Vehicle driving control support system having map update function, map update server device, and support server device

Abstract

[Problem] To improve a map update function for a driving control assistance system of a vehicle. [Solution] A driving control assistance system 1 of a vehicle 2 comprises: a plurality of assistance server devices 5, 7 that, on the basis of respective items of high-precision map data 67, generate information for assisting with driving control of the vehicle 2, and that transmit said information to the vehicle 2; and a map update server device 8 for updating the plurality of items of high-precision map data 67 recorded in the plurality of assistance server devices 5, 7. The plurality of items of high-precision map data 67 recorded in the plurality of assistance server devices 5, 7 include narrow-area high-precision map data 82 recorded in a lower-level assistance server device 5, and wide-area high-precision map data 81 including the area of the narrow-area high-precision map data that is recorded in an upper-level assistance server device 7. The map update server device 8 updates the narrow-area high-precision map data 82 and the wide-area high-precision map data 81 on the basis of data in common.

Description

[Technical field]

[0001] The present invention relates to a map update server device, a map update server device, and a support server device for a vehicle having a map update function. [Background technology]

[0002] Vehicle development is progressing toward a high level of automated driving. The higher the level of automated driving, the higher the demands and burdens on vehicles will be. Therefore, it is conceivable to reduce the demands and burdens on the vehicle by using an assistance server device that assists in vehicle driving control. Basically, the assistance server device only needs to generate information for assisting the vehicle's driving control and transmit it to the vehicle, so that the vehicle can control its own driving using information acquired from the assistance server device without having to execute a process for generating information that can be acquired from the assistance server device. Patent Document 1 discloses updating of map data of one such support server device.

[0003] In order to increase the level of support for vehicle driving control by the support server device, it may be possible to use a plurality of support server devices, such as a higher-level support server device and a lower-level support server device. In this case, the multiple assistance server devices generate information for assisting vehicle driving control based on their respective high-precision map data and transmit the information to the vehicle. It is believed that a vehicle that obtains multiple pieces of support information from these multiple support server devices will be able to perform a higher level of driving control using the multiple pieces of support information without having to perform the process of generating the multiple pieces of support information itself. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-095250 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in such a situation where multiple assistance server devices each generate information to assist in driving control of a single vehicle based on their own high-precision map data and transmit the information to the vehicle, if it becomes necessary to update the high-precision map data due to, for example, construction work that changes the shape of a road, updating the high-precision map data stored in each of the multiple assistance server devices may give rise to problems that are different from those in the case where a single assistance server device assists in driving control of the vehicle as in Patent Document 1. For example, multiple pieces of high-precision map data recorded in multiple support server devices that support the cruise control of one vehicle basically need to be updated simultaneously. If one piece of high-precision map data is updated before the other piece of high-precision map data is updated, consistency cannot be ensured between the support contents of the multiple support server devices during that period. If a certain degree of consistency is not ensured between the multiple pieces of high-precision map data, it becomes difficult for the multiple support server devices to provide good support for the cruise control of one vehicle. However, it is not very easy to simultaneously update multiple pieces of high-precision map data that are stored separately in multiple support server devices. In addition, the actual conditions of roads on which vehicles can travel change due to various factors. For example, utility poles or trees collided with by a vehicle may fall onto the road. There may be fallen objects on the road, or other vehicles may be stopped protruding from the road. Traffic lights may be relocated or newly installed. It is considered practically impossible to keep updating multiple high-precision map data of multiple support server devices simultaneously in response to various changes in conditions, including these temporary changes. Furthermore, each of the multiple assistance server devices cannot execute assistance for vehicle driving control using high-precision map data during the update process of the high-precision map data, and each assistance server device must suspend assistance for vehicle driving control before starting the update of the high-precision map data, and must resume assistance for vehicle driving control after the update of the high-precision map data is completed.

[0006] Thus, there is a need for improvements in vehicle cruise control assistance systems that have map update capabilities. [Means for solving the problem]

[0007] A vehicle cruise control assistance system having a map update function according to one embodiment of the present invention includes a plurality of assistance server devices having a server recording unit for recording high-precision map data, and generating information for assisting cruise control of the vehicle based on each of the high-precision map data and transmitting the information to the vehicle, and a map update server device having a server communication unit connectable to the plurality of assistance server devices and updating the plurality of high-precision map data recorded in the plurality of assistance server devices, wherein the plurality of high-precision map data recorded in the plurality of assistance server devices includes high-precision map data for a narrow area recorded in a lower-level assistance server device and high-precision map data for a wide area including an area of ​​the high-precision map data for the narrow area recorded in a higher-level assistance server device, and the map update server device: After updating the high-precision map data for the wide area among the high-precision map data for the narrow area and the high-precision map data for the wide area, the high-precision map data for the narrow area is updated using the updated high-precision map data for the wide area or equivalent high-precision map data. A vehicle cruise control assistance system having a map update function according to one embodiment of the present invention includes a plurality of assistance server devices each having a server recording unit for recording high-precision map data, and generating information for assisting in cruise control of the vehicle based on each of the high-precision map data and transmitting the information to the vehicle; and a map update server device each having a server communication unit connectable to the plurality of assistance server devices and updating the plurality of high-precision map data recorded in the plurality of assistance server devices, wherein the plurality of high-precision map data recorded in the plurality of assistance server devices includes high-precision map data for a narrow area recorded in a lower-level assistance server device and high-precision map data for a wide area including an area of ​​the high-precision map data for the narrow area recorded in a higher-level assistance server device, and the map update server device The high precision map data for a narrow area and the high precision map data for a wide area are updated based on common data, and the lower-level assistance server device has a server communication unit that communicates with the vehicle and receives actual detection information by a vehicle sensor of the vehicle, a recognition unit that generates recognition information corresponding to the actual driving environment of the vehicle based on the detection information of the vehicle received by the server communication unit through direct communication, an interpolation control unit that generates interpolation data that complements a difference between the high precision map data for a narrow area and the actual driving environment based on the generated recognition information, and a lower-level assistance unit that supports driving control of the vehicle, and the lower-level assistance unit generates lower-level assistance information that supports driving control of the vehicle by using the interpolation data preferentially over the high precision map data for a narrow area.

[0008] A map update server device according to one embodiment of the present invention is a map update server device used in a vehicle driving control assistance system having a plurality of assistance server devices, each of which generates information to assist vehicle driving control based on high precision map data and transmits the information to the vehicle, the map update server device having a server communication unit connectable to the plurality of assistance server devices, and a control unit that updates a plurality of pieces of high precision map data recorded in each of the plurality of assistance server devices, the plurality of pieces of high precision map data recorded in the plurality of assistance server devices including high precision map data of a narrow area recorded in a lower-level assistance server device and high precision map data of a wide area including an area of ​​the high precision map data of the narrow area recorded in a higher-level assistance server device, and the control unit: After updating the high-precision map data for the wide area among the high-precision map data for the narrow area and the high-precision map data for the wide area, the high-precision map data for the narrow area is updated using the updated high-precision map data for the wide area or equivalent high-precision map data.

[0009] An assistance server device according to one embodiment of the present invention is an assistance server device that generates information to assist driving control of a vehicle in a driving control assistance system for assisting driving control of the vehicle and transmits it to the vehicle, and has: a server recording unit that records high precision map data that can be updated by a map update server device provided in the driving control assistance system; and a control unit that generates information to assist driving control of the vehicle using the high precision map data recorded in the server recording unit, wherein the server recording unit records, together with the high precision map data that can be updated by the map update server device provided in the driving control assistance system, interpolation data that interpolates the high precision map data, use prohibition setting data that prohibits use of part of information of the high precision map data, or map data for an extremely small area that is a part of an area of ​​the high precision map data, and the control unit generates information to assist driving control of the vehicle by preferentially using the interpolation data, the use prohibition setting data, or the map data for the extremely small area recorded in the server recording unit over the updatable high precision map data. Effect of the Invention

[0010] In the present invention, the vehicle cruise control assistance system includes a plurality of assistance server devices that generate information for assisting in vehicle cruise control based on each high precision map data and transmits the information to the vehicle, and a map update server device that updates the plurality of high precision map data recorded in the plurality of assistance server devices. The plurality of high precision map data recorded in the plurality of assistance server devices includes high precision map data for a narrow area recorded in a lower level assistance server device and high precision map data for a wide area including the area of ​​the high precision map data for the narrow area recorded in a higher level assistance server device. In the present invention, the map update server device updates the high-precision map data for a narrow area and the high-precision map data for a wide area based on common data, thereby ensuring or maintaining a certain degree of consistency between the high-precision map data for a narrow area recorded in the lower-level support server device after the update and the high-precision map data for a wide area recorded in the higher-level support server device after the update. In response to this, for example, the map update server device may update the high-precision map data for the narrow area among the high-precision map data for the narrow area and the high-precision map data for the wide area, and then use the updated high-precision map data for the narrow area to update the high-precision map data for the wide area. However, the high-precision map data for the narrow area generally contains finer information than the high-precision map data for the wide area. Therefore, when updating the high-precision map data in order from the narrow area in this way, it may become difficult to uniquely identify a location in the high-precision map data for the wide area that corresponds to an update location in the high-precision map data for the updated narrow area. In the present invention, it is possible to successfully update multiple high-precision map data so as to avoid such a consistency problem. The multiple assistance server devices of the cruise control assistance system of the present invention can generate multiple pieces of assistance information that have a certain degree of consistency between them by ensuring a certain degree of consistency between the respective high precision map data, and transmit the generated pieces of assistance information to each vehicle. The vehicle can execute cruise control using the multiple pieces of assistance information acquired from the multiple assistance server devices, on the premise that a certain degree of consistency is ensured between the multiple pieces of assistance information acquired from the multiple assistance server devices. In this manner, the present invention can improve cruise control assistance systems for vehicles with map update capabilities. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a configuration diagram of a control system for an automobile according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a configuration diagram of a driving control assistance system that assists in driving control of an automobile according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an explanatory diagram of a hardware configuration of a server device that can be used as each of the various servers in FIG. [Figure 4] FIG. 4 is an explanatory diagram of an example of the correspondence between high-precision map data of a wide area recorded in the higher-level support server device of FIG. 2 and high-precision map data of multiple narrow areas recorded in multiple lower-level support server devices. [Diagram 5] FIG. 5 is an explanatory diagram of a map update function in the driving control assistance system of FIG. [Figure 6] FIG. 6 is a flowchart of update control of a plurality of high-precision map data by the map update server device of FIG. [Figure 7] FIG. 7 is a flowchart of the first interpolation control (user map addition control) by the interpolation control unit in FIG. [Figure 8] FIG. 8 is a flowchart of the second interpolation control (sequential interpolation control) by the interpolation control unit of FIG. [Figure 9] FIG. 9 is a flowchart of the third interpolation control (control for deleting interpolated data and the like) by the interpolation control unit in FIG. [Figure 10] FIG. 10 is a flowchart of lower support control by the lower support server device of FIG. 5, taking map updates into consideration. [Figure 11] FIG. 11 is a flowchart of upper support control by the upper support server device of FIG. 5, taking map updates into consideration. [Figure 12] FIG. 12 is a flowchart of relay control by the lower support server device of FIG. 5, taking into consideration map updates. [Figure 13] FIG. 13 is a flowchart of vehicle driving control compatible with the driving control assistance system of FIG. [Figure 14] FIG. 14 is a diagram for explaining an example of a map update flow in the cruise control assistance system of this embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] FIG. 1 is a configuration diagram of a control system 10 of an automobile 2 in an embodiment of the present invention. The automobile 2 in Fig. 1 is an example of a vehicle. Other examples of vehicles include motorcycles, carts, personal mobility vehicles, and vehicles that run on tracks. 1 includes a drive control unit 11, a steering control unit 12, a braking control unit 13, a driving operation unit 14, a vehicle sensor unit 15, a driving control unit 16, a vehicle communication unit 17, and a central gateway device 18 to which these are connected using a cable 19. The control system 10 of the automobile 2 may include other control units not shown.

