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

Abstract

The present invention provides a spatial information output device, a spatial information output method, and a spatial information output program that align the direction of travel for vehicles and the direction for lane groups. [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 for an area determined based on the vehicle's position. The spatial information output unit 66 also changes the group direction in the acquired map data Md to the direction of travel if the group direction differs from the vehicle's direction of travel. The spatial information output unit 66 then outputs the modified map data Md.

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 generation apparatus used for a driving control system mounted on a vehicle is known. This map generation apparatus generates map information of a high-precision map. Further, when the connection relationship of links is not defined in the map information, the map generation apparatus complements the undefined connection relationship of the links. Accordingly, even when the connection relationship of links is not defined in the map information, the map generation apparatus can generate map information that enables prediction of a link in the traveling direction of the vehicle. Furthermore, the driving control system includes a driving control apparatus and a detection device. The driving control apparatus uses the map information generated by the map generation apparatus to execute support control for a driver's driving operation. The detection device includes a camera and a radar device. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2018-173534 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] The map information generated by the map generation apparatus described in Patent Document 1 may include information on a lane group corresponding to a link and a direction related to the lane group.

[0005] Here, preparing map information requires considerable expense and effort. Furthermore, while it is desirable for the direction of travel for vehicles and the direction of lane groups to be aligned in the processing of driving control devices that use map information, this is not required by the specifications of high-precision maps. For these reasons, the direction of travel for vehicles and the direction of lane groups included in map information may not be aligned.

[0006] Furthermore, when the driving control device performs driving support control, which is a process using map information, it is necessary to align the direction of travel for the vehicle and the direction of the lane group. In addition, the driving control device may perform processing using map information, such as fusing map information generated by the map generation device with information from the camera and radar device, and then use the processed information to perform driving support control. Furthermore, when the driving control device performs this processing, it is also necessary to align the direction of travel for the vehicle and the direction of the lane group. For this reason, if the direction of travel for the vehicle and the direction of the lane group are not aligned, the driving control device will need to align the direction of travel for the vehicle and the direction of the lane group each time it performs processing. Consequently, if the direction of travel for the vehicle and the direction of the lane group are not aligned, the processing load on the driving control device increases. Therefore, the map generation device described in Patent Document 1, which merely complements the connection relationships of undefined links, increases the processing load on the driving control device. For this reason, a device that aligns the direction of travel for the vehicle and the direction of the lane group is required.

[0007] This disclosure aims to provide a spatial information output device, a spatial information output method, and a spatial information output program that align the direction of travel of a vehicle with respect to the direction of lane groups. [Means for solving the problem]

[0008] The invention described in claim 1 is a spatial information output device comprising: an acquisition unit that acquires map data (Md) for an area determined based on the position of a vehicle; and an output unit that modifies the information contained in the map data and outputs the modified map data, wherein the map data has map tiles (Mt), the map tiles include lane groups (LG), and the lane group includes lanes (La) that include a direction of travel (D_VT) with respect to the vehicle, a starting shape point (Ps) indicating the starting position, and a ending shape point (Pe) indicating the ending position, and a group direction (D_LG) that is a direction with respect to the lane group and corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, and the output unit is a spatial information output device that changes the group direction to the direction of travel when the group direction is different from the direction of travel.

[0009] Furthermore, the invention described in claim 10 is a spatial information output method that includes acquiring map data (Md) for an area determined based on the position of a vehicle, and modifying the information contained in the map data to output the modified map data, wherein the map data has map tiles (Mt), the map tiles include lane groups (LG), and the lane group has lanes (La) including a direction of travel (D_VT) with respect to the vehicle, a starting shape point (Ps) indicating the starting position, and a ending shape point (Pe) indicating the ending position, and a group direction (D_LG) which is a direction with respect to the lane group and corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, and when the group direction is different from the direction of travel, the spatial information output method changes the group direction to the direction of travel.

[0010] Furthermore, the invention described in claim 11 is a spatial information output program, wherein the spatial information output device functions as an acquisition unit that acquires map data (Md) for an area determined based on the position of a vehicle, and an output unit that modifies the information contained in the map data and outputs the modified map data, wherein the map data has map tiles (Mt), the map tiles include lane groups (LG), and the lane group has lanes (La) including a direction of travel (D_VT) with respect to the vehicle, a starting shape point (Ps) indicating the starting position, and a ending shape point (Pe) indicating the ending position, and a group direction (D_LG) with respect to the lane group that corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, and the output unit is a spatial information output program that changes the group direction to the direction of travel when the group direction is different from the direction of travel.

[0011] As a result, when the group direction differs from the direction of travel, the group direction is changed to the direction of travel, thus aligning the direction of travel for the vehicles and the direction for the lane groups.

[0012] 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]

[0013] [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] A diagram showing the map data for the first example. [Figure 6] A diagram showing map data processed by the spatial information output unit. [Figure 7]Figure showing map data processed by the spatial information output unit. [Figure 8] Figure showing map data of the second example. [Figure 9] Figure showing map data processed by the spatial information output unit. [Figure 10] Figure showing map data processed by the spatial information output unit. [Figure 11] Figure showing map data of the third example. [Figure 12] Figure showing map data processed by the spatial information output unit. [Figure 13] Figure showing map data of the fourth example. [Figure 14] Figure showing map data processed by the spatial information output unit. [Figure 15] Figure showing map data processed by the spatial information output unit. [Figure 16] Figure showing map data of the fifth example. [Figure 17] Figure showing map data processed by the spatial information output unit. DETAILED DESCRIPTION OF EMBODIMENTS

[0014] Hereinafter, embodiments will be described with reference to the drawings. In the following embodiments, portions that are identical or equivalent to each other are denoted by the same reference signs, and descriptions thereof are omitted.

[0015] The spatial information output device that executes the spatial information output method and the spatial information output program according to the present embodiment aligns the traveling direction of a vehicle and the direction related to a lane group. Specifically, the spatial information output device is used in a vehicle system. First, this vehicle system will be described.

[0016] As shown in FIG. 1, a vehicle system 10 includes a center 15 and a host vehicle 20. The center 15 is an organization or facility. Map data Md is stored in the center 15.

[0017] 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.

[0018] Furthermore, the map data Md has at least one map tile Mt. The map tile Mt includes at least one lane group LG, as shown in Figure 2.

[0019] Lane group LG includes lane La, group direction D_LG, and group identification number LGID.

[0020] Lane La represents a lane on a modeled road. Furthermore, Lane La includes the vehicle direction of travel D_VT, lane shape point P, lane direction D_Lane, and lane identification number LaneID.

