Information processing method and information processing device

Abstract

In this information processing method and this information processing device, path information relating to a path that is included in a road network configured on map data is acquired. Then, when a planned travel route for a vehicle is generated in association with the road network on the basis of path information that is stored in a database, a rerouting request indicating instructions to generate the route again is acquired. A path classification is acquired, said path classification indicating whether a target path that the vehicle is traveling on at the time at which the rerouting request is acquired is a first path included in the road network or is a second path branching off from the first path, and on the basis of the path classification, the path information that is stored in the database is deleted.

Description

[Technical field]

[0001] The present invention relates to an information processing method and an information processing device. [Background technology]

[0002] An automated driving feasibility notification system that includes a navigation device and a high-precision map information management device has been proposed (see Patent Document 1). According to this automated driving feasibility notification system, a section that corresponds to high-precision map data is extracted from the driving route that the vehicle plans to travel, which is generated by the navigation device, and a driving route with higher accuracy than the driving route is generated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-189594 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology described in Patent Document 1, the high-precision map data held by a high-precision map information management device has higher accuracy than the map data held by a navigation device. Therefore, in order to extract a section of a driving route that is covered by high-precision map data, the driving route needs to be projected onto the high-precision map data.

[0005] Here, there are limitations on the amount of data that the navigation device and the high-precision map information management device can hold or process, and on the amount of data that can be transmitted from the navigation device to the high-precision map information management device per unit time.

[0006] Therefore, path information on paths on the map data that are on the driving route (road information on the target path, branch information, and vehicle position information) is transmitted from the navigation device to the high-precision map information management device. The high-precision map information management device projects the driving route on the high-precision map data based on the transmitted path information.

[0007] However, when a reroute is performed by the navigation device to generate a new driving route, the high-precision map information management device cannot project the driving route onto the high-precision map data until the reroute is completed, which results in a problem that the automatic driving control of the vehicle must be interrupted when the reroute is started.

[0008] The present invention has been made in view of the above problems, and an object of the present invention is to provide an information processing method and an information processing device that can suppress interruption of automatic driving control of a vehicle even when a reroute that generates a new driving route is started by a navigation device. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, an information processing method and an information processing device according to one aspect of the present invention acquire path information on paths included in a road network set on map data. Then, when a route to be traveled by a vehicle is generated in correspondence with the road network based on the path information stored in a database, a reroute request indicating an instruction to generate the route again is acquired. A path type indicating whether the target path traveled by the vehicle at the time of acquiring the reroute request is a first path included in the road network or a second path branching off from the first path is acquired, and the path information stored in the database is deleted based on the path type. Effect of the Invention

[0010] According to the present invention, even when a reroute in which a navigation device generates a new driving route is started, interruption of automatic driving control of the vehicle can be suppressed. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a configuration of a vehicle driving support device including an information processing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a flowchart showing the deletion process in the information processing device according to one embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a road network configured based on the acquired path information. [Figure 4] FIG. 4 is a diagram showing an example in which path information is maintained during rerouting. [Diagram 5] FIG. 5 is a diagram showing an example of a case where path information is deleted by a deletion process for the main path during rerouting. [Figure 6] FIG. 6 is a diagram showing an example of a case where path information is deleted by a deletion process for a subpath during rerouting. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Next, an embodiment of the present invention will be described in detail with reference to the drawings. In the description, the same parts are designated by the same reference numerals and duplicated explanations will be omitted.

[0013] [Configuration of vehicle driving assistance device] Fig. 1 is a block diagram showing a configuration of a vehicle driving support device including an information processing device according to this embodiment. As shown in Fig. 1, the vehicle driving support device includes a navigation device 200 and an information processing device 300. The navigation device 200 and the information processing device 300 are connected by a communication path such as a controller area network (CAN) and Ethernet. In addition, the vehicle driving support device may include a vehicle control device 400 that automatically controls the traveling of the vehicle.

[0014] The navigation device 200 includes a controller (an example of a control unit or processing unit). The controller is a general-purpose microcomputer including a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (navigation program) for functioning as a navigation device is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (210, 220, 230, 240, 250).

[0015] Here, an example is shown in which the multiple information processing circuits (210, 220, 230, 240, 250) provided in the navigation device 200 are realized by software. However, it is also possible to configure the information processing circuits (210, 220, 230, 240, 250) by preparing dedicated hardware for executing each information process described below. Also, the multiple information processing circuits (210, 220, 230, 240, 250) may be configured by individual hardware. Furthermore, the information processing circuits (210, 220, 230, 240, 250) may also be used as electronic control units (ECUs) used for other vehicle-related controls.

