spatial information output unit 66 acts as an output unit, extracting the range from the position of the vehicle 20 to a set distance Ls from the map data Md and outputting the map data Md for the extracted range. In addition, the spatial information output unit 66 changes the set distance Ls based on the type of road on which the vehicle 20 is located.

[0098] This extracts map data Md within a range suitable for the type of road. As a result, map data Md with an appropriate amount of information is extracted. Therefore, the increase of unnecessary information in the output map data Md is suppressed.

[0099] (Other embodiments) This disclosure is not limited to the embodiments described above, and modifications can be made to these embodiments as appropriate. Furthermore, it goes without saying that, in each of the embodiments described above, the elements constituting the embodiment are not necessarily essential, except in cases where they are explicitly stated to be particularly essential or where they are clearly considered essential in principle.

[0100] The acquisition unit, output unit, etc., and methods described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to execute one or more functions embodied by a computer program. Alternatively, the acquisition unit, output unit, etc., and methods described in this disclosure may be implemented by a dedicated computer provided by configuring a processor by one or more dedicated hardware logic circuits. Alternatively, the acquisition unit, output unit, etc., and methods described in this disclosure may be implemented by one or more dedicated computers configured by a combination of a processor and memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.

[0101] In the above embodiment, the spatial information output device 60 is provided in the autonomous driving ECU 50 and is therefore incorporated into the autonomous driving ECU 50. However, the spatial information output device 60 is not limited to being incorporated into the autonomous driving ECU 50. The spatial information output device 60 may be provided in the vehicle 20 separately from the autonomous driving ECU 50.

[0102] In the above embodiment, the second distance L2, the fourth distance L4, the seventh distance L7, the eighth distance L8, and the ninth distance L9 are assumed to be the same. However, the second distance L2, the fourth distance L4, the seventh distance L7, the eighth distance L8, and the ninth distance L9 are not limited to being the same, and may be different.

[0103] In the above embodiment, the third distance L3, the fifth distance L5, and the sixth distance L6 are assumed to be the same. However, the third distance L3, the fifth distance L5, and the sixth distance L6 are not limited to being the same, and may be different.

[0104] In the above embodiment, if the position of the vehicle 20 is on a general road and neither expressways nor general roads are included in the third range, the spatial information output unit 66 outputs the third range extracted in step S500. In this case, as shown in Figure 25, the spatial information output unit 66 may exclude data relating to general roads that are outside the range from the position of the vehicle 20 to the end of lane group LG, which starts from the Nth branching point Pb. Hereinafter, N is, for example, 3. In Figure 25, the excluded lane group LG is shown by a dashed line. Similarly, the spatial information output unit 66 may also exclude data relating to general roads that are outside the range from the position of the vehicle 20 to the end of lane group LG, which starts from the Nth branching point Pb, in each extracted range.

[0105] In the above embodiment, the spatial information output unit 66 outputs the first range extracted in step S300 when the position of the vehicle 20 is on a highway and no roads of a different type from the highway are included in the first range. In this case, as shown in Figure 26, the spatial information output unit 66 sets a 10th range, which is the range from the position of the first merging point Pc counting from the position of the vehicle 20 to the 10th distance L10. The merging point Pc is the point where multiple lane groups LG merge into one lane group LG. The 10th distance L10 is set to be less than or equal to the 3rd distance L3, for example, 200m. Furthermore, the spatial information output unit 66 may exclude data relating to roads included outside the range from the position of the first merging point Pc to the starting point of the lane group LG starting from the Nth merging point Pc in the 10th range. Hereinafter, N is set to, for example, 3. In Figure 26, the excluded lane groups LG are shown by a dashed line. Furthermore, similarly to the above, the spatial information output unit 66 may exclude data relating to roads that are located outside the range from the position of the first merging point Pc to the starting point of the lane group LG, which starts from the Nth merging point Pc, in each extracted range.

[0106] In the above embodiment, the program of the spatial information output unit 66 is executed when route guidance is not being provided by the navigation system 26. Alternatively, the program of the spatial information output unit 66 may be executed when route guidance is being provided by the navigation system 26.

[0107] The above embodiments may be combined as appropriate.