[0014] The central gateway device 18 and the cable 19 constitute a vehicle network of the automobile 2. The vehicle network may be compliant with, for example, the CAN (Controller Area Network) standard or the LIN (Local Interconnect Network) standard. The vehicle network may also be compliant with, for example, the LAN (Local Area Network) standard or a wireless communication standard. Each control unit connected to the vehicle network is assigned an ID as identification information different from each other. Basically, each control unit connected to the vehicle network periodically outputs packetized data to another control unit. The packet is added with ID (identification) information of the output source control unit and ID information of the output destination control unit. The other control unit monitors the connected cable 19, and if the ID information of the output destination of the packet on the cable 19 contains its own ID information or a predetermined broadcast ID information, it acquires the data of the packet and executes processing based on the data. In addition, the central gateway device 18 monitors the multiple connected cables 19, and if the output destination control unit is connected to a cable 19 different from the output source control unit, it executes routing control to the cable 19 to which the output destination control unit is connected. Such relay processing by the central gateway device 18 enables a plurality of control units to input and output data by packets even with other control units connected to cables 19 different from each other.

[0015] The vehicle communication unit 17 is a communication unit for communicating with the outside of the automobile 2. In many cases, a carrier communication network 6 for mobile terminals is provided on roads and in areas where the automobile 2 travels. Other base stations 3 with which the automobile 2 can communicate include base stations 3 of advanced transportation systems provided along roads such as expressways. The vehicle communication unit 17 may wirelessly communicate with these base stations 3 to establish a communication path, and may use the communication path and the base station 3 to perform two-way communication with a server device 60 or the like. When the vehicle communication unit 17 acquires data from the vehicle network, it transmits a packet including the acquired data to the base station 3 or the server device 60 using the established communication path. When the vehicle communication unit 17 acquires data from the vehicle network, it receives a packet from the base station 3 or the server device 60 through the established communication path, and outputs the data included in the acquired packet to the vehicle network.

[0016] The vehicle sensor unit 15 is connected to various vehicle sensors provided in the automobile 2. Here, the vehicle sensors include an acceleration sensor 21, a corner radar 22, a stereo camera 23, a Lidar 24, an all-around camera 25, and a GNSS receiver 26. The vehicle sensor unit 15 outputs detection information of the connected vehicle sensors to the vehicle network. The vehicle sensor unit 15 may also generate secondary detection information based on the detection information of the vehicle sensors and output the secondary detection information to the vehicle network. The GNSS receiver 26 receives radio waves from a plurality of GNSS (Global Navigation Satellite System) satellites 110, and obtains the latitude, longitude, altitude, and current time of the vehicle's current position. The acceleration sensor 21 detects the acceleration of the automobile 2. The acceleration sensor 21 may be, for example, an axial type that detects the acceleration in the forward / backward direction, the left / right direction, and the up / down direction of the automobile 2. The speed of the automobile 2 can be obtained by integrating the acceleration over time. In this case, the host vehicle sensor unit 15 can detect the movement of the automobile 2 in the yaw direction, pitch direction, and roll direction based on the detection value of the acceleration sensor 21. The corner radars 22 are installed at the front, rear, left and right four corners of the automobile 2. The corner radars 22 detect the distance to surrounding objects approaching the corners of the automobile 2 from the outside. The surrounding objects include, for example, other moving objects such as a preceding vehicle, and fixed objects such as traffic lights installed at road intersections. The stereo camera 23 is composed of, for example, a pair of cameras spaced apart by a predetermined distance. The stereo camera 23 captures an image of the outside of the vehicle in the forward traveling direction of the vehicle 2 with the pair of cameras. The vehicle sensor unit 15 may, for example, analyze the captured image by, for example, pattern matching, recognize predetermined three-dimensional surrounding objects such as lane boundaries on both the left and right sides of the road on which the vehicle is traveling and a preceding vehicle, and generate detection information of the direction and distance from the vehicle to the outside object based on the difference in the image capturing positions of the recognized surrounding objects in the images captured by the pair of cameras. The omnidirectional camera 25 captures images of the surroundings of the automobile 2. The omnidirectional camera 25 may be configured with a plurality of cameras capable of capturing images at predetermined angles of view. Lidar 24 is provided at the front of the automobile 2 and scans the front, which is the direction in which the automobile 2 is traveling, with a detection wave, and detects spatial information regarding the presence or absence of the reflected wave and the distance. If there is no three-dimensional surrounding object in the direction in which the detection wave is output, no reflected wave is obtained. If there is a three-dimensional surrounding object in the direction in which the detection wave is output, the relative distance to the surrounding object can be detected based on the time it takes to receive the reflected wave. The stereo camera 23, the omnidirectional camera 25, and the Lidar 24 detect spatial information about the periphery of the automobile 2. The Lidar 24 is usually capable of acquiring spatial information about a longer distance range than the stereo camera 23 and the omnidirectional camera 25. However, the high-resolution stereo camera 23 and the omnidirectional camera 25 can acquire captured images of surrounding objects at a distance as far as the Lidar 24 based on the images by using optical members such as a telephoto lens, with a resolution sufficient for recognition by image analysis. When the level of autonomous driving performed by the driving control unit 16 is, for example, level 3 or higher, the vehicle sensor unit 15 needs to analyze the surrounding spatial information and perform control to generate recognition information of the driving path around the automobile 2 or recognition information of objects around the automobile 2 based on instructions from the driving control unit 16, etc.

[0017] To the driving operation unit 14, operation members such as a steering wheel, a brake pedal, an accelerator pedal, a shift lever, etc. (not shown) are connected as operation members for the user to control the traveling of the automobile 2. When an operation member is operated, the driving operation unit 14 outputs data including the presence or absence of the operation and the amount of operation to the vehicle network. The driving operation unit 14 may also execute processing regarding the operation of the operation member and include the processing result in the data. For example, when the accelerator pedal is operated in a situation where another automobile 2 or a fixed object is in the traveling direction of the automobile 2, the driving operation unit 14 may determine that the operation is abnormal and include the determination result in the data.

[0018] The driving control unit 16 includes a vehicle memory 31 and a vehicle ECU (Electronic Control Unit) 32 . The vehicle memory 31 may be composed of, for example, a semiconductor memory, a HDD, etc. Programs for controlling the traveling of the automobile 2, data used for the control, etc. are recorded in the vehicle memory 31. Here, high-precision map data 33 of the vehicle for the area in which the automobile 2 travels is illustrated as an example. The high-precision map data 33 of the vehicle may be, for example, cached from a map server device (not shown) using a wireless communication unit, or may be recorded in a portable semiconductor memory. The vehicle ECU 32 is a computer device of the automobile 2. The vehicle ECU 32 reads and executes a program recorded in the vehicle memory 31. In this way, the vehicle ECU 32 functions as a driving control unit 16 that controls the overall driving of the automobile 2. The vehicle ECU 32 serving as the driving control unit 16 generates control values ​​for controlling the driving of the automobile 2 , and outputs the control values ​​to the drive control unit 11 , the steering control unit 12 , and the braking control unit 13 .

[0019] The drive control unit 11 controls the operation of a power source (not shown) of the automobile 2. The power source of the automobile 2 may be, for example, an engine or a motor. The drive control unit 11 controls the operation of the power source based on a control value generated by the traveling control unit 16. The steering control unit 12 controls the operation of a steering device (not shown) of the automobile 2. The steering device of the automobile 2 may be of a by-wire type that controls the steering direction and steering amount by the rotation amount of a motor, for example. The steering control unit 12 controls the operation of the steering device by a control value generated by the driving control unit 16. The braking control unit 13 controls the operation of a braking device (not shown) of the automobile 2. The braking device of the automobile 2 may be of a by-wire type that controls hydraulic pressure according to the amount of rotation of a motor. The braking control unit 13 controls the operation of the braking device according to a control value generated by the driving control unit 16. By operating these control execution units, the automobile 2 can travel according to the travel control by the travel control unit 16.

[0020] Here, the driving control unit 16 may not only generate control values ​​corresponding to information on the driving operation by the driver input from the driving operation unit 14 to control the driving of the automobile 2, but may also generate control values ​​for driving assistance that adjust the driving operation by the driver to control the driving of the automobile 2, or generate control values ​​for highly autonomous automatic driving that does not depend on the driving operation by the driver to control the driving of the automobile 2. Driving assistance basically corresponds to level 1 to level 2 automatic driving that controls the driving of the automobile 2 under the supervision of a driver, and highly autonomous automatic driving basically corresponds to level 3 or higher automatic driving that controls the driving of the automobile 2 under the supervision of the control system 10 of the automobile 2.

[0021] Japan's Ministry of Land, Infrastructure, Transport and Tourism classifies autonomous driving of automobiles2 into levels ranging from Level 1, which provides basic driving assistance, to Level 5, which is highly autonomous and fully automated. Level 1 (L1) autonomous driving refers to the execution of one of the following driving assistance functions under the supervision of the driver: automatic braking, following the vehicle in front, and lane keeping. Level 2 (L2) autonomous driving refers to a system that performs driving assistance under specific conditions under the supervision of the driver, such as combining automatic braking, following the preceding vehicle, and lane keeping. Alternatively, Level 2 autonomous driving refers to a system that performs driving assistance under specific conditions under the supervision of the driver, such as automatic overtaking on expressways and merging on expressways. Level 3 (L3) autonomous driving refers to an attempt to continuously control the driving of the automobile 2 under the monitoring of the control system 10 of the automobile 2, and the control system 10 requests the driver to intervene based on the monitoring judgment. In this case, when there is a request for intervention from the control system 10 of the automobile 2, the driver is required to respond responsibly and immediately to the request. One example of level 3 autonomous driving is autonomous driving on highways. Level 4 (L4) autonomous driving refers to an attempt to continuously control the driving of the automobile 2 under the supervision of the control system 10 of the automobile 2, and refers to a state in which the control system 10 can execute complete driving control under specific conditions without requesting intervention from the driver. In this case, the driver will not be requested to intervene from the control system 10 of the automobile 2 under specific conditions. If the specific conditions are not met, the driver may receive a request to intervene from the control system 10 of the automobile 2, and is required to respond responsibly and immediately to the request. Examples of level 4 autonomous driving include unmanned autonomous driving transportation services in limited areas and fully autonomous driving on highways. Level 5 (L5) autonomous driving refers to the complete execution of all driving control at all times under the supervision of the control system 10 of the automobile 2. In this case, the driver does not receive an intervention request from the control system 10 of the automobile 2 while the automobile 2 is traveling.

[0022] In this way, the driving control unit 16 of the automobile 2 is required to execute driving control for these multiple levels of autonomous driving, based on various detection information detected by the vehicle's own vehicle sensors. In addition, the driving control unit 16 may execute control to switch the level of autonomous driving while driving, depending on the driving environment of the vehicle, the state of the vehicle, the state of the driver, etc., based on detection information obtained, for example, from the vehicle sensor unit 15. The driving control unit 16 may judge the driving environment, state of the vehicle, state of the driver, etc. of the vehicle based on detection information obtained, for example, from the vehicle sensor unit 15, and perform the highest level of autonomous driving that is feasible based on the judgment results.