[0016] The navigation device 200 includes a map database 210, a vehicle position calculation unit 220, a route generation unit 230, a state determination unit 240, and an output unit 250 as a plurality of information processing circuits (210, 220, 230, 240, 250).

[0017] The map database 210 stores map data necessary for a route search operation that calculates an optimal driving route connecting a departure point and a destination, a route guidance operation that guides the vehicle along the driving route obtained by the route search, etc. The road network of the area in which the vehicle will travel is set on the map data stored in the map database 210.

[0018] For example, the map data may include road information (information indicating road attributes such as curves, slopes, intersections, interchanges, narrow roads, straight roads, roadside structures, speed limits, etc.) In addition, the map data may include branch information (information indicating branching, such as branching points where lane branching occurs, the connection relationship between lanes at branching points, and routes such as right / left turns or straight ahead for each lane).

[0019] The map data stored in the map database 210 does not require the same level of accuracy as the high-precision map information required for autonomous driving. The map database 210 is realized by a hard disk device or a semiconductor memory, or by a DVD and a reader for the DVD. The map database 210 may be replaced by a communication device to obtain map data from an external map distribution server (not shown).

[0020] The vehicle position calculation unit 220 calculates the vehicle position based on detection data output from a GPS receiver (not shown), and performs a map matching process to correct the vehicle position if the calculated vehicle position is not on a road in the map data. Note that, as an example, the vehicle position is detected using a GPS receiver, but detection accuracy may be improved by using a standalone navigation sensor using a direction sensor, distance sensor, etc.

[0021] The route generating unit 230 calculates the vehicle's driving route from the departure point to the destination by a route search process using the specified search conditions, and generates a new driving route on the map data. The driving route generated by the route generating unit 230 may be generated to minimize the cost (travel distance or travel time, etc.) when the vehicle moves from the departure point to the destination. The driving route generated by the route generating unit 230 may be set based on an instruction from a vehicle occupant.

[0022] The state determination unit 240 sets, as the target road network, a road network consisting of roads within a predetermined range from the vehicle position, among the road networks set on the map data. The state determination unit 240 may set, as the target road network, a driving route within a predetermined range from the vehicle position, among the driving routes generated by the route generation unit 230, and a route branching off from the driving route within the predetermined range.

[0023] Here, the "predetermined range" when setting the target road network may be determined based on the amount of data that can be held or processed by the navigation device 200 and the information processing device 300. The "predetermined range" may be determined based on the amount of data that can be transmitted from the navigation device 200 to the information processing device 300 per unit time.

[0024] Moreover, the state determination unit 240 may update the target road network based on the position of the vehicle after traveling so that the above-mentioned predetermined range is maintained every time the vehicle travels.

[0025] The state determination unit 240 may determine whether the target road network has been reset. For example, when the vehicle's travel route is changed (rerouted), or when the navigation device 200 has just been started, the state determination unit 240 may determine that the target road network has been reset.

[0026] The output unit 250 outputs information (path information) regarding paths included in the target road network set by the state determination unit 240. Here, "path" means a route that passes through the road network and that the vehicle can travel on. The output unit 250 outputs road information on the path and branch information (information indicating a branch) as the path information. Additionally, the output unit 250 may output position information (information indicating the position of the vehicle on the path) as the path information based on the position of the vehicle acquired by the vehicle position calculation unit 220. In other words, the path information output by the output unit 250 may include road information, branch information, and position information.

[0027] For example, the output unit 250 outputs path information regarding the target road network based on ADASIS (Advanced Driver Assistance Systems Interface Specifications).

[0028] ADASIS is a standard established by the ADASIS Forum, which meets periodically and is comprised mainly of members representing the automotive industry, to promote the development and application of predictive map-based driving assistance systems that support access to predictive road data.

[0029] ADASIS-compliant path information outputs the road shape (curves, intersections, gradients) of the road the vehicle is planning to travel on, as well as the distance (offset) from the base point and the latitude and longitude of the road shape location. In addition to the vehicle's speed and direction information, road information such as the regulated speed (speed limit) and road type is also output.

[0030] ADASIS-compliant path information provides static information (road information) and dynamic information (e.g., position information, traffic light information) about the roads the vehicle is scheduled to travel on as list information sorted by offset, with the base point on the road set to 0. Of the paths (routes that a vehicle can travel), the path that the vehicle is most likely to travel on is called the MAIN PATH (or the Most Probable Path (MPP)). Of the paths, paths other than the MAIN PATH are called SUB PATHs.