[0021] The vehicle direction of travel D_VT is the direction of travel for the vehicle, and is the direction in which a vehicle traveling on a road should move.

[0022] A lane shape point P is a point that indicates the position of lane La. Furthermore, a lane shape point P is represented by coordinates expressed in latitude, longitude, and altitude. Additionally, a lane shape point P includes a start shape point Ps and a end shape point Pe. The start shape point Ps is a lane shape point P indicating the position of the start of lane La. The end shape point Pe is a lane shape point P indicating the position of the end of lane La.

[0023] The lane direction D_Lane is the digitizing direction of lane La. Furthermore, the lane direction D_Lane is the direction from the starting shape point Ps to the ending shape point Pe.

[0024] The lane identification number LaneID is an identification number for lane La. Examples of Lane IDs are 1001, 1002, 2001, 2002, 3001, 3002, 4001, 4002, etc. Furthermore, the Lane IDs are arranged in order. In addition, lane La contains information indicating the arrangement relationship between the Lane IDs of connected lanes La and the lane identification numbers LaneID, according to the lane direction D_Lane. For example, suppose the start of lane La with LaneID 2001 is connected to lane La with LaneID 1001. Suppose the end of lane La with LaneID 2001 is connected to lane La with LaneID 3001. In this case, lane La with LaneID 2001 contains information in its arrangement relationship that 1001 precedes 2001 and 3001 follows 2001.

[0025] The group direction D_LG is the direction relative to the lane group LG, and is the digitizing direction of the lane group LG. Furthermore, the group direction D_LG corresponds to either the lane direction D_Lane or the opposite direction to the lane direction D_Lane. Note that in Figure 2, the group direction D_LG is shown as being the same direction as the lane direction D_Lane, but it may also be shown as being the opposite direction to the lane direction D_Lane.

[0026] The group identification number LGID is an identification number relating to a lane group LG. Examples of group identification numbers LGID are 100, 200, 300, 400, etc. Furthermore, the group identification numbers LGID are arranged in order. In addition, a lane group LG contains information indicating the order relationship with the group identification numbers LGID of connected lane group LGs, according to the group direction D_LG. For example, suppose the starting end of a lane group LG with group identification number LGID 200 is connected to a lane group LG with group identification number LGID 100. Suppose the ending end of a lane group LG with group identification number LGID 200 is connected to a lane group LG with group identification number LGID 300. In this case, the lane group LG with group identification number LGID 200 contains information in its order relationship that 100 precedes 200 and 300 follows 200.

[0027] 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.

[0028] The communication device 22 has an interface for communicating with the center 15 and the automatic driving ECU 50 described later.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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 from these acquired map data Md and signals. This allows the position determination unit 64 to determine the lane La 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.

[0040] 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 then extracts map data Md for the area determined based on the vehicle 20's current position from this acquired map data Md. Furthermore, the spatial information output unit 66 modifies the information contained in this extracted map data Md. Finally, the spatial information output unit 66 outputs the modified 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.

[0041] The control device 70 includes a fusion unit 72, a localization unit 74, and an operation execution unit 76 as functional blocks.

[0042] 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.

[0043] 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 La in which the vehicle 20 is traveling 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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 La 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.

[0050] 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.

[0051] In step S200, the spatial information output unit 66 acquires various types of information. Specifically, the spatial information output unit 66 acquires signals from the navigation system 26. Furthermore, the spatial information output unit 66 acquires map data Md, in which the current position of the vehicle 20 is determined, from the position determination unit 64.

[0052] Furthermore, the spatial information output unit 66 extracts map data Md for an area determined based on the current position of the vehicle 20 from the acquired map data Md. Thus, the spatial information output unit 66 obtains map data Md for an area determined based on the current position of the vehicle 20. The area determined based on the current position of the vehicle 20 is, for example, a road and its surroundings within a certain distance along the road, relative to the current position of the vehicle 20. Furthermore, if route guidance is provided by the navigation system 26, the area determined based on the current position of the vehicle 20 may be a road and its surroundings extending a longer distance than the road used for the guidance route.

[0053] Here, as a first example, as shown in Figure 5, lane group LG includes the first lane La1, the second lane La2, the third lane La3, and the fourth lane La4. Note that in Figure 5, to avoid complexity, the lane shape points P other than the start shape point Ps and end shape point Pe, the group identification number LGID, and the lane identification number LaneID are omitted.

[0054] The first lane La1 includes the first direction of travel D1_VT, the first starting point Ps1, the first ending point Pe1, and the first lane direction D1_Lane. The first direction of travel D1_VT is the direction of travel with respect to the vehicle. The first starting point Ps1 is a lane shape point P indicating the position of the first starting point. The first starting point is the beginning of the first lane La1. The first ending point Pe1 is a lane shape point P indicating the position of the first ending point. The first ending point is the end of the first lane La1. The first lane direction D1_Lane is the direction from the first starting point Ps1 to the first ending point Pe1.

[0055] The second lane La2 includes the second direction of travel D2_VT, the second starting point Ps2, the second ending point Pe2, and the second lane direction D2_Lane. The second direction of travel D2_VT is the direction of travel with respect to the vehicle. The second starting point Ps2 is a lane shape point P indicating the position of the second starting point. The second starting point is the beginning of the second lane La2. The second ending point Pe2 is a lane shape point P indicating the position of the second ending point. The second ending is the end of the second lane La2. The second lane direction D2_Lane is the direction from the second starting point Ps2 towards the second ending point Pe2.

[0056] The third lane La3 includes the third direction of travel D3_VT, the third starting point Ps3, the third ending point Pe3, and the third lane direction D3_Lane. The third direction of travel D3_VT is the direction of travel relative to the vehicle. The third starting point Ps3 is a lane shape point P indicating the position of the third starting point. The third starting point is the beginning of the third lane La3. The third ending point Pe3 is a lane shape point P indicating the position of the third ending point. The third ending is the end of the third lane La3. The third lane direction D3_Lane is the direction from the third starting point Ps3 to the third ending point Pe3.

[0057] The fourth lane, La4, includes the fourth direction of travel D4_VT, the fourth starting point Ps4, the fourth ending point Pe4, and the fourth lane direction D4_Lane. The fourth direction of travel D4_VT is the direction of travel relative to the vehicle. The fourth starting point Ps4 is a lane shape point P indicating the position of the fourth starting point. The fourth starting point is the beginning of the fourth lane, La4. The fourth ending point Pe4 is a lane shape point P indicating the position of the fourth ending point. The fourth ending is the end of the fourth lane, La4. The fourth lane direction D4_Lane is the direction from the fourth starting point Ps4 to the fourth ending point Pe4.