[0108] (Perspective of this disclosure) [Perspective 1] A spatial information output device, An acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road, An output unit that extracts the range from the vehicle's position to a set distance from the aforementioned map data and outputs the map data for the extracted range. Equipped with, The output unit is a spatial information output device that changes the set distance based on the type of road on which the vehicle is located. [Perspective 2] The output unit is, When the vehicle's position is on a highway, the set distance is set as the first distance (L1), and the first range, which is the range from the vehicle's position to the first distance, is extracted from the map data. When the location of the vehicle is on a national highway, which is a national highway different from the expressway, the set distance is set to a second distance (L2) which is shorter than the first distance, and the second range, which is the range from the location of the vehicle to the second distance, is extracted from the map data. The spatial information output device according to viewpoint 1, wherein when the position of the vehicle is on a general road different from the expressway and the general national highway, the set distance is set to a third distance (L3) which is shorter than the second distance, and a third range is extracted from the map data which is the range from the position of the vehicle to the third distance. [Perspective 3] The output unit is, When the location of the vehicle is on the expressway, The spatial information output device according to viewpoint 2, wherein when the first range includes the national highway, the set distance is changed from the first distance to a fourth distance (L4) which is greater than or equal to the second distance and less than the first distance, and the range from the position of the vehicle to the fourth distance is extracted from the map data. [Perspective 4] The output unit is, When the first range includes the general road and the third range also includes the general road, the set distance is changed from the first distance to a fifth distance (L5) which is greater than or equal to the third distance and less than the second distance, and the range from the vehicle's position to the fifth distance is extracted from the map data. The spatial information output device according to viewpoint 3, wherein when the general road is included in the first range and the general road is included outside the third range, data relating to the general road included outside the third range is excluded from the first range. [Perspective 5] The output unit is, When the location of the vehicle is on the aforementioned national highway, The spatial information output device according to viewpoint 4, wherein when the general road is included in the second range and the general road is included in the third range, the set distance is changed from the second distance to a sixth distance (L6) which is greater than or equal to the third distance and less than the second distance, and the range from the position of the vehicle to the sixth distance is extracted from the map data. [Perspective 6] The spatial information output device according to viewpoint 5, wherein the output unit excludes data relating to the general road included outside the third range from the second range when the general road is included in the second range and the general road is included outside the third range. [perspective 7] The output unit is, When the expressway is included within the range from the vehicle's position to the sixth distance, the set distance is changed from the sixth distance to a seventh distance (L7) which is greater than or equal to the second distance and less than the first distance, and the range from the vehicle's position to the seventh distance is extracted from the map data. A spatial information output device according to viewpoint 5 or 6, wherein when the general national highway is included in the range from the position of the vehicle to the sixth distance, the set distance is changed from the sixth distance to the seventh distance, and the range from the position of the vehicle to the seventh distance is extracted from the map data. [Perspective 8] The output unit is, When the location of the vehicle is on the aforementioned public road, The spatial information output device according to viewpoint 7, wherein when the third range includes the expressway, the set distance is changed from the third distance to an eighth distance (L8) which is greater than or equal to the second distance and less than the first distance, and the range from the position of the vehicle to the eighth distance is extracted from the map data. [Perspective 9] The spatial information output device according to viewpoint 8, wherein the output unit excludes data relating to the expressway that is located outside the third range from the range from the position of the vehicle to the eighth distance. [Perspective 10] The spatial information output device according to viewpoint 8 or 9, wherein the output unit, when the third range includes the national highway, changes the set distance from the third distance to a ninth distance (L9) which is greater than or equal to the second distance and less than the first distance, and extracts the range from the position of the vehicle to the ninth distance from the map data. [Perspective 11] The spatial information output device according to viewpoint 10, wherein the output unit excludes data relating to the national highway that is outside the third range from the range from the position of the vehicle to the ninth distance. [Perspective 12] The aforementioned map data has multiple lane groups (LG) and branching points (Pb), The lane group is a group of lanes indicating a road, The aforementioned branching point is a location where one lane group branches into multiple lane groups, Let N be a natural number. The spatial information output device according to any one of viewpoints 2 to 11, wherein the output unit excludes data relating to the general road that is included outside the range from the position of the vehicle to the end of the lane group starting from the Nth branching point. [Perspective 13] The output unit is, When the aforementioned vehicle is providing route guidance, without changing the set distance, A spatial information output device according to any one of viewpoints 1 to 12, which changes the set distance when the aforementioned route guidance is not being performed. [Perspective 14] A method for outputting spatial information, To obtain map data (Md) including the position of the vehicle (20) and the type of road, The process involves extracting the range from the vehicle's position to a set distance from the aforementioned map data, and outputting the map data for the extracted range. Includes, A spatial information output method that changes the set distance based on the type of road on which the vehicle is located. [Perspective 15] A spatial information output program, A spatial information output device, An acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road, and This unit extracts the range from the vehicle's position to a set distance from the aforementioned map data and functions as an output unit that outputs the map data for the extracted range. The output unit is a spatial information output program that changes the set distance based on the type of road on which the vehicle is located. [Explanation of Symbols]

[0109] L1 1st distance L2 2nd distance L3 3rd distance Md map data 20. Own vehicle 60 Spatial Information Output Device 66 Spatial Information Output Unit

Claims

1. A spatial information output device, An acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road, An output unit that extracts the range from the vehicle's position to a set distance from the aforementioned map data and outputs the map data for the extracted range. Equipped with, The output unit is a spatial information output device that changes the set distance based on the type of road on which the vehicle is located.