[0031] The length of the main path is typically set to a size of about several kilometers, but is not limited to this. The length of the sub-path is typically set to a size of about several hundred meters, but is not limited to this. The sub-path is a path that branches off from the main path, and the main path is longer than the sub-path. In the following description, the main path may be referred to as the first path, and the sub-path may be referred to as the second path.

[0032] Message names indicating the type of information transmitted in accordance with ADASIS include, for example, "POSITION", "SEGMENT", "STUB", "PROFILE SHORT", and "PROFILE LONG".

[0033] For example, the vehicle's position information is transmitted by a "POSITION" message. The "POSITION" message includes information such as a path identification number (PID) that identifies the path on which the vehicle is located, an offset (OFFSET) that indicates the vehicle's position on the path, and the lane on which the vehicle is traveling. Whether the path on which the vehicle is located is a main path or a subpath is identified by the path type.

[0034] For example, road information is transmitted by a "SEGMENT" message. The "SEGMENT" message includes information such as a path identification number (PID) that identifies the path, an offset (OFFSET) that indicates the position of a specific point on the path, and road attributes at the specific point (whether hands-off is permitted when driving a vehicle, speed limit, number of lanes, number of oncoming lanes, etc.). Alternatively, road information may be transmitted by a "PROFILE SHORT" message or a "PROFILE LONG" message.

[0035] For example, branch information is transmitted by a "STUB" message. The "STUB" message includes information such as a path identification number (PID) that identifies the path from which the branch originates, an offset (OFFSET) that indicates the position of the branch point, and a branch destination path identification number (branch destination PID) that identifies the path to which the branch originates.

[0036] Each of the above messages includes message type information (type of path information). Therefore, by referring to the message type, it is possible to identify which message it is, such as "POSITION", "SEGMENT", "STUB", "PROFILE SHORT", or "PROFILE LONG".

[0037] Therefore, by referring to the path information output by the output unit 250, it is possible to identify whether the path information is road information, branch information, or location information.

[0038] The output unit 250 scans the paths included in the target road network and outputs the above-mentioned messages and the like as path information. The direction in which the paths are scanned is the traveling direction of the vehicle. Therefore, the path information regarding the paths included in the target road network ahead along the traveling direction of the vehicle is output by the output unit 250 in the direction from the side closer to the vehicle to the side farther from the vehicle.

[0039] In addition, when the state determination unit 240 determines that rerouting has been performed, the output unit 250 outputs a "rerouting request" signal indicating that rerouting has been started.

[0040] Next, the information processing device 300 includes a controller (an example of a control unit or a processing unit). A computer program (information processing program) for functioning as a high-precision map information management device is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (310, 320, 325, 330, 340).

[0041] Here, an example is shown in which the multiple information processing circuits (310, 320, 325, 330, 340) included in the information processing device 300 are realized by software. However, it is also possible to prepare dedicated hardware for executing each information process described below and configure the information processing circuits (310, 320, 325, 330, 340). Also, the multiple information processing circuits (310, 320, 325, 330, 340) may be configured by individual hardware. Furthermore, the information processing circuits (310, 320, 325, 330, 340) may also be used as electronic control units (ECUs) used for other control related to the vehicle.

[0042] The information processing device 300 includes a route database 310, an input unit 320, a data inspection unit 325, a route information management unit 330, and an output unit 340 as a plurality of information processing circuits (310, 320, 325, 330, 340).

[0043] The input unit 320 acquires the path information and the reroute request output by the output unit 250 of the navigation device 200. The reroute request may be included in the path information.

[0044] The data inspection unit 325 inspects the consistency of the path information acquired by the input unit 320. For example, the data inspection unit 325 may determine whether or not the acquired path information is in a format that complies with ADASIS, and discard the acquired path information if it is determined that the format is not compliant.

[0045] The route database 310 (database) records the path information acquired by the input unit 320. The route database 310 may store path information for each path, or may store path information related to a plurality of paths by queue management.

[0046] Alternatively, the route database 310 may store high-precision map data, which is high-precision map data necessary for automated driving. The high-precision map data has higher accuracy than the map data stored in the map database 210. The high-precision map data also has more detailed map information than the map database 210.

[0047] The route database 310 may be realized by a hard disk device or a semiconductor memory, or by a DVD and a reading device thereof, like the map database 210 provided in the navigation device 200. In addition, the route database 310 may acquire high-precision map data from an external map distribution server (not shown) via a communication device (not shown).