[0058] Furthermore, in map data Md, the uphill and downhill lanes of a road are sometimes represented as a single lane group LG. The uphill lane is the road leading to the starting point. The starting point is the beginning of a national highway. National highways are roads that make up the trunk road network constructed and managed by the national government. The downhill lane is the road leading to the end point. The end point is the end of a national highway.

[0059] In this case, for example, the first direction of travel D1_VT, the second direction of travel D2_VT, the first lane direction D1_Lane, the second lane direction D2_Lane, and the group direction D_LG are considered to be the same direction. The third direction of travel D3_VT, the fourth direction of travel D4_VT, the third lane direction D3_Lane, and the fourth lane direction D4_Lane are considered to be the same direction. Furthermore, the first direction of travel D1_VT and the second direction of travel D2_VT are considered to be different directions from the third direction of travel D3_VT and the fourth direction of travel D4_VT. The first lane direction D1_Lane, the second lane direction D2_Lane, and the group direction D_LG are considered to be different directions from the third lane direction D3_Lane and the fourth lane direction D4_Lane. Therefore, when the uphill and downhill lanes of a road are represented by one lane group LG, there are multiple vehicle directions of travel D_VT that are different from each other for one lane group LG.

[0060] Furthermore, at this time, either the data related to the uphill line or the data related to the downhill line may become unnecessary data in the processing of the control device 70, which corresponds to processing using map data Md.

[0061] Therefore, in step S202 following step S200 in the flowchart of Figure 4, the spatial information output unit 66 determines whether multiple different vehicle travel directions D_VT are in one lane group LG. This allows the spatial information output unit 66 to determine whether the uphill and downhill lanes of the road are represented by a single lane group LG.

[0062] Then, when multiple different vehicle directions D_VT are not in one lane group LG, the spatial information output unit 66 determines that the uphill and downhill lanes of the road are not represented in one lane group LG. After that, the spatial information output unit 66 proceeds to step S206. Furthermore, when multiple different vehicle directions D_VT are in one lane group LG, the spatial information output unit 66 determines that the uphill and downhill lanes of the road are represented in one lane group LG. After that, the spatial information output unit 66 proceeds to step S204.

[0063] In step S204, following step S202, the spatial information output unit 66 divides lane group LG, which represents the uphill and downhill lanes of the road.

[0064] In the first example described above, the spatial information output unit 66 divides the lane group LG into a first lane group LG1 and a second lane group LG2, as shown in Figures 6 and 7.

[0065] As shown in Figure 6, the first lane group LG1 has a first lane La1 and a second lane La2. The first lane La1 includes a first travel direction D1_VT and a first lane direction D1_Lane. The second lane La2 includes a second travel direction D2_VT and a second lane direction D2_Lane. The spatial information output unit 66 also assigns a new first group direction D1_LG to the first lane group LG1. The first group direction D1_LG is the digitizing direction of the first lane group LG1 and is the same direction as the first lane direction D1_Lane and the second lane direction D2_Lane. Furthermore, the spatial information output unit 66 assigns a new group identification number LGID to the first lane group LG1. Furthermore, the spatial information output unit 66 assigns a new lane identification number LaneID to the first lane La1. Furthermore, the spatial information output unit 66 assigns a new lane identification number LaneID to the second lane La2. Note that in Figure 6, to avoid complexity, the lane shape points P other than the start shape point Ps and end shape point Pe, the group identification number LGID, and the lane identification number LaneID have been omitted.

[0066] As shown in Figure 7, the second lane group LG2 has a third lane La3 and a fourth lane La4. The third lane La3 includes a third travel direction D3_VT and a third lane direction D3_Lane. The fourth lane La4 includes a fourth travel direction D4_VT and a fourth lane direction D4_Lane. The spatial information output unit 66 also assigns a new second group direction D2_LG to the second lane group LG2. The second group direction D2_LG is the digitizing direction of the second lane group LG2 and is the same direction as the third lane direction D3_Lane and the fourth lane direction D4_Lane. Furthermore, the spatial information output unit 66 assigns a new group identification number LGID to the second lane group LG2. Furthermore, the spatial information output unit 66 assigns a new lane identification number LaneID to the third lane La3. Furthermore, the spatial information output unit 66 assigns a new lane identification number LaneID to the fourth lane La4. Note that in Figure 7, to avoid complexity, the lane shape points P other than the start shape point Ps and end shape point Pe, the group identification number LGID, and the lane identification number LaneID have been omitted.

[0067] Furthermore, as a second example, let's assume that the lane group LG in the first example above includes not only the first lane La1, the second lane La2, the third lane La3, and the fourth lane La4, but also the fifth lane La5 and the sixth lane La6, as shown in Figure 8. Note that in Figure 8, to avoid complexity, the lane shape points P other than the start shape point Ps and end shape point Pe, the group identification number LGID, and the lane identification number LaneID are omitted.

[0068] The fifth lane La5 and the sixth lane La6 share the fifth direction of travel D5_VT. The fifth direction of travel D5_VT is the direction of travel with respect to the vehicle. Furthermore, the fifth lane La5 includes the fifth start shape point Ps5, the fifth end shape point Pe5, and the fifth lane direction D5_Lane. The fifth start shape point Ps5 is a lane shape point P indicating the position of the fifth start. The fifth start is the beginning of the fifth lane La5. The fifth end shape point Pe5 is a lane shape point P indicating the position of the fifth end. The fifth end is the end of the fifth lane La5. The fifth lane direction D5_Lane is the direction from the fifth start shape point Ps5 to the fifth end shape point Pe5.

[0069] The sixth lane, La6, includes the sixth start shape point Ps6, the sixth end shape point Pe6, and the sixth lane direction D6_Lane. The sixth start shape point Ps6 is a lane shape point P indicating the position of the sixth start. The sixth start is the beginning of the sixth lane, La6. The sixth end shape point Pe6 is a lane shape point P indicating the position of the sixth end. The sixth end is the end of the sixth lane, La6. The sixth lane direction D6_Lane is the direction from the sixth start shape point Ps6 to the sixth end shape point Pe6.

[0070] Furthermore, in map data Md, reversible lanes are sometimes represented as a single lane group LG. Reversible lanes are those that shift the position of the center line on a lane-by-lane basis depending on the time of day.