[0023] In this way, the control system 10 of the automobile 2 is required to execute more complex and advanced control as it attempts to accommodate higher levels of autonomous driving. Furthermore, in order to put into practical use highly automated driving in the automobile 2, it is necessary to provide the automobile 2 with at least a large number of host vehicle sensors as described above so as to obtain the information necessary for highly automated driving. For example, when performing high-level driving control such as level 3 or level 4, the control system 10 of the automobile 2 is provided with a Lidar 24 or a 360-degree camera 25 for detecting the periphery of the automobile 2, and based on the surrounding spatial information detected by the Lidar 24 or the 360-degree camera 25, it is necessary to generate recognition information on the driving path around the automobile 2 and various surrounding objects with high reliability. In addition, the control system 10 of the automobile 2 must execute driving control based on the recognition information, for example, to maintain driving in the lane while avoiding obstacles. This means that the processing load of the automobile 2 is significantly increased compared to low-level driving control such as level 1 or level 2, which can be realized by, for example, lane keeping control based on lane pattern recognition based on close-range captured images, or distance maintenance control based on pattern recognition of a preceding vehicle based on close-range captured images (preceding vehicle following control). In high-level driving control such as level 3 or level 4, it is necessary to increase the reliability of recognition by performing similar recognition processing using artificial intelligence that has undergone machine learning. Furthermore, since the automobile 2 is intended for movement, it is necessary to operate a large number of vehicle sensors at high speed so as to constantly monitor the situation around the automobile 2 while it is traveling and is basically in an unpowered state. In an automobile 2 that supports high-level driving control, it is necessary to repeatedly obtain detection information based on the detection values ​​of the large number of vehicle sensors at short intervals, and repeatedly execute driving control at short control cycle times based on the detection information repeatedly detected at short intervals. The higher the level of autonomous driving that is attempted to be supported, the higher the performance required of the automobile 2 becomes. Therefore, in an automobile 2 that supports a high level of autonomous driving, it is possible to use a server device that can communicate with the automobile 2 via a base station 3 to assist in the driving control of the automobile 2, which performs a high level of driving control, thereby reducing the burden on the automobile 2 while it is driving.

[0024] FIG. 2 is a configuration diagram of a driving control assistance system 1 that assists in driving control of an automobile 2 according to an embodiment of the present invention. The driving control assistance system 1 in FIG. 2 has a host assistance server device 7 and a plurality of subordinate assistance server devices 5 as a plurality of assistance server devices that assist in driving control of the automobile 2. GNSS satellites 110 are also shown in FIG.

[0025] The lower support server device 5 is basically provided in one-to-one correspondence with the base station 3. Such a lower support server device 5 may be installed together with the 5G base station 3, for example, as a base station server device for each 5G base station 3. The lower support server device 5 may be provided in one-to-many correspondence with multiple base stations 3. The lower support server device 5 is connected to the corresponding base station 3 by a carrier communication cable 4. The lower support server device 5 directly transmits and receives information to and from the vehicle communication unit 17 of the automobile 2 in the zone of the base station 3 by wireless communication through the base station 3. The lower support server device 5 may establish an individual secure communication path between the vehicle communication unit 17 of the automobile 2, for example, by SSL (Secure Sockets Layer) / TLS (Transport Layer Security)-VPN (Virtual Private Network) communication. The lower support server device 5 supports driving control of the automobile 2 traveling in a narrow area included in the zone of one or more base stations 3 to which it is connected.

[0026] The upper support server device 7 is connected to a plurality of lower support server devices 5 through a carrier communication network 6. The above-mentioned carrier communication cable 4 may be a part of the carrier communication network 6. The upper support server device 7 may also be connected to a plurality of lower support server devices 5 through the Internet connected to the carrier communication network 6. The upper support server device 7 may establish a separate secure communication path with the lower support server device 5 by IPsec (Security Architecture for Internet Protocol)-VPN communication. SSL / TLS-VPN encodes the payload of packets used in communication, but this is not necessary in IPsec-VPN communication. The upper support server device 7 and the lower support server device 5 can perform stable, low-latency communication. The upper support server device 7 supports driving control of the automobile 2 that travels in a wide area that is a combination of the narrow areas of one or more lower support server devices 5 connected thereto.

[0027] The driving control assistance system 1 in FIG. 2 also includes a map update server device 8 that updates the high-precision map data 33 for the vehicle used in each of the plurality of assistance server devices 5 and 7. The map update server device 8 is connected to the carrier communication network 6. The map update server device 8 is for updating high-precision map data 33 for a vehicle that is used in a distributed manner by a plurality of support server devices, that is, the upper support server device 7 and the plurality of lower support server devices 5.

[0028] FIG. 3 is an explanatory diagram of a hardware configuration of a server device 60 that can be used as each of the various servers in FIG. The upper support server device 7, the lower support server device 5, and the map update server device 8 in FIG. 2 may basically have the hardware configuration in FIG. The server device 60 in FIG. 3 includes a server communication unit 61, a server GNSS receiver 62, a server memory 63, a server CPU (Central Processing Unit) 64, and a server bus 65 to which these are connected. However, it is preferable that the lower support server device 5 includes a base station communication unit 66 dedicated to communicating with the base station 3 in addition to the server communication unit 61.

[0029] The base station communication unit 66 communicates with the vehicle communication unit 17 of the automobile 2 via the base station 3 , and transmits and receives data to and from the vehicle communication unit 17 .

[0030] The server communication unit 61 communicates with another server device 68 used in the driving control assistance system 1, and transmits and receives data to and from the other server device 68.

[0031] The server GNSS receiver 62 receives radio waves from multiple GNSS satellites 110 and obtains the latitude, longitude, altitude, and current time for the installation position of the server device 60. This current time is basically the same as the time obtained by the GNSS receiver 26 of the control system 10 of each automobile 2. The server device 60 and the automobile 2 can execute their respective controls under a common absolute time. For example, the detection time of the vehicle sensor unit 15 in the automobile 2 can be used as is for calculation with the time of the server device 60.

[0032] The server memory 63 records programs and data executed by the server CPU 64. The server memory 63 may be composed of, for example, a semiconductor memory, a HDD, or the like. The server memory 63 may store, for example, high-precision map data 67 of the jurisdiction area used by each support server device. Here, the high precision map data 67 of the jurisdiction may be high precision three-dimensional map data of the roads along which the automobile 2 travels. The high precision map data 67 of the jurisdiction may be the same as the high precision three-dimensional vehicle map data 33 available to the automobile 2. The high-precision map data 33, 67 includes information showing center guide lines and boundary lines of each lane of the road on which the automobile 2 travels. Also, guide lines for turning right or left or changing lanes may be included at intersections and junctions. The guide lines have an inclination or curvature corresponding to the shape and gradient of each lane of the road. Also, the high-precision map data 33, 67 may include information on surrounding objects that can be recognized by the traveling automobile 2, such as road signs, marks, traffic lights, utility poles, and trees.

[0033] The server CPU 64 reads and executes the program from the server memory 63. In this way, a server control unit is realized in the server device 60. The server CPU 64 as a server control unit controls the overall operation of the server device 60 . For example, the server CPU 64 of the higher-level support server device 7 generates a driving route map based on high-precision map data 67 of its wide area of ​​jurisdiction, maps the current positions and the like contained in the detection information collected from the multiple automobiles 2, and generates a driving environment for the multiple automobiles 2. The server CPU 64 of the higher-level support server device 7 also generates higher-level support information for each automobile 2 to drive the automobiles safely in the generated driving environment. Here, the higher-level support information may be, for example, management control information regarding the movable range of each automobile 2, or remote control information regarding the control values ​​used for control by each automobile 2. In addition, for example, the server CPU 64 of the lower support server device 5 generates spatial information around each automobile 2 based on detection information collected from each automobile 2, recognition information of the driving path and surrounding objects generated based on the detection information, and high-precision map data 67 of its own small jurisdiction area. The server CPU 64 of the lower support server device 5 also generates lower support information for each automobile 2 to drive safely using the generated spatial information around each automobile 2. Here, the lower support information may be, for example, control values ​​for driving to avoid surrounding objects and to maintain the lane of the driving path. In addition, for example, the server CPU 64 of the map update server device 8 accesses each of the multiple assistance server devices 5, 7 of the driving control assistance system 1 to update the high-precision map data 67 used in each of the assistance server devices.

[0034] FIG. 4 is an explanatory diagram of an example of the correspondence between the wide jurisdiction of the wide-area high-precision map data 81 recorded in the higher-level support server device 7 in FIG. 2 and the narrow jurisdiction of multiple narrow-area high-precision map data 82 recorded in multiple lower-level support server devices 5. 4, a first narrow area 70 and a second narrow area 71 are adjacent to each other on the left and right. The high precision map data 67 for each of the narrow areas 70, 71 is recorded in the server memory 63 of each of the lower level support server devices 5. The wide area 72 is a region that combines the first narrow area 70 and the second narrow area 71. High-precision map data 67 for the wide area 72 is recorded in the server memory 63 of the higher-level support server device 7.

[0035] In this case, the lower support server device 5 for the first narrow area 70 on the right side uses the high-precision map data 67 for the first narrow area 70 to generate lower support information for each automobile 2 traveling in the first narrow area 70. The lower level support server device 5 for the second narrow area 71 on the left side uses the high precision map data 67 for the second narrow area 71 to generate lower level support information for each automobile 2 traveling in the second narrow area 71 . The higher-level support server device 7 uses high-precision map data 67 of the wide area 72 to generate higher-level support information for each automobile 2 traveling in the wide area 72. Here, the higher-level support server device 7 may generate higher-level support information for each automobile 2 traveling in a location within the wide area 72 excluding the first narrow area 70 and the second narrow area 71. An automobile 2 traveling in such an area will be able to receive and acquire only the higher-level support information from the lower-level support information and the higher-level support information.

[0036] The automobile 2 travels, for example, from the right side to the left side of the wide area 72 based on the plane of the paper. In this case, the automobile 2 can first receive support for driving control from the upper support server device 7 and the lower support server device 5 of the first narrow area 70. Thereafter, the automobile 2 moves from the first narrow area 70 to the second narrow area 71. In this case, the automobile 2 can first receive driving control support from the upper support server device 7 and the lower support server device 5 in the second narrow area 71. When the automobile 2 moves across jurisdictions, the support server device 5, 7 from which the automobile 2 can receive support is switched. Moreover, the automobile 2 can continue to receive driving support from the driving control support system 1 by continuing to drive in the jurisdiction of either of the support server devices 5, 7. The burden of driving control for the automobile 2 can be greatly reduced.

[0037] In this way, the driving control assistance system 1 of this embodiment uses multiple pieces of high-precision map data 67 distributed among the multiple assistance server devices 5 and 7. In addition, the higher-level support server device 7 and the lower-level support server device 5 use high-precision map data 67 for areas of different sizes. For example, it is desirable for high-precision map data 82 for multiple adjacent small areas to match information at the boundaries with a high degree of accuracy so that a vehicle 2 traveling across those boundaries can receive continuous driving assistance. In particular, it is desirable that the high precision map data 82 for a narrow area and the high precision map data 82 for a narrow area above it match each other with a high degree of accuracy over the entire area that they overlap.

[0038] Furthermore, when the road shape is changed due to road construction or the like, the high precision map data 67 needs to be updated accordingly. Furthermore, on the road along which the automobile 2 travels, utility poles and trees may fall onto the road, emergency construction work may be carried out on the road, even if it is only temporary, or an accident may cause the road to become unusable. In addition, there may be objects that have fallen on the road, or other cars 2 that are stopped on the road. Traffic lights may also be relocated or newly installed. Basically, it is desirable that the multiple high-precision map data 67 be updated instantly in response to all of these map change factors. Furthermore, if there is an inconsistency between the information in the high-precision map data 82 for a narrow area and the information in the higher-level high-precision map data 82 for a narrow area, it may become impossible to provide unified driving support, and therefore it is desirable to update the data at the same time. However, it is considered to be extremely difficult to simultaneously continue to update multiple pieces of high-precision map data 67 in multiple support server devices 5, 7 in a timely manner in response to various real-world situation changes, including temporary changes. As a result, the driving control assistance system 1 temporarily stops the assistance service in order to update the multiple high-precision map data 67 that it uses. Moreover, such temporary service suspension may occur frequently whenever a situation changes due to various causes in reality. There is a possibility that the assistance service may fall into a state of being provided that is equivalent to being constantly suspended. Thus, the cruise control assistance system 1 for the automobile 2 needs to be improved.

