On-vehicle information processing device, map data management center device, and map data management system

Abstract

To enable a mobile to travel more responding to an actual condition by detecting a step elimination zone corresponding to a road surface situation of a road.SOLUTION: The present invention relates to an on-vehicle information processing device realized by an MPU 7 connected with a sensor 2 and provided in a vehicle 1. The on-vehicle information processing device comprises: a curb stone shape detection unit 3 for detecting a curb stone shape that is a step situation on a road surface using a road surface situation of a road where the vehicle 1 moves, detected by the sensor 2; a passage attention location detection unit 5 for detecting a passage attention location that is a sort of a step elimination zone satisfying predetermined conditions based on the curb stone shape; and an output unit for outputting the passage attention location information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an information processing technology that executes processing according to the results of detecting road conditions, and in particular, to information processing that uses the results of detecting whether the outside of a road (carriageway), known as the roadside or shoulder, is in a predetermined state. [Background technology]

[0002] Currently, information processing according to road conditions is being carried out for automatic driving and driving assistance. In these automatic driving and driving assistance, it is necessary to detect surrounding objects outside the road as places where traffic should be careful. For example, Patent Document 1 describes places where there are entrances and exits to buildings and intersections. Patent Document 2 describes that the presence or absence of guardrails is used as a criterion for recording the driving danger level for each road section. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-164611 A [Patent Document 2] JP 2014-211756 A Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, Patent Documents 1 and 2 disclose technologies for detecting entry areas outside the road where there is a relatively high possibility that other people may enter. In order to popularize autonomous driving and driving assistance, it is desirable for such entry areas to be shared among each vehicle and driver.

[0005] Here, the ease with which others can enter a road also varies depending on the road surface. For example, in areas where the curb between the sidewalk and the roadway is cut or where there is a slope, pedestrians, bicycles, and the like may jump out. In other words, there are entry areas on roads other than the building entrances and exits described in Patent Documents 1 and 2. For this reason, it is necessary to detect the entry areas according to the road surface. [Means for solving the problem]

[0006] Therefore, in the present invention, it is detected whether the road surface is an approach area, that is, a step-eliminating area, and the area is managed separately from other areas. Here, a step-eliminating area refers to an area where the step condition on the road surface satisfies a predetermined condition, and includes an area with no curbstones and an area with a slope. The predetermined condition of the step condition is a condition related to the difference in elevation between the road (carriageway) and the adjacent area, and includes the absence of a curbstone, the difference in elevation being equal to or less than a predetermined level, and the slope being equal to or less than a predetermined level.

[0007] A more specific configuration of the present invention is an in-vehicle information processing device connected to a sensor and installed in a moving body, A storage unit stores information on a traffic caution point indicating a traffic caution point in the moving object and map information, and a vehicle driving control unit determines whether a current position of the moving object is a traffic caution point based on the information on the traffic caution point and the map information; a step condition detection unit that detects a step condition on a road surface by using the road surface condition of the road on which the moving object is traveling detected by the sensor; and The current location of the moving object is Areas where the step is eliminated and meet certain conditions If the current position of the moving body is in a step-eliminating area and the current position of the moving body is not recorded in the information on the caution point, the step-eliminating area which is the current position of the moving body is set as a caution point and the information on the caution point is updated. If the current position of the moving body is not in a step-eliminating area and the current position of the moving body is recorded in the information on the caution point, the recorded caution point is deleted from the information on the caution point. A detection unit; Updated information on the above-mentioned traffic caution areas The in-vehicle information processing device has an output unit that outputs the above.