[0048] The route information management unit 330 configures a target road network transmitted from the navigation device 200 based on the path information stored in the data inspection unit 325. Alternatively, the route information management unit 330 may extract a driving route corresponding to the configured target road network from high-precision map data stored in the route database 310. For example, the route information management unit 330 may limit a range for searching for a driving route on the high-precision map data based on vehicle position information, and extract a driving route having the same topology as the topology of the target road network within the limited range.

[0049] Next, a description will be given of the configuration of the target road network by the route information management unit 330. For example, it is assumed that the route database 310 stores the path information shown in Table 1 below.

[0050] [Table 1]

[0051] According to Table 1, it can be seen that there are four paths in the target road network, since there are four types of PID=8, 9, 10, and 11. Here, the paths corresponding to PID=8, 9, 10, and 11, respectively, will be explained as paths PA, PB, PC, and PD.

[0052] It can be seen that the path information at each point on the path PA is stored in the order of INDEX=A1, A2, A3, A4, A5 corresponding to the path PA. In the following, the symbols attached to the points shown in the drawings are assumed to be the same as INDEX. Also, it is assumed that the information is output from the output unit 250 in the order of the numbers attached to the end of INDEX.

[0053] Here, because the type of path information for INDEX=A2 is location information, it is understood that a vehicle is present at the point (OFFSET=100) represented by INDEX=A2. On the other hand, because the type of path information for INDEX=A3 and A4 is branch information (source), it is understood that paths PB and PC branch off from the points represented by INDEX=A3 and A4, respectively. The branch destination of the path is identified by the branch destination PID.

[0054] It can be seen that path information at each point on path PB is stored in the order of INDEX=B1, B2, B3 in correspondence with path PB. Here, since the type of path information for INDEX=B1 is branch information (destination), it can be seen that path PB starts from the point represented by INDEX=B1.

[0055] It can be seen that path information at each point on the path PC is stored in the order of INDEX=C1, C2, C3, C4 corresponding to the path PC. Here, since the type of path information for INDEX=C1 is branch information (destination), it can be seen that the path PC starts from the point represented by INDEX=C1. Also, since the type of path information for INDEX=C3 is branch information (source), it can be seen that the path PD branches from the point represented by INDEX=C3. The branch destination of the path is identified by the branch destination PID.

[0056] It can be seen that path information at each point on the path PD is stored in the order of INDEX=D1, D2 in correspondence with the path PD. Here, since the type of the path information of INDEX=D1 is branch information (destination), it can be seen that the path PD starts from the point represented by INDEX=D1.

[0057] In addition, the route database 310 also stores path information whose type is road information.

[0058] The route information management unit 330 can configure a road network having the topology shown in Fig. 3 based on the path information shown in Table 1. Fig. 3 is a diagram showing an example of a road network configured based on the acquired path information.

[0059] In addition, when the input unit 320 acquires a reroute request, the route information management unit 330 performs a process of deleting the path information stored in the route database 310. For example, the route information management unit 330 acquires a path type related to the path on which the vehicle was traveling at the time when the input unit 320 acquired the reroute request or immediately before that time. After that, the route information management unit 330 determines whether the path on which the vehicle was traveling was a main path or a subpath.

[0060] When it is determined that the vehicle was traveling on the main path, it is determined whether or not there is a branch from the main path to a sub-path ahead along the traveling direction of the vehicle. The presence or absence of a branch can be determined by referring to the path information stored in the route database 310 or the road network configured by the route information management unit 330.

[0061] If it is determined that there is no branch from the main path to a sub-path ahead along the vehicle's traveling direction, the route information management unit 330 holds the path information stored in the route database 310 as is.

[0062] When it is determined that a branch from the main path to a sub-path exists ahead along the traveling direction of the vehicle, the route information management unit 330 executes a "main path deletion process." Here, the "main path deletion process" refers to a process of deleting, from the route database 310, path information relating to a point that is a predetermined distance or more away in the traveling direction of the vehicle from the point where the branch occurs. The path information deleted by the "main path deletion process" is path information relating to the main path and path information relating to the sub-path related to the branch.

[0063] When it is determined that the vehicle was traveling on a sub-path, the route information management unit 330 executes a "deletion process for sub-path." Here, the "deletion process for sub-path" is a process of deleting path information related to a point that is a predetermined distance or more away in the traveling direction of the vehicle from the starting point of the sub-path, from the route database 310. The path information deleted by the "deletion process for sub-path" is path information related to the sub-path and path information related to the path from which the sub-path branches off.