[0039] FIG. 5 is an explanatory diagram of the map update function in the driving control assistance system 1 of FIG. 5 shows one lower support server device 5, one upper support server device 7, and a map update server device 8 in the driving control support system 1. Also shown is an automobile 2 that receives driving control support from the driving control support system 1.

[0040] The server memory 63 of the upper level support server device 7 stores high-precision map data 81 of a wide area.

[0041] In the server memory 63 of the lower support server device 5, in addition to high-precision map data 82 for a narrow area, map data 83 for a very small area, interpolation data 84, and use prohibition setting data 85 are recorded.

[0042] Here, the map data 83 of the very small area is, for example, map data for a very small area 74 that is a part of the second narrow area 71 in FIG. 4. Such very small areas 74 include parking lots, commercial facilities, amusement facilities, redevelopment areas, and the like. In these very small areas 74, roads on which the automobile 2 can travel may be updated more frequently than public roads. In addition, they are often not included in the high-precision map data 67 because they are treated similarly to public roads. The high-precision map data 82 of the narrow area may be added with information on a switching area indicating the range of the very small area 74. As shown in the figure, for example, when the automobile 2 enters the switching area, the map data used for driving support of the automobile 2 is switched from the high-precision map data 82 of the narrow area to the map data 83 of the very small area. This makes it possible to expand the area in which driving support of the automobile 2 can be provided. The map data 83 of the very small area may be provided by a business operator's server device (not shown) or the like. The map data 83 of the very small area may be generated, for example, based on detection information of a range of a predetermined radius detected by the automobile 2 with respect to the current position, or based on areas (grids) obtained by dividing an aerial photograph or three-dimensional regional information into predetermined distances. The map data 83 of the very small area may be generated by combining multiple pieces of detection information from the automobile 2, by combining multiple pieces of detection information from multiple automobiles 2, or by combining multiple of the above-mentioned areas (grids).

[0043] The interpolated data 84 is map data that interpolates the high-precision map data 82 for a narrow area. The high-precision map data 82 for a narrow area is generated in response to the actual driving environment at a certain point in time. In this case, changes to the driving environment after that point in time are not included in the high-precision map data 82 for the narrow area. The interpolated data 84 is additional data about the shape of the driving road and surrounding objects that are added after the generation of the high-precision map data 82 for such a narrow area. The interpolated data 84 may be data about a point where driving is temporarily impossible due to a fallen tree, an accident, or the like.

[0044] The use-prohibited setting data 85 is also data on the shape of the road and surrounding objects that have been changed after the generation of the narrow area high precision map data 82. However, the use-prohibited setting data 85 is data that sets a prohibition on the use of information on the shape of the road before the change and the deleted surrounding objects that are included in the narrow area high precision map data 82. Based on the interpolation data 84 and the use prohibition setting data 85 , change information after the generation of the high precision map data 82 for a narrow area is recorded in the server memory 63 of the low-level support server device 5 .

[0045] The driving control assistance system 1 has an interpolation control unit 86 in each lower support server device 5, together with the map update server device 8, in order to update the high-precision map data 67 of each of the multiple assistance server devices 5, 7. In the drawing, a vehicle information recognition unit 87, a lower support unit 88, and a relay control unit 89 are shown as other components of each lower support server device 5. The interpolation control unit 86, the vehicle information recognition unit 87, and the lower support unit 88 are realized in the lower support server device 5 by the server CPU 64 of the lower support server device 5 executing a program recorded in the server memory 63. The map update server device 8 is connected to a plurality of support server devices 5, 7 via the server communication unit 61, and updates the high precision map data 67 recorded in the connected support server devices. The map update server device 8 may update the high precision map data 67 based on, for example, road repair work information.

[0046] The vehicle information recognition unit 87 acquires real-world detection information by the vehicle's own vehicle sensor received by the server communication unit 61 through direct communication with the vehicle 2, and executes recognition processing on the surrounding roads and surrounding objects in the real driving environment of the vehicle 2 based on the detection information. The vehicle information recognition unit 87 generates recognition information on the roads and surrounding objects through the recognition processing, and outputs the generated recognition information to the lower support unit 88. The lower support unit 88 generates lower support information for supporting driving control of the automobile 2, using the detection information of the vehicle's own vehicle sensor and the recognition information generated by the vehicle information recognition unit 87. The lower support unit 88 may transmit the recognition information generated by the vehicle information recognition unit 87 to the automobile 2 as part of the lower support information. The vehicle information recognition unit 87 and the lower level support unit 88 may execute their respective processes repeatedly at high speed so as to be synchronized with the control cycle of the driving control unit 16 of the automobile 2 .

[0047] The interpolation control unit 86 manages the map data 83, the interpolation data 84, and the use prohibition setting data 85 of the very small area recorded in the server memory 63. The interpolation control unit 86 executes a registration / update process for the map data 83, the interpolation data 84, and the use prohibition setting data 85 of the very small area in the server memory 63. The update process of the interpolation control unit 86 also includes a deletion process. The interpolation control unit 86 may execute the registration / update process for these data based on, for example, additional information or an additional operation by the user, and based on recognition information successively generated by the vehicle recognition unit. For example, when there is a discrepancy between the recognition information generated by the vehicle information recognition unit 87 and the driving environment based on the high precision map data 82 of the narrow area, the interpolation control unit 86 registers, in the server memory 63, interpolation data 84 that compensates for the discrepancy between the recognition information generated by the vehicle information recognition unit 87 and the actual driving environment for the high precision map data 82 of the narrow area, so as to compensate for the discrepancy. Furthermore, when the high precision map data 82 of the narrow area contains information corresponding to the interpolation data 84, the interpolation control unit 86 registers, in the server memory 63, use prohibition setting data 85 that prohibits the use of the interpolation data 84. In addition, for example, when the interpolation data 84 or the use prohibition setting data 85 registered in the server memory 63 becomes unnecessary due to an update of the high-precision map data 82 of a narrow area, the interpolation control unit deletes the unnecessary data from the server memory 63.

[0048] FIG. 6 is a flowchart showing update control of a plurality of high-precision map data 67 by the map update server device 8 of FIG. For example, when the server CPU 64 of the map update server device 8 acquires road repair information, the server CPU 64 repeatedly executes the update control of FIG. The server CPU 64 uses the acquired information to update a plurality of high precision map data 67 used in the plurality of assistance server devices 5, 7 of the driving control assistance system 1 through the update control shown in Fig. 6. The plurality of high precision map data 67 are updated based on common data.

[0049] In step ST11, the server CPU 64 of the map update server device 8 judges whether or not it is necessary to update the multiple pieces of high-precision map data 67 used in the driving control assistance system 1. If the server CPU 64 has acquired, for example, road repair information, it judges that an update is necessary and proceeds to step ST12. If an update is not necessary, the server CPU 64 ends this control.

[0050] In step ST12, the server CPU 64 generates update information for the high-precision wide-area map data 81 for the widest area used in the driving control assistance system 1. Here, the update information may basically be partial update information such as road repair information. In addition, for example, the server CPU 64 may generate high-precision map data 81 for a wide area to which partial information such as road repair information has been applied as update information. When the server CPU 64 has acquired high-precision map data 81 for a wide area to which update information has already been applied, the server CPU 64 may generate the data as update information.

[0051] In step ST13, the server CPU 64 connects to the highest level support server device 7 used in the driving control support system 1. In the case of FIG. 5, the server CPU 64 connects to the higher level support server device 7. This allows the server CPU 64 of the map update server device 8 to access the server memory 63 of the higher level support server device 7.

[0052] In step ST14, the server CPU 64 updates the high-precision map data 81 of the wide area recorded in the server memory 63 of the currently connected support server device. The server CPU 64 may, for example, copy old high-precision map data 81 for a wide area that is already recorded in the server memory 63 of the connected support server device, overwrite the copied high-precision map data 67 with update information to update it, and switch the updated high-precision map data 67 to active. The server CPU 64 of the support server device supports driving control of the automobile 2 using the latest high-precision map data 81 for a wide area that has been activated in the server memory 63. As a result of this update process, new center guide lines, lane boundaries, and the like for roads in the updated area are added to the high precision map data 81 for the wide area after the update. In addition, new center guide lines and boundaries that connect the center guide lines and boundaries of the roads surrounding the updated area to the center guide lines and boundaries of the existing roads surrounding the updated area are added to the updated high-precision map data 81 for the wide area. In addition, the updated high-precision map data 81 covering a wide area includes added information about surrounding objects recognizable from a traveling automobile 2, such as road signs, marks, traffic lights, utility poles, and trees, that are installed in the area to be updated.

[0053] In step ST15, the server CPU 64 acquires the updated high-precision map data 81 of the wide area, which has been updated in step ST14, from the currently connected support server device.

[0054] In step ST16, the server CPU 64 connects to the lower support server device 5 used in the driving control support system 1. In the case of FIG. 5, the server CPU 64 connects to the lower support server device 5. This allows the server CPU 64 of the map update server device 8 to access the server memory 63 of the lower support server device 5.

[0055] In step ST17, the server CPU 64 updates the high-precision map data 82 of the small area recorded in the server memory 63 of the currently connected support server device. The server CPU 64 may, for example, copy old high-precision map data 82 for a narrow area that is already recorded in the server memory 63 of the connected support server device, overwrite the copied high-precision map data 67 with update information to update it, and switch the updated high-precision map data 67 to active. The server CPU 64 of the support server device supports driving control of the automobile 2 using the latest high-precision map data 82 for a narrow area that has been activated in the server memory 63. Here, the server CPU 64 may use the upper high precision map data 67 acquired in step ST15 as the update information. The upper high precision map data 67 acquired in step ST15 already includes update information such as a center guide line for the area to be updated and its surroundings. In addition, if the high-precision map data 82 for a narrow area contains more detailed information about roads than the high-precision map data 82 for a wide area, the server CPU 64 may add new center guide lines, lane boundaries, etc. for the detailed roads in the area being updated.

[0056] In step ST18, the server CPU 64 notifies the interpolation control unit 86 of the currently connected support server device that the high-precision map data 82 of the narrow area has been updated. After that, the server CPU 64 ends this control.

[0057] In this way, the server CPU 64 of the map update server device 8 can update the high-precision map data 81 for the wide area among the high-precision map data 82 for the narrow area and the high-precision map data 81 for the wide area, and then update the high-precision map data 82 for the narrow area using the updated high-precision map data 81 for the wide area or equivalent high-precision map data. Here, an example is described in which the driving control assistance system 1 is configured with a higher-level support server device 7 and a lower-level support server device 5. If the multiple support server devices 5, 7 of the driving control assistance system 1 are in a hierarchical structure of three or more levels, the server CPU 64 of the map update server device 8 may repeat the above-mentioned process in order from the higher level to the lowest level support server device 5.

[0058] FIG. 7 is a flowchart of the first interpolation control (user map addition control) by the interpolation control unit 86 of FIG. The server CPU 64 of the lower support server device 5 may function as the interpolation control unit 86 and repeatedly execute the first interpolation control of FIG. The server CPU 64 executes the first interpolation control of FIG.

[0059] In step ST21, the server CPU 64 of the lower support server device 5, functioning as the interpolation control unit 86, determines whether or not there is a request to add map data. The user generates a request to add map data at a client terminal (not shown) and transmits it to the lower support server device 5. If there is a request to add map data, the server CPU 64 of the lower support server device 5 advances the process to step ST22. If there is no request to add map data, the server CPU 64 ends this control.