[0008] The present invention also includes a map data management center device connected to the in-vehicle information processing device, and a map data management system having these. Furthermore, the present invention also includes methods using these devices, programs for operating the in-vehicle information processing device and the map data management center device, and storage media storing these programs. Effect of the Invention

[0009] According to the present invention, it is possible to detect a step clearance area according to the road surface conditions, thereby enabling a mobile object to travel in a manner more suited to the actual conditions. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a system configuration according to an embodiment of the present invention; [Diagram 2] FIG. 1 shows a road targeted in the first embodiment. [Diagram 3] Processing flow diagram in Example 1 [Figure 4] FIG. 1 is a diagram for explaining extraction method (1) of Example 1. [Diagram 5] FIG. 1 is a diagram for explaining extraction method (2) of Example 1. [Figure 6] FIG. 1 is a diagram for explaining extraction method (3) of Example 1. [Figure 7] FIG. 1 is a diagram for explaining extraction method (4) of Example 1. [Figure 8] Processing flow diagram in Example 1 [Figure 9] FIG. 11 is a diagram for explaining a control of a vehicle in the second embodiment. [Figure 10] Vehicle control process flow diagram in embodiment 2 [Figure 11] FIG. 13 is a diagram for explaining vehicle evacuation control in the third embodiment. [Figure 12] Flow diagram of vehicle evacuation control process in the third embodiment DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present invention will be described below. In this embodiment, a caution area is identified as an example of a road step elimination area, and a vehicle 1, which is a moving body, is controlled based on the identified area. Fig. 1 is a diagram showing a system configuration in this embodiment of the present invention. This embodiment includes a vehicle 1, which is a type of moving body, and a map data management center 11, which is realized as a server capable of communicating with the vehicle 1.

[0012] Here, vehicle 1 has sensors for detecting various conditions, such as a sensor 2 for detecting the condition of road curbs, a position information acquisition sensor 6 for acquiring position information of vehicle 1, and a vehicle behavior detection sensor 4 for acquiring the traveling state of vehicle 1 and the behavior of the vehicle.

[0013] These sensors are connected to an in-vehicle information processing device, the MPU 7, via an in-vehicle network. The MPU 7 is a map position management system (Map Position Unit).

[0014] For this purpose, the MPU 7 has a storage unit (database) that stores information 8 about caution points and map information 9. Furthermore, the MPU 7 executes the following various processes (functions) using this information and the conditions detected by the sensors. That is, the MPU 7 executes each function in the curb shape detection unit 3, the caution point detection unit 5, and the vehicle driving control unit 10. These processes may be executed by the processing unit according to a program, or may be realized by a dedicated circuit (unit). Furthermore, each of these units may be executed by a configuration separate from the MPU 7.

[0015] The curb shape detection unit 3 detects the shape of the curb according to the road surface condition detected by the sensor 2. Here, the sensor 2 can be realized by an image capture device such as a camera, and the curb shape detection unit 3 detects the shape of the curb by performing image processing on the image captured by the sensor 2. Note that this detection of the shape of the curb is one example, and the type and detection target of the sensor 2 are not limited to curbs. In other words, the detection of a curb is one example of the detection of a step condition, and the presence or absence of a slope may be detected. In this way, the curb shape detection unit 3 is one example of a step condition detection unit. Note that the presence or absence of a slope can be determined by whether the inclination is equal to or less than a predetermined value.

[0016] The caution point detection unit 5 detects the location as a caution point based on the state of the curb and the map information 9, and stores the location as caution point information 8 in the storage unit. The vehicle driving control unit 10 controls the driving of the vehicle 1 using the detection results of the various sensors, the caution point information 8, and the map information 9. In this manner, the caution point detection unit 5 detects caution points, which are a type of step elimination area. In other words, the caution point detection unit 5 is an example of a step elimination area detection unit. The caution point information 8 is a type of step elimination area information that indicates a step elimination area.

[0017] The map data management center 11 has a storage unit that stores the caution point information 8 and the map information 9, and can be realized by a computer called a server. The caution point information 8 and the map information 9 are generated based on information collected from a plurality of vehicles and distributed to each vehicle. Therefore, the caution point information 8 and the map information 9 of the vehicle and the caution point information 8 and the map information 9 of the map data management center 11 are synchronized. The map data management center 11 may also execute at least one of the functions of the curb shape detection unit 3 and the caution point detection unit 5 described above. Each of these units will be described in detail in each embodiment described later, but at least a part of them may be executed by the map data management center 11. Therefore, the map data management center 11 executes various processes and functions according to a program stored in a storage medium. Hereinafter, each embodiment according to the shape of the target road will be described. EXAMPLES

[0018] FIG. 2 is a diagram showing a road 25 targeted in the first embodiment. At the end of the road 25, there is a curb 21, which separates a sidewalk 24 from the road 25 (carriageway). In this embodiment, a portion 22 without a curb and a portion 23 where the curb forms a slope are detected as a step-eliminating region. However, in this embodiment, even if the curb is cut, a portion with a guardrail 26 and a wall 27 is excluded from the target. Note that the sidewalk 24 may or may not have a step with the road 25. Note that, although the presence or absence of a curb is detected in this embodiment, it may also be possible to detect whether the step between the sidewalk 24 and the road 25 is equal to or smaller than a predetermined difference.