[0064] In addition, when it is not possible to determine whether the path on which the vehicle has traveled is the main path or the sub-path, the route information management unit 330 initializes the route database 310. In other words, the route information management unit 330 deletes all path information stored in the route database 310.

[0065] The output unit 340 outputs information about the target road network configured by the route information management unit 330. For example, the output unit 340 may output a driving route corresponding to the target road network, or may output high-precision map data along the driving route. Alternatively, the output unit 340 may transmit the extracted driving route and high-precision map data along the extracted driving route to the vehicle control device 400.

[0066] [Path information deletion process] Next, a deletion process of path information performed in the route information management unit 330 will be described with reference to Fig. 2. Fig. 2 is a flowchart showing the deletion process in the information processing device according to this embodiment. Note that the check process shown in Fig. 2 may be repeatedly executed at a predetermined cycle.

[0067] In step S101, the input unit 320 acquires path information and a reroute request from the navigation device 200. Here, the data inspection unit 325 may inspect the consistency of the acquired path information.

[0068] In step S103, the route information management unit 330 determines whether or not a reroute request has been made. If a reroute request has not been made (NO in step S103), the check process shown in FIG.

[0069] If a reroute request has been made (YES in step S103), in step S105, the route information management unit 330 acquires a path type related to the path on which the vehicle was traveling at the time when the input unit 320 acquired the reroute request or immediately before that time.

[0070] In step S107, the route information management unit 330 determines whether the path on which the vehicle has been traveling is the main path (first path) based on the path type.

[0071] If it is determined that the vehicle was traveling on the main path (YES in step S107), then in step S131 it is determined whether or not there is a branch from the main path to a sub-path ahead along the traveling direction of the vehicle.

[0072] If it is determined that there is no branch from the main path to a sub-path ahead along the vehicle's traveling direction (NO in step S131), in step S135, the route information management unit 330 retains the path information stored in the route database 310 as is.

[0073] If it is determined that a branch from the main path to a sub-path exists ahead along the vehicle's traveling direction (YES in step S131), in step S133, the route information management unit 330 executes a "deletion process for the main path."

[0074] If it is not determined that the vehicle was traveling on the main path (NO in step S107), in step S109, the route information management unit 330 determines whether the path on which the vehicle was traveling was a sub-path (second path) based on the path type.

[0075] If it is determined that the vehicle has been traveling on a sub-path (YES in step S109), then in step S121, the route information management unit 330 executes a "deletion process for a sub-path."

[0076] If it is not determined that the vehicle was traveling on a subpath (NO in step S109), in step S111, the route information management unit 330 initializes the route database 310. That is, if it is not possible to determine whether the path on which the vehicle was traveling was the main path or a subpath, the route information management unit 330 initializes the route database 310.

[0077] After the processes of steps S111, S121, S133, and S135, the process shown in FIG. 2 ends.

[0078] [Example of path information deletion process] Next, a specific example of the process of deleting path information will be described.

[0079] A case where path information is held in step S135 of the process shown in Fig. 2 described above will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example where path information is held at the time of rerouting.

[0080] Corresponding to the road network shown in FIG. 4, the route database 310 stores path information shown in Table 2, for example.

[0081] [Table 2]

[0082] With reference to Table 2, it can be seen that the location information with "INDEX=A3, path type=MAIN, OFFSET=200" is stored in the route database 310. Here, among the path information with PID=8, there is no branch information among the path information with OFFSET larger than 200. From this, the example in FIG. 4 corresponds to a case where it is determined that the path on which the vehicle is traveling (target path) is the main path, and that there is no branch from the main path to a sub-path ahead along the traveling direction of the vehicle.

[0083] In such a case, since there is no branch ahead in the traveling direction of the vehicle, it is highly likely that the vehicle will continue to travel on the main path even after rerouting. By retaining the path information on the main path as it is, interruptions to the automatic driving control of the vehicle can be suppressed. Therefore, from the viewpoint of suppressing interruptions to the automatic driving control of the vehicle, the route information management unit 330 retains the path information on the main path when it is determined that there is no branch from the main path to a sub-path ahead along the traveling direction of the vehicle.

[0084] A case where path information is deleted by the deletion process for the main path in step S133 of the process shown in Fig. 2 described above will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example where path information is deleted by the deletion process for the main path during rerouting.

[0085] Corresponding to the road network shown in FIG. 5, the route database 310 stores path information shown in Table 3, for example.