[0060] In step ST22, the server CPU 64 acquires the map data 83 of the very small area to be added to the server memory 63 of the low-level support server device 5. The server CPU 64 may acquire the map data 83 of the very small area from a client terminal (not shown) or the like.

[0061] In step ST23, the server CPU 64 saves and records the acquired map data 83 of the small area in the server memory 63 of the lower support server device 5.

[0062] In step ST24, the server CPU 64 adds the information on the switching area that overlaps with the area of ​​the acquired map data 83 for the very small area to the high precision map data 82 for the small area recorded in the server memory 63 of the lower support server device 5. As a result, the information on the switching area in the high precision map data 82 for the small area is replaced with the information on the map data 83 for the very small area, and is used to support the driving control of the automobile 2. After that, the server CPU 64 ends this control.

[0063] This enables the interpolation control unit to record the map data 83 for a very small area, which corresponds to a part of the high-precision map data 82 for a narrow area, in the server memory 63 separately from the high-precision map data 82 for a narrow area. Thereafter, the lower level support unit 88 generates lower level support information for supporting driving control of the automobile 2 by using the map data 83 of the very small area preferentially over the high precision map data 82 of the narrow area.

[0064] FIG. 8 is a flowchart of the second interpolation control (sequential interpolation control) by the interpolation control unit 86 of FIG. The server CPU 64 of the lower support server device 5 may function as the interpolation control unit 86 and repeatedly execute the second interpolation control of FIG. The server CPU 64 executes the second interpolation control of Figure 8 to add information about surrounding objects in the actual environment that are not included in the high-precision map data 82 of the narrow area used by the lower support server device 5 as interpolation data 84. In addition, the server CPU 64 executes the second interpolation control of FIG. 8 in order to add use prohibition setting data 85 that prohibits the use of information about surrounding objects that do not exist in the actual environment, which is included in the high-precision map data 82 of a narrow area used by the lower support server device 5. The server CPU 64 as the interpolation control unit 86 may acquire recognition information of the driving route and recognition information of surrounding objects from a vehicle information recognition unit 87 generated in the lower support server device 5 to support driving control.

[0065] In step ST31, the server CPU 64 of the lower support server device 5, as the interpolation control unit 86, determines whether or not new unprocessed recognition information has been acquired from the vehicle information recognition unit 87. If there is unprocessed recognition information, the server CPU 64 advances the process to step ST32. If there is no unprocessed recognition information, the server CPU 64 ends this control.

[0066] In step ST32, the server CPU 64 acquires information on the surrounding area of ​​the unprocessed recognition information from the high-precision map data 82 of the narrow area recorded in the server memory 63 of the lower support server device 5. The server CPU 64 may acquire information on the surrounding area of ​​the position of the automobile 2 based on the position of the automobile 2 corresponding to the unprocessed recognition information, for example. The information on the surrounding area includes new center guide lines for roads in the area, boundaries of each lane, and the like. The information on the surrounding area also includes information on surrounding objects recognizable from the traveling automobile 2, such as road signs, marks, traffic lights, utility poles, and trees, that are provided in the area.

[0067] In step ST33, the server CPU 64 judges whether the information acquired in step ST32 includes information whose position matches that of the surrounding object related to the recognition information. The server CPU 64 may also judge, for example, whether the center guide line included in the information acquired in step ST32 matches the center guide line related to the recognition information. Here, the server CPU 64 may judge whether they match based on whether the difference between the two positions to be compared is equal to or less than a threshold for judging a match. If the information acquired in step ST32 does not include information matching the surrounding objects related to the recognition information, the server CPU 64 determines that there is no match and proceeds to step ST34. If the information includes matching information, the server CPU 64 determines that there is a match and ends this control.

[0068] In step ST34, the server CPU 64 generates interpolation data 84 based on the recognition information that does not match the information acquired in step ST32, and records the data in the server memory 63. The interpolation data 84 may include, for example, information on the position and type of surrounding objects to be added.

[0069] In step ST35, the server CPU 64 judges whether or not the information acquired in step ST32 contains corresponding information that is different from the recognition information. For example, the position of a utility pole may be changed during road repairs or the like. The server CPU 64 may judge the degree of deviation of the positions of information of the same type as the recognition information contained in the information acquired in step ST32. Here, the server CPU 64 may judge that there is corresponding information when the difference between the two positions to be compared is equal to or less than a threshold for judging that they are different. If the information acquired in step ST32 does not include information corresponding to the recognition information, the server CPU 64 determines that there is no corresponding information and ends this control. If there is corresponding information, the server CPU 64 determines that there is corresponding information and proceeds to step ST36.

[0070] In step ST36, the server CPU 64 generates use prohibition setting data 85 for the corresponding information included in the high-precision map data 82 of the narrow area recorded in the server memory 63 of the lower support server device 5, and records it in the server memory 63. The use prohibition setting data 85 may include, for example, information on the position and type of surrounding objects whose use is prohibited. Thereafter, the server CPU 64 ends this control.

[0071] FIG. 9 is a flowchart of the third interpolation control (deletion control of the interpolation data 84 and the like) by the interpolation control unit 86 of FIG. The server CPU 64 of the lower support server device 5 may function as the interpolation control unit 86 and repeatedly execute the third interpolation control of FIG. The server CPU 64 executes the third interpolation control of FIG. 9 in order to delete the unnecessary interpolation data 84 and the unnecessary use-prohibited setting data 85 from the server memory 63 of the lower support server device 5. The server CPU 64 may also execute the third interpolation control of FIG. 9 in order to delete the map data 83 of the very small area used in the lower support server device 5 from the server memory 63 of the lower support server device 5. Then, the server CPU 64 as the interpolation control unit 86 may execute the third interpolation control of Figure 9 when receiving an update notification from the map update server device 8 regarding the high-precision map data 82 of a narrow area used by the lower support server device 5.

[0072] In step ST41, the server CPU 64 of the low-level support server device 5 serves as the interpolation control unit 86 and selects the interpolation data 84 recorded in the server memory 63 and the like.

[0073] In step ST42, the server CPU 64 acquires information on the surrounding area of ​​the position of the interpolated data 84 recorded in the server memory 63 from the high-precision map data 82 for the narrow area. The information on the surrounding area includes a new center guide line for the roads in the area, boundary lines for each lane, etc. The information on the surrounding area also includes information on surrounding objects recognizable from the traveling automobile 2, such as road signs, marks, traffic lights, utility poles, trees, etc., provided in the area.

[0074] In step ST43, the server CPU 64 compares the information of step ST41 with the information of step ST42 to determine whether there is corresponding information that does not deviate from the surrounding objects targeted by the interpolation data 84, etc. For example, the position of a utility pole may be changed during road repairs, etc. The server CPU 64 may determine the degree of deviation, including the degree of deviation between the positions of the same type of information as the information of the surrounding objects included in the information acquired in step ST41. Here, the server CPU 64 may determine that the corresponding information is not deviated when, for example, the amount of difference between the two positions to be compared is equal to or less than a threshold for determining that they are different. If the information acquired in step ST42 contains information corresponding to the interpolation data 84, the server CPU 64 determines that there is corresponding information that does not deviate, and proceeds to step ST44. If the information is not contained, the server CPU 64 determines that there is no corresponding information that does not deviate, and proceeds to step ST45.

[0075] In step ST44, the server CPU 64 deletes the selected interpolation data 84 and the like from the server memory 63.

[0076] In step ST45, the server CPU 64 judges whether or not to end this control. If the server CPU 64 has not finished executing this control for all the data stored in the server memory 63, the server CPU 64 returns the process to step ST41. The server CPU 64 selects the next interpolation data 84, etc., and executes the processes from step ST41 to step ST45. If the server CPU 64 has finished executing this control for all the data, the server CPU 64 judges to end this control, and ends this control.

[0077] As a result, when, for example, high-precision map data 82 of a narrow area is updated by the map update server device 8, the server CPU 64 of the lower-level support server device 5 can compare the interpolation data 84 that it has generated and recorded in the server memory 63 with the updated high-precision map data 82 of the narrow area. Then, when the updated high-precision map data 82 for the small area includes information corresponding to the interpolation data 84 , the server CPU 64 can delete the interpolation data 84 from the server memory 63 .

[0078] Next, the control for assisting the driving control of the automobile 2 in the driving control assistance system 1 having the above-mentioned map data update function will be described. In the driving control assistance system 1, the server CPU 64 of the higher-level support server device 7 and the server CPU 64 of the lower-level support server device 5 basically use high-precision map data 67 recorded in each server memory 63 and detection information by the vehicle's own vehicle sensor to generate information for assisting in driving control of the vehicle 2 and provide it to the vehicle 2. The higher-level support server device 7 and the lower-level support server device 5 may provide different types of assistance information to the vehicle 2. For example, the lower-level support server device 5 may generate lower-level support information such as control values ​​used by the driving control unit 16 of the automobile 2 for each short-term control period based on recognition information about the actual driving environment of the automobile 2, and provide the information to the automobile 2. In response to this, the upper support server device 7 may generate upper control information regarding the long-term travel direction of the automobile 2, etc., based on the driving environment of the automobile 2 in the high-precision map data 81 of a wide area, and provide this to the automobile 2 via the lower support server device 5.

[0079] FIG. 10 is a flowchart of lower support control by the lower support server device 5 of FIG. 5, taking map updates into consideration. The server CPU 64 of the lower support server device 5, as the lower support unit 88, may repeatedly execute the lower support control of FIG. 10 upon acquiring detection information from the vehicle's own vehicle sensor from the automobile 2. The server CPU 64 may repeatedly execute the lower level support control of FIG.

[0080] In step ST51, the server CPU 64 of the lower support server device 5, as the lower support unit 88, determines whether or not it has received and acquired new vehicle sensor detection information from the automobile 2. If new vehicle sensor detection information has not been acquired, the server CPU 64 repeats this process. If new vehicle sensor detection information has been acquired, the server CPU 64 advances the process to step ST52.

[0081] In step ST52, the server CPU 64 determines, as the vehicle position, the detected position of the automobile 2 included in the acquired detection information, and judges whether or not the vehicle position is within a switching area set for the narrow-area high-precision map data 67. If the vehicle position is not within the switching area, the server CPU 64 advances the process to step ST53. If the vehicle position is within the switching area, the server CPU 64 advances the process to step ST54.

[0082] In step ST53, the server CPU 64 generates spatial information about the periphery of the vehicle position based on the active narrow-area high-precision map data 67 recorded in the server memory 63. In the spatial information about the periphery of the vehicle position, the road on which the automobile 2 is traveling and objects in the vicinity of the road included in the narrow-area high-precision map data 67 are laid out and arranged based on the position information of each object. After that, the server CPU 64 advances the process to step ST55.

[0083] In step ST54, the server CPU 64 generates spatial information about the periphery of the vehicle position based on the map data 83 of the very small area recorded in the server memory 63. In the spatial information about the periphery of the vehicle position, the road on which the automobile 2 is traveling and objects in the vicinity of the road included in the map data 83 of the very small area are laid out and arranged based on the position information of each object. After that, the server CPU 64 advances the process to step ST55.

[0084] In step ST55, the server CPU 64 judges whether or not the generated surrounding space information includes surrounding objects, etc., the use of which is prohibited by the use prohibition setting data 85. If surrounding objects, etc., the use of which is prohibited are included, the server CPU 64 advances the process to step ST56. If surrounding objects, etc., the use of which is prohibited are not included, the server CPU 64 advances the process to step ST57.

[0085] In step ST56, the server CPU 64 corrects the generated surrounding space information by deleting surrounding objects and the like that correspond to the use prohibition setting data 85. After that, the server CPU 64 advances the process to step ST57.