[0071] In this case, for example, the fifth direction of travel D5_VT is the direction of travel for a vehicle traveling in a reversible lane, and includes the same directions as the first direction of travel D1_VT, the second direction of travel D2_VT, the third direction of travel D3_VT, and the fourth direction of travel D4_VT. For this reason, the fifth direction of travel D5_VT is shown by a bidirectional arrow in Figure 8. Furthermore, the fifth lane direction D5_Lane is the same direction as the first lane direction D1_Lane, the second lane direction D2_Lane, and the group direction D_LG. The sixth lane direction D6_Lane is the same direction as the third lane direction D3_Lane and the fourth lane direction D4_Lane. Thus, a reversible lane may be represented by the fifth direction of travel D5_VT, the fifth lane La5, and the sixth lane La6.

[0072] In this case, when the spatial information output unit 66 divides the lane group LG, as shown in Figure 9, for example, it includes the fifth lane La5 in the first lane group LG1. The spatial information output unit 66 also includes the fifth direction of travel D5_VT in the fifth lane La5. The fifth direction of travel D5_VT is changed to the same direction as the first direction of travel D1_VT, the second direction of travel D2_VT, the first lane direction D1_Lane, and the second lane direction D2_Lane. The spatial information output unit 66 also assigns a new lane identification number LaneID to the fifth lane La5. Note that in Figure 9, to avoid complexity, the lane shape points P other than the start shape point Ps and end shape point Pe, the group identification number LGID, and the lane identification number LaneID are omitted.

[0073] Furthermore, as shown in Figure 10, the spatial information output unit 66 includes the sixth lane La6 in the second lane group LG2. The spatial information output unit 66 also assigns a new sixth direction of travel D6_VT to the sixth lane La6. The sixth direction of travel D6_VT is the same direction as the third direction of travel D3_VT, the fourth direction of travel D4_VT, the third lane direction D3_Lane, and the fourth lane direction D4_Lane. Furthermore, the spatial information output unit 66 assigns a new lane identification number LaneID to the sixth lane La6.

[0074] In this way, by dividing the lane group LG, the spatial information output unit 66 separates the necessary data from the unnecessary data in the processing of the control device 70, which corresponds to processing using the map data Md. After the spatial information output unit 66 divides the lane group LG, the processing of the spatial information output unit 66 proceeds to step S206.

[0075] Here, preparing the high-precision map data Md requires considerable expense and effort. Furthermore, while it is desirable for the vehicle direction D_VT, group direction D_LG, and lane direction D_Lane to be aligned in the processing of the control device 70, this is not required by the specifications of the high-precision map. For these reasons, the vehicle direction D_VT, group direction D_LG, and lane direction D_Lane may not be aligned.

[0076] For example, as a third example, as shown in Figure 11, suppose that in lane group LG with group identification number LGID 300, the group direction D_LG is different from the vehicle travel direction D_VT. Suppose that the starting end of lane group LG with group identification number LGID 300 is connected to lane group LG with group identification number LGID 400. Suppose that the ending end of lane group LG with group identification number LGID 300 is connected to lane group LG with group identification number LGID 200. In this case, lane group LG with group identification number LGID 300 contains information that, in terms of the order, 400 is before 300 and 200 is after 300.

[0077] Furthermore, lane group LG, whose group identification number LGID is 300, has lane La, whose lane identification number LaneID is 3001, and lane La, whose lane identification number LaneID is 3002.

[0078] The lane direction D_Lane of lane La, whose lane identification number LaneID is 3001, is the same direction as the group direction D_LG, but different from the vehicle direction D_VT. The lane direction D_Lane of lane La, whose lane identification number LaneID is 3002, is the same direction as the group direction D_LG, but different from the vehicle direction D_VT.

[0079] Assume that the starting point Ps of lane La with lane ID 3001 is connected to the starting point Ps of lane La with lane ID 4001. Assume that the ending point Pe of lane La with lane ID 3001 is connected to the ending point Pe of lane La with lane ID 2001. In this case, lane La with lane ID 3001 contains the information that, in terms of the order relationship, 4001 is before 3001 and 2001 is after 3001.

[0080] Assume that the starting point Ps of lane La with lane ID 3002 is connected to the starting point Ps of lane La with lane ID 4002. Assume that the ending point Pe of lane La with lane ID 3002 is connected to the ending point Pe of lane La with lane ID 2002. In this case, lane La with lane ID 3002 contains the information that, in terms of the order of lanes, 4002 is before 3002 and 2002 is after 3002.

[0081] Thus, the vehicle direction of travel D_VT, the group direction D_LG, and the lane direction D_Lane may not be aligned.

[0082] Therefore, in step S206 of the flowchart in Figure 4, the spatial information output unit 66 determines, using the map data Md acquired in step S200, whether or not there is a lane group LG where the vehicle direction D_VT and the group direction D_LG are different.

[0083] If there are no lane group LGs where the vehicle direction of travel D_VT and the group direction D_LG are different, the spatial information output unit 66 proceeds to step S210. If there are lane group LGs where the vehicle direction of travel D_VT and the group direction D_LG are different, the spatial information output unit 66 proceeds to step S208.

[0084] In step S208, following step S206, the spatial information output unit 66 changes the information related to lane group LG.

[0085] In the third example described above, the spatial information output unit 66 changes the group direction D_LG of lane group LG, whose group identification number LGID is 300, to the same direction as the vehicle travel direction D_VT, as shown in Figure 12. Furthermore, the spatial information output unit 66 changes the order of the group identification numbers LGID. Specifically, the spatial information output unit 66 changes the information regarding the order of 300 to the information that 200 is before 300 and 400 is after 300.

[0086] Furthermore, in step S210 of the flowchart in Figure 4, the spatial information output unit 66 determines, using the map data Md acquired in step S200, whether or not there is a lane La where the vehicle direction of travel D_VT and the lane direction D_Lane are different.

[0087] If there are no lanes La where the vehicle direction of travel D_VT and the lane direction D_Lane are different, the spatial information output unit 66 proceeds to step S214. Furthermore, if there are lanes La where the vehicle direction of travel D_VT and the lane direction D_Lane are different, the spatial information output unit 66 proceeds to step S212.

[0088] In step S212, following step S210, the spatial information output unit 66 modifies the information related to lane La.