[0086] [Table 3]

[0087] With reference to Table 3, it can be seen that the location information of "INDEX=A3, path type=MAIN, OFFSET=200" is stored in the route database 310. Here, among the path information with PID=8 and an OFFSET greater than 200, there is branch information of "INDEX=A4, path type=MAIN, OFFSET=400". From this, the example in FIG. 5 corresponds to a case where it is determined that the path on which the vehicle is traveling (target path) is the main path, and that a branch from the main path to a sub-path exists ahead along the traveling direction of the vehicle.

[0088] In such a case, since there is a branch ahead in the vehicle's traveling direction, it is unclear whether the vehicle will travel on the main path or the sub-path after rerouting. Therefore, there is little need to retain path information related to the main path as is. On the other hand, there is a need to reacquire path information related to the sub-path. Therefore, from the perspective of suppressing interruptions to the automatic driving control of the vehicle, path information related to points that are a predetermined distance or more away in the vehicle's traveling direction from the point where the branch occurs is deleted from the route database 310. On the other hand, path information related to points that are less than the predetermined distance away is retained as is.

[0089] For example, path information with an OFFSET greater than or equal to a predetermined size than the path information "INDEX=A4" is deleted. In the example of FIG. 5, the predetermined size is set to "500", and path information with "INDEX=A7" is deleted. Also, path information with an OFFSET greater than or equal to a predetermined size than the path information "INDEX=B1" is deleted. In the example of FIG. 5, path information with "INDEX=B4" is deleted.

[0090] A case where path information is deleted by the deletion process for a subpath in step S121 of the process shown in Fig. 2 described above will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example where path information is deleted by the deletion process for a subpath during rerouting.

[0091] Corresponding to the road network shown in FIG. 6, the route database 310 stores path information shown in Table 4, for example.

[0092] [Table 4]

[0093] With reference to Table 4, it can be seen that the location information "INDEX=B2, path type=SUB, OFFSET=200" is stored in the route database 310. Therefore, the example in Fig. 5 corresponds to a case where the path (target path) on which the vehicle is traveling is determined to be a subpath.

[0094] In such a case, it is unclear whether the vehicle will travel on the sub-path or the path from which the sub-path branches off (the main path in the example of Table 4) after the reroute. Therefore, from the viewpoint of suppressing interruptions to the automatic driving control of the vehicle, path information relating to a point that is a predetermined distance or more away in the vehicle's traveling direction from the point where the sub-path branches off from the path from which the sub-path where the vehicle is located is deleted from the route database 310. On the other hand, path information relating to a point that is less than the predetermined distance away is retained as is.

[0095] For example, path information with an OFFSET greater than or equal to a predetermined size than the path information "INDEX=A4" is deleted. In the example of FIG. 6, the predetermined size is set to "500", and path information with "INDEX=A7" is deleted. Also, path information with an OFFSET greater than or equal to a predetermined size than the path information "INDEX=B1" is deleted. In the example of FIG. 6, path information with "INDEX=B4" is deleted.

[0096] [Effects of the embodiment] As described above in detail, the information processing method and information processing device according to the present embodiment acquire path information related to paths included in a road network set on map data. Then, when generating a route to be traveled by a vehicle in correspondence with the road network based on the path information stored in the database, a reroute request indicating an instruction to generate the route again is acquired. A path type indicating whether the target path traveled by the vehicle at the time of acquiring the reroute request is a first path included in the road network or a second path branching off from the first path is acquired, and the path information stored in the database is deleted based on the path type.

[0097] This makes it possible to suppress interruptions to the automatic driving control of the vehicle even when a reroute is started to generate a new driving route in the navigation device. In particular, even when the reroute is started but not yet completed, it is possible to suppress interruptions to the automatic driving control of the vehicle by utilizing the path information stored in the database before the reroute. Furthermore, it is possible to reduce the amount of communication with the navigation device that outputs the path information and suppress the calculation load.

[0098] Furthermore, the information processing method and information processing device according to the present embodiment may determine whether or not a target branch to a second path exists ahead along the traveling direction of the vehicle when the target path is determined to be the first path based on the path type, and may delete path information related to the first path or the second path at a point that is a predetermined distance or more ahead along the traveling direction of the vehicle from the point where the target branch exists, if the target branch exists.

[0099] This makes it possible to reduce interruptions to the vehicle's automatic driving control by utilizing the path information stored in the database before the reroute, even if it is unclear whether the vehicle will travel along the first or second path after the reroute. On the other hand, it is possible to delete the path information that needs to be updated due to the reroute, and generate a route that the vehicle plans to travel after the reroute in accordance with the road network.