[0086] In step ST57, the server CPU 64 judges whether or not the generated surrounding space information includes the interpolation data 84. If the interpolation data 84 is included, the server CPU 64 advances the process to step ST58. If the interpolation data 84 is not included, the server CPU 64 advances the process to step ST59.

[0087] In step ST58, the server CPU 64 adds surrounding objects corresponding to the interpolated data 84 to the generated surrounding space information to correct the surrounding space information. After that, the server CPU 64 advances the process to step ST59.

[0088] In step ST59, based on the surrounding space information corrected as necessary by the above-mentioned series of processes, lower support information is generated to support driving control of the automobile 2. The lower support information may generate control values ​​that enable safe driving in the surrounding space information corrected as necessary. The server CPU 64 transmits the generated lower support information directly from the server communication unit 61 to the automobile 2 from which the detection information is acquired.

[0089] In this way, the server CPU 64 of the lower support server device 5 serves as the lower support section 88 and generates lower support information for supporting driving control of the automobile 2 by using the interpolated data 84 preferentially over the high-precision map data 82 of a narrow area. In addition, when information corresponding to the interpolated data 84 is included in the high-precision map data 82 for the narrow area, the server CPU 64 uses the interpolated data 84 instead of the corresponding information in the high-precision map data 82 for the narrow area to generate lower-level support information that supports driving control of the automobile 2. Furthermore, since the lower-level support server device 5 is connected to the base station 3, it can repeatedly provide lower-level support information to the driving control unit 16 of the automobile 2 so as to obtain high responsiveness that corresponds favorably to the control period by the driving control unit 16 of the automobile 2.

[0090] FIG. 11 is a flowchart of upper support control by the upper support server device 7 in FIG. 5, taking map updates into consideration. When the server CPU 64 of the higher-level support server device 7 acquires the detection information of the automobile 2 through the lower-level support server device 5, the server CPU 64 may repeatedly execute the higher-level support control of Fig. 11. The detection information of the automobile 2 acquired by the higher-level support server device 7 may include secondary detection information such as recognition information generated in the lower-level support server device 5, in addition to primary detection information detected by the automobile 2's own vehicle sensor. The server CPU 64 may repeatedly execute the upper level support control of FIG. 11 at a period longer than the short-term control period of the driving control unit 16 of the automobile 2 .

[0091] In step ST61, the server CPU 64 of the upper support server device 7 collects new detection information received from the multiple automobiles 2 through the lower support server device 5. The detection information collected for each automobile 2 includes at least information on the vehicle's position detected by the vehicle's own vehicle sensor. The detection information collected for each automobile 2 may further include information such as the traveling speed, traveling direction, and vehicle behavior.

[0092] In step ST62, the server CPU 64 maps the multiple automobiles 2 on a wide-area road map based on the active wide-area high-precision map data 67 recorded in the server memory 63. On the wide-area road map, the multiple automobiles 2 are mapped in a layout corresponding to the actual driving environment. Here, the road map may be composed of multiple diagrams for each road or each lane. In this case, each automobile 2 is mapped on a diagram corresponding to the road or lane on which it is actually traveling. The diagram can express, for example, the distance between the front and rear automobiles 2, the speed difference, etc.

[0093] In step ST63, the server CPU 64 generates higher-level support information for supporting the driving of each of the multiple automobiles 2. The server CPU 64 may generate, as higher-level support information for each automobile 2, remote control information on a route on which each automobile 2 can travel safely or efficiently in the driving environment of each automobile 2 on a wide-area road map, and control information such as a driving range in which each automobile 2 can travel safely. The higher-level support information may include route instruction information such as lane changes, merging and right / left turns. Such higher-level support information is different from the lower-level support information described above. Furthermore, the higher-level support information is basically information on a period longer than the control cycle, and therefore is information on a distance longer than the driving distance supported by the lower-level support information.

[0094] In step ST64, the server CPU 64 transmits higher-level support information, which is generated to support driving control for each of the plurality of automobiles 2, to the plurality of lower-level support server devices 5 corresponding to each of the automobiles 2.

[0095] FIG. 12 is a flowchart of relay control by the lower support server device 5 of FIG. 5, taking into consideration map updates. The server CPU 64 of the lower support server device 5 may function as a relay control unit 89 and repeatedly execute the relay control of FIG. The relay control unit 89 is realized in the lower support server device 5 as shown in FIG. 5 by the server CPU 64 of the lower support server device 5 executing a program. The server CPU 64 as a relay control unit 89 repeatedly receives and acquires upper support information for each vehicle 2 from the upper support server device 7, and transmits the acquired upper support information to the corresponding vehicle 2.

[0096] In step ST71, the server CPU 64 of the lower support server device 5, as the relay control unit 89, judges whether or not unprocessed higher support information has been received from the higher support server device 7. If unprocessed higher support information has not been received, the server CPU 64 repeats this process. If unprocessed higher support information has been received, the server CPU 64 advances the process to step ST72.

[0097] In step ST72, the server CPU 64 acquires the latest spatial information in the lower support server device 5. The server CPU 64 may acquire the latest spatial information in the lower support server device 5 by generating the latest spatial information in the lower support server device 5 using the high-precision map data 82 of a narrow area and the interpolated data 84 recorded in the server memory 63 of the lower support server device 5. In addition to this, for example, the server CPU 64 may acquire the latest spatial information generated in the lower support control of FIG.

[0098] In step ST73, the server CPU 64 maps the driving route based on the higher support information onto the spatial information of the lower support server device 5 acquired in step ST72. The driving route here may be a drivable range within which the automobile 2 may travel under driving control.

[0099] In step ST74, the server CPU 64 judges whether or not it is possible to travel according to the higher-level support information based on the information generated by mapping. If traveling according to the higher-level support information allows safe traveling without causing interference or the like in the spatial information in the lower support server device 5, the evaluation is OK, and the process proceeds to step ST75. If it is not evaluated that safe traveling is possible, the server CPU 64 proceeds to step ST76.

[0100] In step ST75, the server CPU 64 transmits the higher-level support information that has been evaluated as OK to the automobile 2. As a result, the higher-level support information generated for each automobile 2 by the higher-level support server device 7 is transmitted to that automobile 2 via the lower-level support server device 5. After that, the server CPU 64 ends this control.

[0101] In step ST76, the server CPU 64 judges whether or not the higher-level support information that was not evaluated as OK can be adjusted. For example, when only a part of the higher-level support information about a driving range overlaps and interferes with a surrounding object in the spatial information of the lower-level support server device 5, the server CPU 64 judges that the adjustment is possible and proceeds to step ST77. When it is not possible to judge that the adjustment is possible, the server CPU 64 proceeds to step ST78.

[0102] In step ST77, the server CPU 64 adjusts the adjustable higher-level support information. The server CPU 64 generates higher-level support information that narrows the driving range in the higher-level support information to a range that does not overlap with surrounding objects. After that, the server CPU 64 transmits the adjusted higher-level support information to the automobile 2 in step ST75. As a result, the higher-level support information generated by the higher-level support server device 7 for each automobile 2 is adjusted in the lower support server device 5 and then transmitted to the automobile 2. After that, the server CPU 64 ends this control.

[0103] In step ST78, the server CPU 64 stops relaying to the automobile 2 the higher-level support information that has not been evaluated as OK and is not adjustable.

[0104] In step ST79, the server CPU 64 transmits a message to the higher-level support server device 7 indicating that the higher-level support information was not relayed. After that, the server CPU 64 ends this control.

[0105] In this manner, the server CPU 64 of the lower support server device 5 can function as a relay control unit 89 to control the relay transmission to the automobile 2 of the higher support information received from the higher support server device 7 . The server CPU 64 evaluates the higher-level support information using the high-precision map data 82 for the narrow area and the interpolated data 84 used in the lower-level support server device 5, and can relay the higher-level support information as is to the automobile 2 only if the evaluation is favorable. If the evaluation is not good, the server CPU 64 can either not relay the higher level assistance information to the automobile 2 or adjust the higher level assistance information before relaying it to the automobile 2 .

[0106] FIG. 13 is a flowchart of driving control of the automobile 2 compatible with the driving control assistance system 1 of FIG. The vehicle ECU 32 of the driving control unit 16 of the automobile 2 repeatedly executes the driving control of FIG. 13 in order to use information from the multiple assistance server devices 5, 7 of the driving control assistance system 1 for driving control. The driving control unit 16 may repeatedly execute the driving control of FIG.

[0107] In step ST1, the traveling control unit 16 acquires from the host vehicle sensor unit 15 detection information of the host vehicle sensor.

[0108] In step ST2, the driving control unit 16 judges whether or not to use the support from the multiple support server devices 5, 7 of the driving control support system 1. The driving control unit 16 may judge whether or not the support from the multiple support server devices 5, 7 is available based on the current position of the vehicle. The driving control unit 16 may also judge whether or not the driver requests the execution of high-load control such as L3 or L4, which is an autonomous driving level of level 3 or higher, or whether or not the driver needs the support based on the state of the battery remaining power of the vehicle. Then, if the support from the multiple support server devices 5, 7 is available and the driver wishes to use it, the driving control unit 16 advances the process to step ST3 to receive support for high-load autonomous driving of level 3 or higher. Otherwise, the driving control unit 16 advances the process to step ST6 to execute autonomously completed control.

[0109] In step ST3, the driving control unit 16 transmits the detection information of the vehicle sensor acquired from the vehicle sensor unit 15 to the lower support server device 5. The vehicle communication unit 17 of the automobile 2 establishes a communication path by SSL / TLS-VPN connection with the server communication unit 61 of the support server device, encrypts a packet including the detection information of the vehicle sensor, and transmits it to the vehicle communication unit 17. The vehicle communication unit 17 transmits the packet to the lower support server device 5 by wireless communication through the base station 3. The lower support server device 5 executes the various controls described above and transmits the lower support information to the vehicle communication unit 17 in a prompt manner. In addition, the lower support server device 5 transmits the higher support information received from the higher support server device 7 to the vehicle communication unit 17. As a result, the vehicle communication unit 17 of the automobile 2 can receive support information from multiple lower support server devices 5.

[0110] In step ST4, the driving control unit 16 judges whether or not various types of support information have been acquired from the lower support server device 5. If the vehicle communication unit 17 has not received the support information, the driving control unit 16 judges that the support information has not been acquired and repeats this process. If the vehicle communication unit 17 receives the support information, the driving control unit 16 judges that the support information has been acquired and proceeds to step ST5.

[0111] In step ST5, the driving control unit 16 acquires various types of support information received by the vehicle communication unit 17 from the lower support server device 5, and executes driving control of the automobile 2 based on the acquired support information and detection information from the vehicle's sensors. When the support information includes a control value, the driving control unit 16 may control driving according to the control value. When the support information includes information on a driving range by traffic control or the like, the driving control unit 16 may generate a control value for driving within that range and control driving according to the generated control value. In addition, the driving control unit 16 may adjust the control values ​​during these driving operations so as to maintain the driving route based on the detection information from the vehicle sensor, or so as to drive so as not to interfere with surrounding objects recognized based on the detection information from the vehicle sensor. This allows the automobile 2 to travel, for example, according to the administrative control or remote control of the cruise control assistance system 1 and basically maintain the travel path so as not to interfere with surrounding objects. After that, the traveling control unit 16 advances the process to step ST8.

[0112] In step ST6, the driving control unit 16 generates secondary detection information required for high-load control of level 3 or higher in the vehicle in order to execute autonomously complete control. The driving control unit 16 may generate the secondary detection information based on spatial information around the vehicle. The secondary detection information may include recognition information of lane boundary lines on the road on which the vehicle is traveling and recognition information of surrounding objects such as other moving bodies around the vehicle. The driving control unit 16 may use AI processing by machine learning in the object extraction processing for the spatial information and the recognition processing for the extracted objects.