[0089] In the third example described above, the spatial information output unit 66 changes the lane direction D_Lane of lane La, whose lane identification number LaneID is 3001, to the same direction as the vehicle travel direction D_VT, as shown in Figure 12. The spatial information output unit 66 also changes the lane direction D_Lane of lane La, whose lane identification number LaneID is 3002, to the same direction as the vehicle travel direction D_VT. Furthermore, the spatial information output unit 66 changes the order of the lane identification numbers LaneID. Specifically, the spatial information output unit 66 changes the order of 3001 to the information that 2001 is before 3001 and 4001 is after 3001. The spatial information output unit 66 also changes the order of 3002 to the information that 2002 is before 3002 and 4002 is after 3002.

[0090] Furthermore, as a fourth example, let's assume that the map data Md has a first map tile Mt1 and a second map tile Mt2, as shown in Figure 13. The first map tile Mt1 contains two lane groups LG. The second map tile Mt2 contains three lane groups LG. There is a boundary between the first map tile Mt1 and the second map tile Mt2 between the lane group LG with group identification number LGID 200 and the lane group LG with group identification number LGID 300.

[0091] Furthermore, due to the constraints of the NDS specifications, the group direction D_LG of lane group LG, which straddles the boundary between the first map tile Mt1 and the second map tile Mt2, may be in a different direction from the vehicle travel direction D_VT. In addition, due to the constraints of the NDS specifications, the lane direction D_Lane of lane La, which straddles the boundary between the first map tile Mt1 and the second map tile Mt2, may be in a different direction from the vehicle travel direction D_VT.

[0092] Therefore, for example, the group direction D_LG of lane group LG, whose group identification number LGID is 300, is set to be a different direction from the vehicle direction D_VT. In this case, lane group LG, whose group identification number LGID is 300, includes information that in the order of the lanes, 400 and 500 precede 300, and for example, 000 follows 300. Also, the lane direction D_Lane of lane La, whose lane identification number LaneID is 3001, is set to be the same direction as the group direction D_LG, and a different direction from the vehicle direction D_VT. In this case, lane La, whose lane identification number LaneID is 3001, includes information that in the order of the lanes, 4001 precedes 3001, and for example, 0000 follows 3001. The lane direction D_Lane of lane La, whose lane identification number LaneID is 3002, is set to be the same direction as the group direction D_LG, and a different direction from the vehicle direction D_VT. In this case, lane La, whose lane identification number LaneID is 3002, contains information in its arrangement that 5001 precedes 3002 and, for example, 0000 follows 3002.

[0093] In the fourth example as well, the processing in steps S206, S208, S210, and S212 modifies the information regarding lane group LG and lane La.

[0094] Specifically, as shown in Figure 14, the spatial information output unit 66 changes the group direction D_LG of lane group LG, whose group identification number LGID is 300, to the same direction as the vehicle travel direction D_VT. Furthermore, the spatial information output unit 66 changes the order relationship of the group identification numbers LGID. Specifically, the spatial information output unit 66 changes the information regarding the order relationship of 300 to the information that 000 precedes 300, and 400 and 500 follow 300.

[0095] Furthermore, the spatial information output unit 66 changes the lane direction D_Lane of lane La, whose lane identification number LaneID is 3001, to the same direction as the vehicle travel direction D_VT. In addition, the spatial information output unit 66 changes the information regarding the order of 3001 to the information that 0000 is before 3001 and 4001 is after 3001. Furthermore, the spatial information output unit 66 changes the lane direction D_Lane of lane La, whose lane identification number LaneID is 3002, to the same direction as the vehicle travel direction D_VT. In addition, the spatial information output unit 66 changes the information regarding the order of 3002 to the information that 0000 is before 3002 and 5001 is after 3002.

[0096] Furthermore, in the fourth example, lane group LGs with group identification numbers LGID 200 and 300 only have information indicating their connection relationships with other lane group LGs, and do not have length information. In this case, the spatial information output unit 66 may delete the lane group LGs with group identification numbers LGID 200 and 300, as shown in Figure 15, and change the connection relationships and arrangement relationships of the remaining lane group LGs and lanes La.

[0097] After the spatial information output unit 66 modifies the information regarding lane group LG and lane La, the processing of the spatial information output unit 66 proceeds to step S214.

[0098] Here, as a fifth example, let's assume that the map data Md has a first map tile Mt1 and a second map tile Mt2, as shown in Figure 16. Let's assume that the first map tile Mt1 contains two lane groups LG. Let's assume that the second map tile Mt2 contains two lane groups LG. Let's assume that there is a boundary between the first map tile Mt1 and the second map tile Mt2 between the lane group LG with group identification number LGID 200 and the lane group LG with group identification number LGID 300.

[0099] Furthermore, assume that the end of lane group LG with group identification number LGID 200 is connected to the beginning of lane group LG with group identification number LGID 300. Additionally, assume that the end of lane La with lane identification number LaneID 2001 is connected to the beginning of lane La with lane identification number LaneID 3001. Furthermore, assume that the end of lane La with lane identification number LaneID 2002 is connected to the beginning of lane La with lane identification number LaneID 3002.

[0100] In this case, the NDS contains information about the latitude, longitude, and altitude of lane group LG, whose group identification number LGID is 200, at the boundary between the first map tile Mt1 and the second map tile Mt2. However, there is no indication of the connection and arrangement of lane group LG that encloses the first map tile Mt1 and the second map tile Mt2. Furthermore, there is no indication of the connection and arrangement of lanes La that enclose the first map tile Mt1 and the second map tile Mt2.

[0101] Therefore, in the fifth example above, the connection and arrangement relationships of lane group LG, whose group identification numbers LGID are 200 and 300, are difficult to recognize. Furthermore, the connection and arrangement relationships of lanes La, whose lane identification numbers LaneID are 2001 and 3001, are difficult to recognize. The connection and arrangement relationships of lanes La, whose lane identification numbers LaneID are 2002 and 3002, are difficult to recognize.

[0102] Furthermore, in the processing of the control device 70, which corresponds to processing using map data Md, it is necessary to recognize the connection and arrangement relationships of lane group LG that straddles the boundary between the first map tile Mt1 and the second map tile Mt2.

[0103] Therefore, in step S214 of the flowchart in Figure 4, the spatial information output unit 66 determines whether or not there is a boundary for the map tile Mt in the map data Md acquired in step S200.

[0104] If there are no boundaries for map tiles Mt in the map data Md, the spatial information output unit 66 proceeds to step S218. If there are boundaries for map tiles Mt in the map data Md, the spatial information output unit 66 proceeds to step S216.