[0019] 3 is a process flow diagram of this embodiment. First, in step S101, this process is started. This is preferably triggered by the start of the vehicle 1.

[0020] Next, in step S102, the position information acquisition sensor 6 acquires the current position of the vehicle 1, that is, the current position of the vehicle itself. The position information acquisition sensor 6 continuously acquires the position information using a GPS or the like.

[0021] In step S103, the vehicle driving control unit 10 judges whether the detected current position of the vehicle is a caution area based on the caution area information 8 and the map information 9. Here, the caution area information 8 and the map information 9 may be stored by the MPU 7 or the map data management center 11.

[0022] The caution point information 8 is information for identifying the position information of a caution point, which is a type of step-eliminating area. The caution point information 8 may be included in the map information 9, and these may be configured as one piece of information.

[0023] In step S104, the curb shape detection unit 3 detects the road surface conditions such as curbs and obstacles on the left and right road edges detected by the sensor 2. In step S105, the caution point detection unit 5 judges whether the road surface conditions detected in step S104 are step elimination areas. In this embodiment, the curb shape detection unit 3 judges whether there is a curb and whether it is sloped. Here, these judgments can be realized by comparing with reference data stored in advance in the storage unit. In addition, it may be judged whether the height difference between the sidewalk 24 and the road 25 is a predetermined value or more. In this way, in step S105, it is sufficient to judge whether the adjacent shape condition, which is a condition regarding the shape of the adjacent sidewalk 24 and the road 25, satisfies a predetermined condition. Here, when multiple conditions are used as the adjacent shape condition, it is judged that the adjacent shape condition is satisfied if at least one condition is satisfied.

[0024] As a result, if a curb exists or the curb is sloping (Y), the process proceeds to step S106. If a curb does not exist and the curb is not sloping (N), the process proceeds to step S107.

[0025] Next, in step S106, the caution point detection unit 5 judges whether the position judged in step S105 is a point without a curb or has a slope (a point to be careful of) in the caution point information 8. In other words, it judges whether it is recorded in the caution point information 8. If the result is that the point is without a curb or has a slope (a point to be careful of), (Y), the process ends (transition to step S110). If the point is neither without a curb nor has a slope (not a point to be careful of), (N), the process transitions to step S108.

[0026] Then, in step S108, the caution point detection unit 5 performs an update process to add the caution point detected in step S105 to the caution point information 8. Here, if the caution point information 8 is stored in the storage unit of the MPU 7, the caution point detection unit 5 updates it. If the caution point information 8 is stored in the storage unit of the map data management center 11, the caution point detection unit 5 transmits an update command including the result detected in step S105 to the map data management center 11. Then, the map data management center 11 updates the caution point information 8 stored by itself. Note that it is preferable to have an output unit for outputting caution points for this update process.

[0027] In step S107, the caution point detection unit 5 judges whether the position judged in step S105 is a point without a curb or has a slope (a point to be careful of) in the caution point information 8. That is, similar to step S106, it judges whether it is recorded in the caution point information 8. As a result, if the position is a point without a curb or has a slope (a point to be careful of), (Y), the process proceeds to step S109. If the position is neither without a curb nor has a slope (not a point to be careful of), (N), the process ends (step S110).

[0028] Then, in step S109, the caution point detection unit 5 performs an update process to delete the corresponding position detected in step S105 from the caution point information 8. Here, if the caution point information 8 is stored in the storage unit of the MPU 7, the caution point detection unit 5 updates it. Also, if the caution point information 8 is stored in the storage unit of the map data management center 11, the caution point detection unit 5 transmits an update command (delete command) including the result detected in step S105 to the map data management center 11. Then, the map data management center 11 updates (deletes) the caution point information 8 stored by itself.