[0113] In step ST7, the driving control unit 16 executes driving control of the automobile 2 based on the detection information of the host vehicle sensor. The detection information of the host vehicle sensor here includes the secondary detection information generated in step ST6. The driving control unit 16 may generate a control value for maintaining the driving route based on the detection information of the vehicle, or generate a control value for driving without interfering with surrounding objects. The driving control unit 16 controls driving based on the generated control value. This allows the automobile 2 to travel basically maintaining the travel route by its own autonomous control and without interfering with surrounding objects. After that, the travel control unit 16 advances the process to step ST8.

[0114] In step ST8, the driving control unit 16 judges whether or not to end the driving control of the automobile 2. The driving control unit 16 may judge to end the driving control of the automobile 2 based on, for example, whether or not the automobile 2 has arrived at the destination and stopped. If the driving control unit 16 does not judge to end the driving control of the automobile 2, the driving control unit 16 returns the process to step ST1. The driving control unit 16 repeats the processes from step ST1 to step ST8 and continues the driving control of the automobile 2 until it judges to end the driving control of the automobile 2. When it judges to end the driving control of the automobile 2, the driving control unit 16 ends this control.

[0115] FIG. 14 is a diagram for explaining an example of the flow of a map update in the cruise control assistance system 1 of this embodiment. FIG. 14 shows high-precision map data 82 for a narrow area, interpolated data 84 for no-passage, and use prohibition setting data 85 for prohibiting the use of utility poles, all of which are recorded in the server memory 63 of the low-level support server device 5. In Fig. 14, time flows from top to bottom. A number of timings, T1 to T4, are shown in the figure. Also, for each of the timings, T1 to T3, a diagram showing the actual driving environment is shown. The driving environment at each time shows a car 2 traveling on a road or other path, and a utility pole ahead in the direction of travel.

[0116] At a first timing T1, an accident occurs in which the automobile 2 collides with a utility pole 91 standing on the roadside. As a result, the utility pole 91 falls onto the road on which the automobile 2 is traveling, as shown at a second timing T2.

[0117] At a second timing T2 after the accident, another automobile 2, different from the automobile involved in the accident, is traveling toward the location of the fallen utility pole 92. The automobile 2 detects surrounding spatial information, including information about the fallen utility pole 92 on the roadway, using the stereo camera 23, the Lidar 24, or the omnidirectional camera 25. As a result, the vehicle information recognition unit 87 of the lower support server device 5 generates recognition information about the fallen utility pole 92 recognized based on the detection information acquired from the automobile 2. Based on this recognition information, the interpolation control unit 86 of the lower support server device 5 generates interpolation data 84 including position information and range information of the area where travel is obstructed by the fallen utility pole 92, and records it in the server memory 63. In addition, the interpolation control unit 86 of the lower support server device 5 may generate use prohibition setting data 85 regarding information about the utility pole 91 before it fell, and record the data in the server memory 63 . Thereafter, the lower support unit 88 and relay control unit 89 of the lower support server device 5 will generate and verify support information using the interpolation data 84 and the use prohibition setting data 85, together with the high-precision map data 82 of the narrow area recorded in the server memory 63.

[0118] At a third timing T3, the fallen utility pole is repaired. In response to a report of an accident, the utility pole manager removes and repairs the fallen utility pole 92. The repaired utility pole may be repaired in the same position (93) as the original, or may be moved to a position (94) slightly shifted from the original position before repair, as shown by the dashed line in the figure. By such repair, the utility pole 92 that was fallen before the repair is no longer recognized by the vehicle information recognition unit 87 of the lower support server device 5 based on the detection information of the automobile 2. Instead, the utility pole 93 that has been repaired in its original position is recognized by the vehicle information recognition unit 87 of the lower-level support server device 5 based on the detection information of the automobile 2. The interpolation control unit 86 of the lower support server device 5 deletes the interpolation data 84 and the use prohibition setting data 85 for the fallen utility pole 92 from the server memory 63 based on the fact that recognition information for the fallen utility pole 92 is no longer detected.

[0119] However, when the repaired utility pole 94 is repaired at a position shifted from the original position of the fallen utility pole as shown by the dashed line in the figure, the interpolation control unit 86 of the lower support server device 5 deletes the interpolation data 84 and the use prohibition setting data 85 for the fallen utility pole 92 from the server memory 63 based on the fact that the recognition information for the fallen utility pole 92 is no longer detected, and records the interpolation data 84 and the use prohibition setting data 85 for the relocated repaired utility pole 94 in the server memory 63. The interpolation data 84 and the use prohibition setting data 85 recorded in the server memory 63 are updated to those for the relocated utility pole. As a result, the interpolation data 84 and the like for the utility pole are not deleted from the server memory 63.

[0120] Thereafter, at a third timing T4, the map update server device 8 updates the high-precision map data 82 for the small area recorded in the server memory 63 of the lower support server device 5. This update includes information about the utility pole 94 repaired at the third timing T3. Based on a notification that the high-precision map data 82 of the narrow area of ​​the lower support server device 5 has been updated, the interpolation control unit 86 of the lower support server device 5 deletes from the server memory 63 the interpolation data 84 and the like that overlaps with information in the high-precision map data 82 of the narrow area. At this time, the interpolation control unit 86 of the lower support server device 5 may confirm that the updated high-precision map data 82 for the narrow area contains information that does not deviate from the interpolation data 84, and then determine that the interpolation data 84 is duplicated.

[0121] In this way, the map data sets 82-85 recorded in the server memory 63 of the lower support server device 5 are continuously updated so as not to deviate from reality, based on information detected around the real world by a plurality of automobiles 2 traveling on the road. The map data sets 82-85 can provide highly accurate map data that quickly responds to changes in the conditions of the real road.

[0122] As described above, in this embodiment, the driving control support system 1 for the automobile 2 includes a plurality of support server devices 5, 7 that generate information for supporting driving control of the automobile 2 based on each of the high precision map data 67 and transmit the information to the automobile 2, as well as a map update server device 8 that updates the plurality of high precision map data 67 recorded in the plurality of support server devices 5, 7. In addition, the plurality of high precision map data 67 recorded in the plurality of support server devices 5, 7 includes high precision map data 82 of a narrow area recorded in the lower support server device 5, and high precision map data 81 of a wide area including the high precision map data 82 of the narrow area recorded in the upper support server device 7. In this embodiment, the map update server device 8 updates the high precision map data 82 for the narrow area and the high precision map data 81 for the wide area based on common data. In particular, in this embodiment, the map update server device 8 updates the high precision map data 81 for the wide area out of the high precision map data 82 for the narrow area and the high precision map data 81 for the wide area, and then updates the high precision map data 82 for the narrow area using the updated high precision map data 81 for the wide area or equivalent high precision map data. As a result, the high precision map data 82 for the narrow area recorded in the updated lower support server device 5 and the high precision map data 81 for the wide area recorded in the updated higher support server device 7 are updated so that a certain degree of consistency between them is ensured or maintained. In response to this, for example, the map update server device 8 may update the high-precision map data 82 for the narrow area out of the high-precision map data 82 for the narrow area and the high-precision map data 81 for the wide area, and then use the updated high-precision map data 82 for the narrow area to update the high-precision map data 81 for the wide area. However, the high-precision map data 82 for the narrow area generally contains finer information than the high-precision map data 81 for the wide area. Therefore, when updating the high-precision map data 67 in this manner starting from the narrow area, it may become difficult to uniquely identify a location in the high-precision map data 81 for the wide area that corresponds to an update location in the high-precision map data 82 for the updated narrow area. In this embodiment, it is possible to satisfactorily update the multiple pieces of high-precision map data 67 so as not to cause such a consistency problem. The multiple assistance server devices 5, 7 of the driving control assistance system 1 of this embodiment can generate multiple pieces of assistance information that have a certain degree of consistency between them by ensuring a certain degree of consistency between the respective high precision map data 67, and transmit the information to each automobile 2. On the premise that a certain degree of consistency is ensured between the multiple pieces of assistance information acquired from the multiple assistance server devices 5, 7, the automobile 2 can execute driving control using the acquired multiple pieces of assistance information. In this manner, the present embodiment can improve the driving control assistance system 1 for the automobile 2 having a map update function.

[0123] In this embodiment, the lower support server device 5 includes a server communication unit 61 that receives real detection information by the vehicle sensor of the automobile 2 through direct communication with the automobile 2, a vehicle information recognition unit 87 that generates recognition information according to the real driving environment of the automobile 2 based on the detection information of the automobile 2 received by the server communication unit 61 through direct communication in order to support driving control of the automobile 2, an interpolation control unit 86 that generates interpolation data 84 that complements the difference between the real driving environment of the high-precision map data 82 of the narrow area and the generated recognition information based on the generated recognition information so as to compensate for the discrepancy when there is a discrepancy between the generated recognition information and the driving environment based on the high-precision map data 82 of the narrow area, and a lower support unit 88 that supports driving control of the automobile 2. The lower support unit 88 generates lower support information that supports driving control of the automobile 2 by preferentially using the interpolation data 84 over the high-precision map data 82 of the narrow area. As a result, the lower support information generated by the lower support unit 88 to support the driving control of the automobile 2 can be adapted to correspond to the actual driving environment detected by the vehicle sensor of the automobile 2 even if the high-precision map data 82 of the narrow area has not been updated to correspond to the actual driving environment. For example, even if there is an actual change in the driving environment and the map update server device 8 has not yet executed a corresponding change, the lower support unit 88 can generate lower support information corresponding to the actual driving environment. Furthermore, even in a situation where only the high-precision map data 81 of the wide area has been updated, for example, out of the high-precision map data 82 of the narrow area and the high-precision map data 81 of the wide area, which are basically desired to be updated simultaneously, the lower support unit 88 can generate lower support information corresponding to the actual driving environment. The high-precision map data 82 of the narrow area and the high-precision map data 81 of the wide area are less likely to need to be updated simultaneously. Furthermore, when generating the interpolated data 84, if corresponding information is included in the high precision map data 82 of the narrow area, the lower support unit 88 of this embodiment uses the interpolated data 84 instead of the corresponding information in the high precision map data 82 of the narrow area to generate lower support information that supports driving control of the automobile 2. In this embodiment, information in the high precision map data 82 of the narrow area that does not match reality can be replaced with the interpolated data 84 and used to generate the lower support information. In this embodiment, lower support information that has been changed to match reality can be generated without updating the high precision map data 82 of the narrow area itself. Furthermore, when the high precision map data 82 for a narrow area is updated by the map update server device 8, the interpolation control unit 86 of this embodiment compares the generated interpolation data 84 with the updated high precision map data 82 for the narrow area. Then, in this embodiment, when the updated high precision map data 82 for the narrow area contains information corresponding to the interpolation data 84, the interpolation data 84 is deleted. In this embodiment, after the high precision map data 82 for the narrow area is updated, the information of the updated high precision map data 67 can be returned to be used for generating lower level support information.