[0105] In step S216, following step S214, the spatial information output unit 66 assigns a group identification number LGID associated with the group identification number LGID of the lane group LG that straddles the boundary of the map tile Mt. Furthermore, the spatial information output unit 66 assigns a lane identification number LaneID associated with the lane identification number LaneID of the lane La that straddles the boundary of the map tile Mt. Through these steps, the spatial information output unit 66 completes the information.

[0106] In the fifth example described above, the spatial information output unit 66 assigns, for example, 250 as the group identification number LGID associated with the group identification number LGID of lane group LG whose group identification numbers LGID are 200 and 300, as shown in Figure 17. The spatial information output unit 66 also assigns information that, in terms of the arrangement, 200 is before 250 and 300 is after 250.

[0107] Furthermore, the spatial information output unit 66 assigns, for example, 2501 as the Lane ID associated with the Lane IDs of lanes La whose Lane IDs are 2001 and 3001. The spatial information output unit 66 also adds information that, in terms of the arrangement, 2001 is before 2501 and 3001 is after 2501.

[0108] Furthermore, the spatial information output unit 66 assigns, for example, 2502 as a Lane ID associated with the Lane IDs of lanes La whose Lane IDs are 2002 and 3002. The spatial information output unit 66 also adds information that, in terms of the arrangement, 2002 is before 2502 and 3002 is after 2502.

[0109] In this way, the spatial information output unit 66 completes the information, making it easier to recognize the connection and arrangement relationships of lane group LG that straddle the boundary of map tile Mt. Furthermore, it also makes it easier to recognize the connection and arrangement relationships of lanes La that straddle the boundary of map tile Mt. After the spatial information output unit 66 completes the information, the processing of the spatial information output unit 66 proceeds to step S218.

[0110] In step S218, the spatial information output unit 66 outputs the modified map data Md 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.

[0111] As described above, the spatial information output unit 66 performs the processing. Next, it will be explained how the spatial information output device 60 aligns the direction of travel for the vehicle and the direction for the lane group LG.

[0112] The spatial information output unit 66 of the spatial information output device 60 plays the role of an acquisition unit in step S200 of the flowchart in Figure 4, acquiring map data Md for an area determined based on the position of the vehicle 20. The spatial information output unit 66 also plays the role of an output unit, modifying the information contained in the acquired map data Md and outputting the modified map data Md. Specifically, in steps S206 and S208, the spatial information output unit 66 changes the group direction D_LG to the vehicle direction D_VT when the group direction D_LG is different from the vehicle direction D_VT.

[0113] As a result, the vehicle direction of travel D_VT and the group direction D_LG are aligned, thus aligning the direction of travel for the vehicle and the direction for the lane group LG.

[0114] Furthermore, since the vehicle direction of travel D_VT and the group direction D_LG are aligned, it becomes unnecessary to perform the process of aligning each direction for each process of the fusion unit 72, localization unit 74, and driving execution unit 76 of the control device 70, which corresponds to processing using map data Md. Therefore, the increase in the processing load of the control device 70 is suppressed.

[0115] Furthermore, the spatial information output unit 66 of this embodiment also provides the following effects.

[0116] [1] Here, the direction of travel for a vehicle and the direction for lane group LG may not be aligned, as may the direction of travel for a vehicle and the direction for lane La.

[0117] Therefore, in steps S210 and S212, the spatial information output unit 66 changes the lane direction D_Lane to the vehicle direction D_VT if the lane direction D_Lane is different from the vehicle direction D_VT.

[0118] As a result, the vehicle's direction of travel D_VT and the lane direction D_Lane are aligned, thus aligning the direction of travel for the vehicle and the direction for lane La.

[0119] [2] In steps S202 and S204, the spatial information output unit 66 divides the lane group LG when there are multiple different vehicle travel directions D_VT in one lane group LG.

[0120] As a result, in the processing of the control device 70, which corresponds to processing using map data Md, in this case, the processing of the fusion unit 72, the localization unit 74, and the operation execution unit 76, necessary data and unnecessary data are separated.

[0121] [3] In steps S214 and S216, the spatial information output unit 66 assigns a group identification number LGID associated with the group identification number LGID of the lane group LG that straddles the boundary of the map tile Mt, if there is a boundary of the map tile Mt. Furthermore, the spatial information output unit 66 assigns a lane identification number LaneID associated with the lane identification number LaneID of the lane La that straddles the boundary of the map tile Mt. Through these steps, the spatial information output unit 66 completes the information.

[0122] This makes it easier to recognize the connection and arrangement relationships of lane group LG that surrounds the boundary of map tile Mt. It also makes it easier to recognize the connection and arrangement relationships of lanes La that surround the boundary of map tile Mt.

[0123] (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.

[0124] 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.

[0125] 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.

[0126] In the above embodiment, lane group LG includes the vehicle direction of travel D_VT, lane La, group direction D_LG, and group identification number LGID. In addition to these, lane group LG may also include information regarding the type of road edge, the shape point of the road edge, the road speed limit, and the type of road as road attribute information. The type of road edge is, for example, a curb or guardrail. The shape point of the road edge is a point that indicates the location of the road edge. The road speed limit is, for example, the maximum speed specified by signs for each section of road. The type of road is, for example, an expressway or a general road. An expressway is a main road connecting areas of particular political, economic, and cultural importance, such as large cities, industrial cities, important ports, and airports, and is legally and structurally designed to allow automobiles to travel at high speed, safely, and comfortably. In Japan, expressways refer to national expressways and expressways. General roads refer to roads other than expressways.

[0127] If the lane group LG includes road attribute information, the spatial information output unit 66 changes the road attribute information corresponding to the lane group LG when it changes the information related to that lane group LG.

[0128] In the above embodiment, lane La includes lane shape point P, lane direction D_Lane, and lane identification number LaneID. In addition to these, lane La may also include information regarding the shape point of the lane's centerline on the road and the shape point of the lane's markings on the road as lane attribute information. The shape point of the lane's centerline on the road is a point that indicates the position of the centerline. The shape point of the lane's markings on the road is a point that indicates the position of the markings.

[0129] If lane La includes lane attribute information, the spatial information output unit 66 changes the lane attribute information corresponding to lane La when it changes the information related to lane La.

[0130] The above embodiments may be combined as appropriate.