2. The output unit is, When the vehicle's position is on a highway, the set distance is set as the first distance (L1), and the first range, which is the range from the vehicle's position to the first distance, is extracted from the map data. When the location of the vehicle is on a national highway, which is a national highway different from the expressway, the set distance is set to a second distance (L2) which is shorter than the first distance, and the second range, which is the range from the location of the vehicle to the second distance, is extracted from the map data. The spatial information output device according to claim 1, wherein when the position of the vehicle is on a general road different from the expressway and the general national highway, the set distance is set to a third distance (L3) which is shorter than the second distance, and a third range is extracted from the map data which is the range from the position of the vehicle to the third distance.

3. The output unit is, When the location of the vehicle is on the expressway, The spatial information output device according to claim 2, wherein when the first range includes the national highway, the set distance is changed from the first distance to a fourth distance (L4) which is greater than or equal to the second distance and less than the first distance, and the range from the position of the vehicle to the fourth distance is extracted from the map data.

4. The output unit is, When the first range includes the general road and the third range also includes the general road, the set distance is changed from the first distance to a fifth distance (L5) which is greater than or equal to the third distance and less than the second distance, and the range from the vehicle's position to the fifth distance is extracted from the map data. The spatial information output device according to claim 3, wherein when the first range includes the general road and the third range includes the general road, data relating to the general road included outside the third range is excluded from the first range.

5. The output unit is, When the location of the vehicle is on the aforementioned national highway, The spatial information output device according to claim 4, wherein when the second range includes the general road and the third range includes the general road, the set distance is changed from the second distance to a sixth distance (L6) which is greater than or equal to the third distance and less than the second distance, and the range from the position of the vehicle to the sixth distance is extracted from the map data.

6. The spatial information output device according to claim 5, wherein the output unit excludes data relating to the general road included outside the third range from the second range when the general road is included in the second range and the general road is included outside the third range.

7. The output unit is, When the expressway is included within the range from the vehicle's position to the sixth distance, the set distance is changed from the sixth distance to a seventh distance (L7) which is greater than or equal to the second distance and less than the first distance, and the range from the vehicle's position to the seventh distance is extracted from the map data. The spatial information output device according to claim 5, wherein when the general national highway is included in the range from the position of the vehicle to the sixth distance, the set distance is changed from the sixth distance to the seventh distance, and the range from the position of the vehicle to the seventh distance is extracted from the map data.

8. The output unit is, When the location of the vehicle is on the aforementioned public road, The spatial information output device according to claim 7, wherein when the third range includes the expressway, the set distance is changed from the third distance to an eighth distance (L8) which is greater than or equal to the second distance and less than the first distance, and the range from the position of the vehicle to the eighth distance is extracted from the map data.

9. The spatial information output device according to claim 8, wherein the output unit excludes data relating to the expressway that is included outside the third range from the range from the position of the vehicle to the eighth distance.

10. The spatial information output device according to claim 8 or 9, wherein when the third range includes the national highway, the output unit changes the set distance from the third distance to a ninth distance (L9) which is greater than or equal to the second distance and less than the first distance, and extracts the range from the position of the vehicle to the ninth distance from the map data.

11. The spatial information output device according to claim 10, wherein the output unit excludes data relating to the national highway that is included outside the third range from the range from the position of the vehicle to the ninth distance.

12. The aforementioned map data has multiple lane groups (LG) and branching points (Pb), The lane group is a group of lanes indicating a road, The aforementioned branching point is a location where one lane group branches into multiple lane groups, Let N be a natural number. The spatial information output device according to claim 2, wherein the output unit excludes data relating to the general road that is included outside the range from the position of the vehicle to the end of the lane group starting from the Nth branching point.

13. The output unit is, When the aforementioned vehicle is providing route guidance, without changing the set distance, The spatial information output device according to claim 1 or 2, which changes the set distance when the aforementioned route guidance is not being performed.

14. A method for outputting spatial information, To obtain map data (Md) including the position of the vehicle (20) and the type of road, The process involves extracting the range from the vehicle's position to a set distance from the aforementioned map data, and outputting the map data for the extracted range. Includes, A spatial information output method that changes the set distance based on the type of road on which the vehicle is located.

15. A spatial information output program, A spatial information output device, An acquisition unit that acquires map data (Md) including the position of the vehicle (20) and the type of road, This unit extracts the range from the vehicle's position to a set distance from the aforementioned map data and functions as an output unit that outputs the map data for the extracted range. The output unit is a spatial information output program that changes the set distance based on the type of road on which the vehicle is located.

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