[0029] In addition, in steps S109 and S108, the cautionary passage area detection unit 5 updates the cautionary passage area information 8 in the MPU 7 and notifies the result to the map data management center 11. In this way, the cautionary passage area information 8 in the MPU and the map data management center 11 may be synchronized.

[0030] This concludes the explanation of the basic processing flow of the first embodiment. In the real world, there are a great number of caution points where the curb of the road is broken or sloped. For this reason, in order to realize more efficient processing, it is more desirable to narrow down the points to those that satisfy other road conditions. Therefore, as a modified example of the first embodiment, this narrowing down, that is, the extraction process, will be explained.

[0031] The extraction method will be described by taking the following (1) to (4) as examples, and the details of (1) to (4) will be described thereafter. (1) Where the road forks in the road opposite a section where the curb is cut or slopes (2) Where the curb is cut or slopes, and there is a building on the sidewalk side of the road, it is difficult to see pedestrians or bicycles that rush out onto the road. (3) A long section of unbroken curb continues beyond which the curb is broken. (4) A place where the curb is cut for a long period of time, not at a road fork or a building entrance / exit. Details of (1) to (4) are explained below. <Extraction method (1)> FIG. 4 is a diagram for explaining the extraction method (1) of this embodiment. In FIG. 4, a place where there is a branch 28 on the road opposite the place 22 without a curb is set as a caution place. That is, when the place 22 without a curb is detected and the branch 28 is detected by the sensor 2, the caution place detection unit 5 judges in step S105 that a caution place exists, which is a kind of step elimination area (Y). This is because the presence of the branch 28 increases the possibility that the driver's attention will be directed to the branch 28 or that a bicycle or the like will move from the place 22 without a curb toward the branch 28. For this reason, in the extraction method (1), caution places are extracted from the road shown in FIG. 4. <Extraction method (2)> Fig. 5 is a diagram for explaining extraction method (2) of this embodiment. In Fig. 5, a building 29 is present on the sidewalk 24 side of a curbless area 22, and an area with poor visibility is set as a caution area. That is, when a curbless area 22 is detected and a building 29 is detected by the sensor 2, the caution area detection unit 5 determines in step S105 that a caution area exists, which is a type of step elimination area (Y). This extraction method is adopted because the presence of the building 29 makes it difficult to recognize that a bicycle or the like is moving off the sidewalk 24. <Extraction method (3)> Fig. 6 is a diagram for explaining the extraction method (3) of this embodiment. In Fig. 6, a place on the sidewalk 24 where there is a long stretch of curbs followed by a place 22 without curbs is determined to be a caution place. In other words, when the sensor 2 detects a curb for a predetermined length or for a predetermined time or more and then detects the place 22 without curbs, the caution place detection unit 5 determines in step S105 that there is a caution place, which is a type of step elimination area (Y). This is because there is a high possibility that a bicycle or the like may run off the curb following a long stretch of curbs. <Extraction method (4)> Fig. 7 is a diagram for explaining the extraction method (4) of this embodiment. In Fig. 7, a portion on the sidewalk 24 where a portion 22 where the curbstone is cut continues for a predetermined length or more is set as a caution point. In other words, when a portion 22 without a curbstone is detected for a predetermined length or more, the caution point detection unit 5 judges in step S105 that a caution point, which is a type of step elimination area, exists (Y). This is because the longer the portion without a curbstone is, the higher the possibility that a bicycle or the like may run off the sidewalk.

[0032] In addition to these, the extraction method may use the braking and deceleration points. As described above, in this embodiment, it is possible to narrow down the search results by taking into account other road conditions such as (1) to (4). <Processing flow using extraction method> Next, a process flow for executing the above-mentioned extraction methods (1) to (4) will be described. FIG. 8 is a process flow diagram for executing the extraction methods (1) to (4) which are a modification of the first embodiment. In step S111, this process flow is started. This is the same process as step S101. Next, in step S112, the sensor 2 detects a curb. That is, the same process as step S104 is executed. Then, in step S113, the same process as step S105 is executed. That is, the curb shape detection unit 3 judges whether there is a curb and whether it is sloped. As a result, if there is no curb and it is sloped (Y), the process proceeds to step S114. Also, if there is a curb or it is not sloped (N), this process flow is terminated (step S122).