[0131] (Perspective of this disclosure) [Perspective 1] A spatial information output device, An acquisition unit that acquires map data (Md) for an area determined based on the vehicle's position, An output unit that modifies the information contained in the aforementioned map data and outputs the modified map data, Equipped with, The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes lane groups (LGs), The aforementioned lane group is A lane (La) that includes the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A group direction (D_LG) relating to the lane group, which corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, It has, The output unit is a spatial information output device that changes the group direction to the direction of travel when the group direction is different from the direction of travel. [Perspective 2] The lane includes a lane direction (D_Lane) which is the direction from the starting shape point to the ending shape point. The spatial information output device according to viewpoint 1, wherein the output unit changes the lane direction to the direction of travel when the lane direction is different from the direction of travel. [Perspective 3] The lane group is the first lane group, The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is the first starting end, The aforementioned starting shape point is a first starting shape point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The group direction is the first group direction, The aforementioned map tile includes a second lane group, The aforementioned second lane group is A second lane including a second direction of travel for the vehicle, a second starting point indicating the position of the second starting end, and a second ending point indicating the position of the second ending; A second group direction corresponding to the direction from the second starting shape point toward the second ending shape point, It has, The identification numbers for the first lane group and the identification numbers for the second lane group are related, The output unit is, When the first group direction differs from the first direction of travel, the first group direction is changed to the first direction of travel, and the order relationship between the identification numbers for the first lane group and the identification numbers for the second lane group is changed. A spatial information output device according to viewpoint 1 or 2, which, when the second group direction is different from the second travel direction, changes the second group direction to the second travel direction and changes the order relationship between the identification numbers relating to the first lane group and the identification numbers relating to the second lane group. [Perspective 4] The aforementioned map tile is a first map tile, The lane group is the first lane group, The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is the first starting end, The aforementioned starting shape point is a first starting shape point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The group direction is the first group direction, The aforementioned map data has a second map tile, The aforementioned second map tile includes a second lane group, The aforementioned second lane group is A second lane including a second direction of travel for the vehicle, a second starting point indicating the position of the second starting end, and a second ending point indicating the position of the second ending; A second group direction corresponding to the direction from the second starting shape point toward the second ending shape point, It has, The identification numbers for the first lane group and the identification numbers for the second lane group are related, The output unit is, When the first group direction differs from the first direction of travel, the first group direction is changed to the first direction of travel, and the order relationship between the identification numbers for the first lane group and the identification numbers for the second lane group is changed. A spatial information output device according to viewpoint 1 or 2, which, when the second group direction is different from the second travel direction, changes the second group direction to the second travel direction and changes the order relationship between the identification numbers relating to the first lane group and the identification numbers relating to the second lane group. [Perspective 5] The first lane includes a first lane direction which is the direction from the first starting shape point to the first ending shape point. The second lane includes the second lane direction, which is the direction from the second starting shape point to the second ending shape point. The identification numbers for the first lane and the identification numbers for the second lane are related, The output unit is, When the direction of the first lane differs from the first direction of travel, the direction of the first lane is changed to the first direction of travel, and the order of the identification numbers for the first lane and the identification numbers for the second lane is changed. A spatial information output device according to viewpoint 3 or 4, which, when the direction of the second lane is different from the direction of the second travel, changes the direction of the second lane to the direction of the second travel, and also changes the order relationship between the identification numbers for the first lane and the identification numbers for the second lane. [Perspective 6] The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is the first starting end, The aforementioned starting shape point is a first starting shape point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The lane group has a second lane that includes a second direction of travel for the vehicle, a second starting point indicating the position of the second starting point, and a second ending point indicating the position of the second ending point. The first lane includes a first lane direction which is the direction from the first starting shape point to the first ending shape point. The second lane includes the second lane direction, which is the direction from the second starting shape point to the second ending shape point. The first direction of travel and the first lane direction are the same direction. The second direction of travel and the second lane direction are the same direction. The first direction of travel and the second direction of travel are set to be different directions. The output unit is, The lane group is divided into a first lane group including the first direction of travel and the first lane, and a second lane group including the second lane. A first group direction is assigned to the first lane group, corresponding to the direction from the first start shape point to the first end shape point. A spatial information output device according to viewpoint 1 or 2, which assigns a second group direction to the second lane group that corresponds to the direction from the second start shape point to the second end shape point. [perspective 7] The output unit is, An identification number relating to the first lane group is assigned to the first lane group. An identification number relating to the second lane group is assigned to the second lane group. An identification number relating to the first lane is assigned to the first lane, The spatial information output device according to viewpoint 6, which assigns an identification number relating to the second lane to the second lane. [Perspective 8] The aforementioned map tile is a first map tile, The lane group is the first lane group, The aforementioned starting end is the first starting end, The aforementioned starting shape point is a first starting shape point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The aforementioned map data has a second map tile, The aforementioned second map tile includes a second lane group, The second lane group has a second lane that includes a second direction of travel for the vehicle, a second starting point indicating the position of the second starting end, and a second ending point indicating the position of the second ending end. The boundary between the first lane group and the second lane group is defined as the boundary between the first map tile and the second map tile. The spatial information output device according to viewpoint 1 or 2, wherein the output unit assigns an identification number (250) associated with the identification number for the first lane group and the identification number for the second lane group. [Perspective 9] The spatial information output device according to viewpoint 8, wherein the output unit assigns identification numbers (2501, 2502) associated with the identification number for the first lane and the identification number for the second lane. [Perspective 10] A method for outputting spatial information, Obtain map data (Md) for an area determined based on the vehicle's position, The process involves modifying the information contained in the aforementioned map data and outputting the modified map data. Includes, The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes lane groups (LGs), The aforementioned lane group is A lane (La) including the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A group direction (D_LG) relating to the lane group, which corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, It has, A spatial information output method for changing the group direction to the direction of travel when the group direction is different from the direction of travel. [Perspective 11] A spatial information output program, A spatial information output device, An acquisition unit that acquires map data (Md) for an area determined based on the vehicle's position, and The map data is modified, and the modified map data is output as an output unit. The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes lane groups (LGs), The aforementioned lane group is A lane (La) including the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A group direction (D_LG) relating to the lane group, which corresponds to either the direction from the starting shape point to the ending shape point or the direction from the ending shape point to the starting shape point, It has, The output unit is a spatial information output program that changes the group direction to the direction of travel when the group direction is different from the direction of travel. [Explanation of symbols]

[0132] 60 Spatial Information Output Device 66 Spatial Information Output Unit Md map data Mt Map Tiles LG Lane Group La Lane Ps starting shape point Pe terminal shape point D_VT Direction of travel D_LG Group Direction

Claims

1. A spatial information output device, An acquisition unit that acquires map data (Md) for an area determined based on the vehicle's position, An output unit that modifies the information contained in the aforementioned map data and outputs the modified map data, Equipped with, The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes a lane group (LG), The aforementioned lane group is A lane (La) including the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A direction relating to the lane group, the group direction (D_LG) corresponding to either the direction from the starting shape point toward the ending shape point or the direction from the ending shape point toward the starting shape point, It has, The output unit is a spatial information output device that changes the group direction to the direction of travel when the group direction is different from the direction of travel.