[0100] Furthermore, the information processing method and information processing device according to this embodiment may, when it is determined that the target path is the first path based on the path type, determine whether or not a target branch to a second path exists ahead along the vehicle's travel direction, and not delete the path information if the target branch does not exist.

[0101] This makes it possible to detect situations where there is a high probability that the vehicle will travel on the same first path both before and after rerouting. As a result, it is possible to utilize the path information stored in the database before rerouting, thereby reducing interruptions to the vehicle's autonomous driving control. Furthermore, since there is no need to reacquire path information, it is possible to reduce the amount of communication with the navigation device that outputs the path information and suppress the calculation load.

[0102] In addition, the information processing method and information processing device according to this embodiment may delete path information relating to the first path or the second path at a point that is a predetermined distance or more ahead in the vehicle's travel direction from the point where the second path branches off from the first path when the target path is determined to be the second path based on the path type.

[0103] This makes it possible to reduce interruptions to the vehicle's automatic driving control by utilizing the path information stored in the database before the reroute, even if it is unclear whether the vehicle will travel along the first or second path after the reroute. On the other hand, it is possible to delete the path information that needs to be updated due to the reroute, and generate a route that the vehicle plans to travel after the reroute in accordance with the road network.

[0104] Furthermore, in the information processing method and information processing device according to the present embodiment, the higher the vehicle's traveling speed, the larger the predetermined distance may be set. This eliminates the risk of regenerating the planned route within a predetermined range from the vehicle's position even during rerouting. As a result, it is possible to suppress interruptions to the automatic driving control of the vehicle.

[0105] Furthermore, the information processing method and information processing device according to the present embodiment may delete all path information stored in the database when it is determined based on the path type that the target path does not correspond to either the first path or the second path. This allows new path information to be acquired and a route along which the vehicle is scheduled to travel can be generated in a manner that is consistent with the road network. In particular, when it is unclear whether the target path corresponds to the first path or the second path, it is considered that the automatic driving control of the vehicle must be interrupted. In such a case, the database can be initialized and the acquisition of the path information can be retried.

[0106] In the information processing method and information processing device according to the present embodiment, the first path may be longer than the second path. This makes it possible to more reliably generate a route along which the vehicle is likely to travel in accordance with the road network. As a result, it is possible to suppress interruptions to the automatic driving control of the vehicle.

[0107] Furthermore, in the information processing method and information processing device according to the present embodiment, the road network may be set by a navigation device, and the path information may be transmitted by the navigation device. This allows the generation of a driving route based on low-precision map data, thereby reducing the computational load during route selection and rerouting. In addition, it is possible to realize the generation of an efficient driving route on high-precision map data having a higher accuracy than the accuracy of the map data, while simultaneously reducing the computational load during route selection and rerouting.

[0108] In the information processing method and information processing device according to the present embodiment, the path information may be acquired by communication based on a protocol defined in the Advanced Driver Assistance System Interface Specification (ADASIS). This allows standardized specifications to be used, thereby reducing the design costs and procurement costs of the components that make up the system.

[0109] Furthermore, the information processing method and the information processing device according to the present embodiment may generate a driving route for the vehicle on map data having a higher accuracy than the map data based on the path information stored in the database. This allows the vehicle to be controlled based on a highly accurate driving route on the high-accuracy map data. Furthermore, the range in which the vehicle can be driven can be expanded even if the user of the vehicle does not focus on driving the vehicle.

[0110] In addition, the information processing method and the information processing device according to the present embodiment may transmit the generated driving route to a control unit that automatically controls the traveling of the vehicle. This allows the control of the vehicle to be started based on the highly accurate driving route on the high-precision map data. Furthermore, the range in which the vehicle can be driven can be expanded even if the user of the vehicle does not focus on driving the vehicle.

[0111] Each of the functions described in the above embodiments may be implemented by one or more processing circuits, including a programmed processor, an electrical circuit, or a device such as an application specific integrated circuit (ASIC), or a circuit component arranged to perform the described functions.

[0112] Although the contents of the present invention have been described above in accordance with the embodiments, the present invention is not limited to these descriptions, and various modifications and improvements are possible, which will be obvious to those skilled in the art. The descriptions and drawings forming part of this disclosure should not be understood as limiting the present invention. Various alternative embodiments, examples, and operating techniques will be apparent to those skilled in the art from this disclosure.