[0124] In this embodiment, in the lower support server device 5, the interpolation control unit 86 can record map data 83 for a very small area corresponding to a part of the high-precision map data 82 for a narrow area separately from the high-precision map data 82 for a narrow area. Then, the lower support unit 88 generates lower support information for supporting driving control of the automobile 2 by preferentially using the map data 83 for the very small area over the high-precision map data 82 for a narrow area. As a result, the lower support information generated by the lower support unit 88 to support the driving control of the automobile 2 can replace part of the high-precision map data 82 for a narrow area with the map data 83 for a very small area. By making it possible to replace a part of the high-precision map data 82 for a narrow area with the map data 83 for a very small area, in this embodiment, high-precision map data for a very small area 74, such as a parking lot, that is not included in the high-precision map data 67 can be used to generate lower-level support information. In this embodiment, the range in which the lower-level support server device 5 can support driving control can be freely expanded by the map data 83 for the very small area. The map data 83 for the very small area can be, for example, that for a redeveloped area, or that for an underground parking lot of a commercial facility. Businesses can easily register the map data 83 for the very small area in this system as part of their own services and actively use it for visitors by car 2. In this embodiment, only the lower support server device 5 among the lower support server device 5 and the upper support server device 7 records and uses preferentially used data such as the map data 83 of the very small area. The lower support server device 5 responds to temporary changes. As a result, the upper support server device 7 does not need to record and use data corresponding to temporary changes. The upper support server device 7 does not need to manage the map data 83 of the very small area corresponding to temporary changes, or update the data accordingly. In addition, by recording the data corresponding to temporary changes only in the lower support server device 5, communication for transmitting the data to the upper support server device 7 is not required. The communication load in the driving control support system 1 can be reduced. Information corresponding to temporary changes is transmitted and received only in communication from the automobile 2 to the lower support server device 5.

[0125] The map data 83 of the very small area recorded and used in the lower support server device 5 of this embodiment may be high-precision map data in the same format as the high-precision map data 82 of the narrow area used in the lower support server device 5. In this case, the map data 83 of the very small area may include information such as guide lines for the driving roads or driving areas in which the automobile 2 can travel in the very small area, boundary lines, guide lines for intersections and junctions, dividing lines for each parking space, and surrounding objects recognizable from the automobile 2. However, the map data for the very small area provided by the business operator may be in a format different from that of the high-precision map data 82 for the narrow area. In this case, the interpolation control unit 86 may convert the map data for the very small area in a different format provided by the business operator into data in a format similar to that of the high-precision map data 82 for the narrow area used in the lower support server device 5, and record the converted data in the server memory 63 of the lower support server device 5. Alternatively, the server CPU 64 of the lower support server device 5 may execute driving support control based on the map data 83 for the very small area as a separate control from driving support control based on the high-precision map data 82 for the narrow area.

[0126] Here, the extremely small area may be an area on a paper map where a vehicle can pass, not limited to the above-mentioned examples. Alternatively, the extremely small area may be an area on a paper map where a car 2 or the like can be recognized as being passable. Furthermore, the extremely small area may be understood as an extremely small area necessary for preventing a collision (running out) when a vehicle enters a general road, such as a connection (intersection) between a general road and a forest road. For example, data on expressways, which are higher-level roads, may be assigned to the high-precision map data 81 for a wide area, data on national and prefectural roads, which are lower-level roads, may be assigned to the high-precision map data 82 for a narrow area, and data on municipal roads, private roads, parking lots, and roads between fields and rice paddies, which are even lower-level roads, may be assigned to the map data 83 for an extremely small area. Also, municipal roads in cities and urban areas with heavy traffic may be recorded in the high-precision map data 82 for a narrow area, and municipal roads in rural and suburban areas with light traffic may be recorded in the map data 83 for an extremely small area.

[0127] In this embodiment, the lower support server device 5 directly communicates the lower support information generated by itself to the automobile 2 from the server communication unit 61, and relays the upper support information received from the upper support server device 7 to the automobile 2 as a relay server device of the upper support server device 7. The upper support server device 7 does not directly communicate with the automobile 2, unlike the lower support server device 5. The relay control unit 89 evaluates the upper support information using the high-precision map data 82 and the interpolation data 84 of the narrow area used by the lower support server device 5, and relays the upper support information to the automobile 2 as it is only if the evaluation is good. If the evaluation is not good, the relay control unit 89 does not relay the upper support information to the automobile 2, or adjusts the upper support information and relays it to the automobile 2. In this embodiment, the high-precision map data 67 of the lower support server device 5 and the like are used as a comparison evaluation criterion to evaluate the upper support information generated by the upper support server device 7, and control relaying to the automobile 2.

[0128] The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible without departing from the gist of the invention.

[0129] The driving control assistance system 1 of the embodiment described above has a plurality of lower support server devices 5 and a higher support server device 7 as a plurality of support server devices that use the high-precision map data 67. The driving control assistance system 1 may be equipped with a plurality of higher support server devices 7. Furthermore, the multiple support server devices in the driving control support system 1 may be in a hierarchical structure of three or more levels. In this case, the support server device in the lowest level has the same functions as the above-mentioned lower support server device 5, so that the support information generated by the support server device in each level for supporting the driving control of the vehicle can be adjusted according to the actual driving environment. The support server devices in the second lowest level and higher levels may have the same configuration as the above-mentioned higher support server device 7.

[0130] In the above-described embodiment, among the lower support server device 5 and the higher support server device 7, only the lower support server device 5 records and uses preferentially used data such as the map data 83 for the very small area. In addition, data to be used preferentially, such as map data 83 for a very small area, may also be recorded and used in the higher-level support server device 7. This allows the higher-level support server device 7 to generate higher-level support information corresponding to temporary changes, etc., and transmit it to the lower-level support server device 5. The lower-level support server device 5 can transmit such higher-level support information from the higher-level support server device 7 to the automobile 2 as is. This reduces the processing load on the lower-level support server device 5. [Explanation of symbols]

[0131] 1...driving control support system, 2...automobile (vehicle), 3...base station, 4...carrier communication cable, 5...lower support server device, 6...carrier communication network, 7...upper support server device, 8...map update server device, 10...control system, 11...driving control unit, 12...steering control unit, 13...braking control unit, 14...driving operation unit, 15...vehicle sensor unit, 16...driving control unit, 17...vehicle communication unit, 18...central gateway device, 19...cable, 21...acceleration sensor, 22...corner radar, 23...stereo camera, 24...Lidar, 25...all-around camera, 26...GNSS receiver, 31...vehicle memory, 32...vehicle ECU, 33...vehicle High-precision map data, 60... server device, 61... server communication unit, 62... server GNSS receiver, 63... server memory, 64... server CPU, 65... server bus, 66... ​​base station communication unit, 67... high-precision map data of jurisdiction, 68... other server device, 70... first narrow area, 71... second narrow area, 72... wide area, 74... very small area, 81... high-precision map data of wide area, 82... high-precision map data of narrow area, 83... map data of very small area, 84... interpolation data, 85... use prohibition setting data, 86... interpolation control unit, 87... vehicle information recognition unit, 88... lower support unit, 89... relay control unit, 91 to 94... utility pole, 110... GNSS satellite

Claims

1. a plurality of support server devices each having a server recording unit for recording high-precision map data, each generating information for supporting vehicle driving control based on the high-precision map data and transmitting the information to the vehicle; a map update server device having a server communication unit connectable to the plurality of support server devices, and updating the plurality of high precision map data recorded in the plurality of support server devices; having the multiple high-precision map data recorded in the multiple support server devices include high-precision map data for a narrow area recorded in a lower-level support server device, and high-precision map data for a wide area including an area of ​​the high-precision map data for the narrow area recorded in a higher-level support server device, The map update server device After updating the high precision map data for a wide area among the high precision map data for a narrow area and the high precision map data for a wide area, updating the high-precision map data of the narrow area using the updated high-precision map data of the wide area or equivalent high-precision map data; A vehicle cruise control support system with map update function.

2. a plurality of support server devices each having a server recording unit for recording high-precision map data, each generating information for supporting vehicle driving control based on the high-precision map data and transmitting the information to the vehicle; a map update server device having a server communication unit connectable to the plurality of support server devices, and updating the plurality of high precision map data recorded in the plurality of support server devices; having the multiple high-precision map data recorded in the multiple support server devices include high-precision map data for a narrow area recorded in a lower-level support server device, and high-precision map data for a wide area including an area of ​​the high-precision map data for the narrow area recorded in a higher-level support server device, The map update server device updating the high-precision map data for a narrow area and the high-precision map data for a wide area based on common data; The subordinate support server device A server communication unit that communicates with the vehicle and receives real-world detection information from a vehicle sensor of the vehicle; A recognition unit that generates recognition information according to a real driving environment of the vehicle based on detection information of the vehicle received by the server communication unit through direct communication; an interpolation control unit that generates interpolation data for compensating for a difference between the high-precision map data of a narrow area and an actual driving environment based on the generated recognition information; A lower support unit that supports driving control of the vehicle, The lower level support unit includes: generating lower level support information for supporting driving control of the vehicle by using the interpolated data preferentially over the high-precision map data of a narrow area; A vehicle cruise control support system with map update function.

3. The lower level support unit includes: generating lower-level support information for supporting driving control of the vehicle by using the interpolated data instead of the corresponding information of the high-precision map data of the narrow area when the information corresponding to the interpolated data is included in the high-precision map data of the narrow area; 3. A vehicle cruise control assistance system having a map update function according to claim 2.

4. The subordinate support server device The lower-level support information generated by the lower-level support unit in order to support driving control of the vehicle in the lower-level support server device is communicated from the server communication unit to the vehicle; The host support server device generating higher-level support information different from the lower level support server device or higher-level support information for a longer distance than the lower level support information in order to support driving control of the vehicle, and transmitting the higher-level support information to the lower level support server device; The subordinate support server device a relay control unit that controls relay transmission of the higher-level support information received from the higher-level support server device to the vehicle, The relay control unit is the higher-level support information is evaluated based on the high-precision map data and the interpolation data of the narrow area used in the lower-level support server device, and if the evaluation is favorable, the higher-level support information is relayed to the vehicle as is.

4. A vehicle cruise control support system having a map update function according to claim 2 or 3.

5. The interpolation control unit When the high-precision map data of a narrow area is updated by the map update server device, the generated interpolation data is compared with the updated high-precision map data of the narrow area, When the updated high-precision map data of the narrow area includes information corresponding to the interpolation data, the interpolation data is deleted.

5. A vehicle cruise control assistance system having a map update function according to claim 2.

6. Among the lower level support server device and the upper level support server device, only the lower level support server device the interpolation control unit is capable of recording high-precision map data of a very small area corresponding to a part of the high-precision map data of a narrow area, the lower level support unit generates lower level support information for supporting driving control of the vehicle by preferentially using the high-precision map data of the very small area rather than the high-precision map data of the narrow area.

6. A vehicle cruise control assistance system having a map update function according to claim 2.

7. A map update server device used in a vehicle cruise control assistance system, the map update server device having a plurality of assistance server devices each generating information for assisting vehicle cruise control based on high-precision map data and transmitting the information to the vehicle, A server communication unit that can be connected to a plurality of the support server devices; a control unit that updates a plurality of high-precision map data recorded in each of the plurality of support server devices, the multiple pieces of high-precision map data recorded in the multiple supporting server devices include high-precision map data of a narrow area recorded in a lower-level supporting server device, and high-precision map data of a wide area including an area of ​​the high-precision map data of the narrow area recorded in a higher-level supporting server device, The control unit is After updating the high precision map data for a wide area among the high precision map data for a narrow area and the high precision map data for a wide area, updating the high-precision map data of the narrow area using the updated high-precision map data of the wide area or equivalent high-precision map data; A map update server device.

8. In a driving control assistance system for assisting driving control of a vehicle, an assistance server device is provided that generates information for assisting driving control of a vehicle and transmits the information to the vehicle, a server recording unit that records high-precision map data so that the high-precision map data can be updated by a map update server device provided in the driving control assistance system; a control unit that generates information for supporting driving control of the vehicle by using the high-precision map data recorded in the server recording unit, The server recording unit includes: together with the high-precision map data that can be updated by a map update server device provided in the driving control assistance system, interpolation data that interpolates the high-precision map data, use prohibition setting data that prohibits use of part of information of the high-precision map data, or map data for a very small area that is a part of an area of ​​the high-precision map data are recorded, The control unit is generating information for supporting driving control of the vehicle by using the interpolation data, the use prohibition setting data, or the map data for the extremely small area recorded in the server recording unit with priority over the updatable high-precision map data; Support server device.

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