2. The lane includes a lane direction (D_Lane) which is the direction from the starting shape point to the ending shape point. The spatial information output device according to claim 1, wherein the output unit changes the lane direction to the direction of travel when the lane direction is different from the direction of travel.

3. The lane group is the first lane group, The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is a first starting end, The aforementioned starting point is a first starting point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The group direction is the first group direction, The aforementioned map tile includes a second lane group, The aforementioned second lane group is A second lane including a second direction of travel for the vehicle, a second starting point indicating the position of the second starting end, and a second ending point indicating the position of the second ending; A second group direction corresponding to the direction from the second starting shape point toward the second ending shape point, It has, The identification numbers for the first lane group and the identification numbers for the second lane group are related, The output unit is, When the first group direction differs from the first direction of travel, the first group direction is changed to the first direction of travel, and the order relationship between the identification numbers for the first lane group and the identification numbers for the second lane group is changed. The spatial information output device according to claim 1, which changes the second group direction to the second direction of travel when the second group direction is different from the second direction of travel, and also changes the order relationship between the identification numbers relating to the first lane group and the identification numbers relating to the second lane group.

4. The aforementioned map tile is a first map tile, The lane group is the first lane group, The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is a first starting end, The aforementioned starting point is a first starting point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The group direction is the first group direction, The aforementioned map data includes a second map tile, The aforementioned second map tile includes a second lane group, The aforementioned second lane group is A second lane including a second direction of travel for the vehicle, a second starting point indicating the position of the second starting end, and a second ending point indicating the position of the second ending; A second group direction corresponding to the direction from the second starting shape point toward the second ending shape point, It has, The identification numbers for the first lane group and the identification numbers for the second lane group are related, The output unit is, When the first group direction differs from the first direction of travel, the first group direction is changed to the first direction of travel, and the order relationship between the identification numbers for the first lane group and the identification numbers for the second lane group is changed. The spatial information output device according to claim 1, which changes the second group direction to the second direction of travel when the second group direction is different from the second direction of travel, and also changes the order relationship between the identification numbers relating to the first lane group and the identification numbers relating to the second lane group.

5. The first lane includes a first lane direction which is the direction from the first starting shape point toward the first ending shape point. The second lane includes a second lane direction which is the direction from the second starting shape point to the second ending shape point. The identification number for the first lane and the identification number for the second lane are related, The output unit is, When the direction of the first lane differs from the first direction of travel, the direction of the first lane is changed to the first direction of travel, and the order of the identification numbers for the first lane and the identification numbers for the second lane is changed. The spatial information output device according to claim 3 or 4, wherein when the direction of the second lane is different from the direction of the second travel, the direction of the second lane is changed to the direction of the second travel, and the arrangement relationship between the identification numbers for the first lane and the identification numbers for the second lane is changed.

6. The aforementioned direction of travel is the first direction of travel, The aforementioned starting end is a first starting end, The aforementioned starting point is a first starting point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The lane group has a second lane that includes a second direction of travel for the vehicle, a second starting point indicating the position of the second starting point, and a second ending point indicating the position of the second ending point. The first lane includes a first lane direction which is the direction from the first starting shape point toward the first ending shape point. The second lane includes a second lane direction which is the direction from the second starting shape point to the second ending shape point. The first direction of travel and the first lane direction are the same direction. The second direction of travel and the second lane direction are the same direction. The first direction of travel and the second direction of travel are set to be different directions. The output unit is, The lane group is divided into a first lane group including the first direction of travel and the first lane, and a second lane group including the second lane. A first group direction is assigned to the first lane group, corresponding to the direction from the first start shape point to the first end shape point. The spatial information output device according to claim 1 or 2, which assigns a second group direction to the second lane group that corresponds to the direction from the second start shape point to the second end shape point.

7. The output unit is, An identification number relating to the first lane group is assigned to the first lane group, An identification number relating to the second lane group is assigned to the second lane group. An identification number relating to the first lane is assigned to the first lane, The spatial information output device according to claim 6, which assigns an identification number relating to the second lane to the second lane.

8. The aforementioned map tile is a first map tile, The lane group is the first lane group, The aforementioned starting end is a first starting end, The aforementioned starting point is a first starting point, The aforementioned termination is a first termination, The terminal shape point is a first terminal shape point, The lane is the first lane, The aforementioned map data includes a second map tile, The aforementioned second map tile includes a second lane group, The second lane group has a second lane that includes a second direction of travel for the vehicle, a second starting point indicating the position of the second starting point, and a second ending point indicating the position of the second ending point. The boundary between the first lane group and the second lane group is defined as the boundary between the first map tile and the second map tile. The spatial information output device according to claim 1 or 2, wherein the output unit assigns an identification number (250) associated with the identification number for the first lane group and the identification number for the second lane group.

9. The spatial information output device according to claim 8, wherein the output unit assigns identification numbers (2501, 2502) related to the identification number for the first lane and the identification number for the second lane.

10. A method for outputting spatial information, Obtain map data (Md) for an area determined based on the vehicle's position, The process involves modifying the information contained in the aforementioned map data and outputting the modified map data. Includes, The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes a lane group (LG), The aforementioned lane group is A lane (La) including the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A direction relating to the lane group, the group direction (D_LG) corresponding to either the direction from the starting shape point toward the ending shape point or the direction from the ending shape point toward the starting shape point, It has, A spatial information output method for changing the group direction to the direction of travel when the group direction is different from the direction of travel.

11. A spatial information output program, A spatial information output device, An acquisition unit that acquires map data (Md) for an area determined based on the vehicle's position, and The map data is modified, and the modified map data is output as an output unit. The aforementioned map data includes map tiles (Mt), The aforementioned map tile includes a lane group (LG), The aforementioned lane group is A lane (La) including the direction of travel (D_VT) of the vehicle, a starting point (Ps) indicating the starting position, and a ending point (Pe) indicating the ending position, A direction relating to the lane group, the group direction (D_LG) corresponding to either the direction from the starting shape point toward the ending shape point or the direction from the ending shape point toward the starting shape point, It has, The output unit is a spatial information output program that changes the group direction to the direction of travel when the group direction is different from the direction of travel.

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