[0113] Of course, the present invention includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention-specifying matters related to the scope of the claims appropriate from the above description. [Explanation of symbols]

[0114] 200 Navigation Device 210 Map Database 220 Vehicle position calculation unit 230 Route Generation Unit 240 Status Judgment Unit 250 Output section 300 Information processing device 310 Route Database 320 Input section 325 Data Inspection Department 330 Route Information Management Unit 340 Output section 400 Vehicle control device

Claims

1. Obtaining path information regarding paths included in a road network set on the map data; An information processing method for generating a route along which a vehicle is to travel in accordance with the road network based on the path information stored in a database, comprising: Obtaining a reroute request indicating an instruction to regenerate the route; acquire a path type indicating whether a target path on which the vehicle is traveling among the paths at the time when the reroute request is acquired is a first path included in the road network or a second path branching off from the first path; when it is determined that the target path is the first path based on the path type, determining whether or not a target branch to the second path is present ahead along a traveling direction of the vehicle; When the target branch exists, deleting the path information stored in the database, which is related to the first path or the second path at a point that is a predetermined distance or more ahead in the traveling direction of the vehicle from a point where the target branch exists. An information processing method comprising:

2. 2. The information processing method according to claim 1, when it is determined that the target path is the first path based on the path type, determining whether or not a target branch to the second path is present ahead along a traveling direction of the vehicle; When the target branch does not exist, the path information stored in the database is not deleted. An information processing method comprising:

3. 3. The information processing method according to claim 1, further comprising: When it is determined that the target path is the second path based on the path type, the path information stored in the database, which is related to the first path or the second path at a point that is a predetermined distance or more ahead in the traveling direction of the vehicle from a point where the second path branches off from the first path, is deleted. An information processing method comprising:

4. The information processing method according to any one of claims 1 to 3, The higher the traveling speed of the vehicle, the greater the predetermined distance is set. An information processing method comprising:

5. The information processing method according to any one of claims 1 to 4, When it is determined that the target path does not correspond to either the first path or the second path based on the path type, Deleting all of the path information stored in the database. An information processing method comprising:

6. The information processing method according to any one of claims 1 to 5, The first pass is longer than the second pass. An information processing method comprising:

7. The information processing method according to any one of claims 1 to 6, The road network is set by a navigation device; The path information is transmitted by the navigation device. An information processing method comprising:

8. The information processing method according to any one of claims 1 to 7, The path information is acquired through communication based on a protocol defined in the Advanced Driver Assistance System Interface Specification (ADASIS). An information processing method comprising:

9. The information processing method according to any one of claims 1 to 8, generating a driving route for the vehicle on map data having a higher accuracy than the map data based on the path information stored in the database; An information processing method comprising:

10. 10. The information processing method according to claim 9, Transmitting the generated driving route to a control unit that automatically controls the driving of the vehicle. An information processing method comprising:

11. An information processing device comprising an input unit, a database, and a controller, Path information regarding paths included in a road network set on map data is input to the input unit, The database stores the path information; When generating a route along which a vehicle is to travel in accordance with the road network based on the path information stored in the database, the controller Obtaining a reroute request indicating an instruction to regenerate the route; acquire a path type indicating whether a target path on which the vehicle is traveling among the paths at the time when the reroute request is acquired is a first path included in the road network or a second path branching off from the first path; when it is determined that the target path is the first path based on the path type, determining whether or not a target branch to the second path is present ahead along a traveling direction of the vehicle; When the target branch exists, deleting the path information stored in the database, which is related to the first path or the second path at a point that is a predetermined distance or more ahead in the traveling direction of the vehicle from a point where the target branch exists. An information processing device comprising:

12. An information processing program executed in a controller connected to an input unit and a database, acquiring, via the input unit, path information relating to paths included in a road network set on map data; storing said path information by said database; When the controller generates a route along which a vehicle is to travel in accordance with the road network based on the path information stored in the database, obtaining a reroute request indicating an instruction to regenerate the route; acquiring a path type indicating whether a target path on which the vehicle is traveling among the paths at a time when the reroute request is acquired is a first path included in the road network or a second path branching off from the first path; determining whether or not a target branch to the second path is present ahead along a traveling direction of the vehicle when the target path is determined to be the first path based on the path type; when the target branch exists, deleting the path information stored in the database, which is related to the first path or the second path at a point that is a predetermined distance or more ahead in the traveling direction of the vehicle from a point at which the target branch exists; An information processing program that executes the above.

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