[0033] Next, in step S114, the current location of the company is obtained in the same manner as in step S102. Note that this step may be performed before step S113 by continuously obtaining location information.

[0034] Next, in step S115, the caution point detection unit 5 acquires the surrounding conditions of the current position from the map information 9 or each sensor. The surrounding conditions include various conditions used in the above-mentioned extraction method. The conditions are used in the following steps. The details are described below.

[0035] Next, in step S116, the caution point detection unit 5 judges whether or not there is a point without a curb or a slope-shaped road on the opposite side branches off. That is, it executes a process corresponding to the extraction method (1). As a result, if there is a branch (Y), the process proceeds to step S121. If there is no branch (N), the process proceeds to step S117.

[0036] Next, in step S117, the caution point detection unit 5 judges whether the section where the curb is not broken is long. That is, it executes the process corresponding to the extraction method (2). As a result, if the section where the curb is not broken is long (Y), the process proceeds to step S121. If the section where the curb is not broken is not long (N), the process proceeds to step S118.

[0037] Next, in step S118, the caution point detection unit 5 judges whether or not there is an obstruction such as a building on the side of the road where the curb is cut. That is, it executes a process corresponding to the extraction method (3). As a result, if there is an obstruction (Y), the process proceeds to step S121. If there is no obstruction (N), the process proceeds to step S119.

[0038] Next, in step S119, the caution point detection unit 5 judges whether the section where the curb is cut without road branches is long. That is, it executes the process corresponding to the extraction method (4). As a result, if it is long (Y), the process proceeds to step S121. If it is not long (N), the process proceeds to step S120.

[0039] Then, in step S120, the caution point detection unit 5 determines whether the location is one where the driver should decelerate, depending on the shape of the road and the control command from the vehicle driving control unit 10. The shape of the road can be identified using the contents detected by various sensors and the map information 9. As a result, if the location is one where the driver should decelerate (Y), the process proceeds to step S121. If the location is not one where the driver should decelerate (N), the process proceeds to step S122, and this processing flow ends.

[0040] When the process proceeds to step S122, the process flow may not end, and a process similar to that of step S109 may be executed.

[0041] In step S121, the caution point detection unit 5 identifies the points identified in steps S116 to S120 as caution point, and executes the same update process as in step S109. It is sufficient to execute at least one of steps S116 to S120, and the order of steps S116 to S120 is not limited.

[0042] This concludes the description of the processing flow of the first embodiment, but this processing can also be partially executed by a map data management center device (hereinafter, map data management center 11) which is a server. For example, steps S105 and after may be executed by the map data management center 11. In this case, it is preferable to use the caution point information 8 and map information 9 stored in the map data management center 11. When these are updated, the map data management center 11 notifies the MPU 7 of the update contents. In this way, this embodiment can be realized as a map data management system including the map data management center 11 and the MPU 7. For this purpose, the map data management center 11 has a receiving unit that receives various information such as the curb shape and caution points from the MPU 7, and an output unit that outputs various information such as the caution point detection unit and caution points.

[0043] Furthermore, a crosswalk may be detected as a place where traffic should be careful. In this case, the detection result of markings or signs on the road surface may be used. Furthermore, if the step elimination area continues for a predetermined period of time, the presence or absence of a protective fence may be determined and this result may be used.

[0044] Furthermore, the update process between the map data management center 11 and the MPU 7 may be executed whenever an update process is required, or may be executed periodically, or may be executed after a predetermined amount of update content has been accumulated. Periodic execution includes regular updates, such as once a week. This concludes the explanation of the first embodiment. EXAMPLES

[0045] Next, as a second embodiment, the control of the vehicle 1 using the cautionary passage location information 8 created in the first embodiment will be described. FIG. 9 is a diagram for explaining the control of the vehicle in the second embodiment. FIG. 9 shows a state in which the vehicle 31 (i.e., the vehicle 1), which is the object of control, is traveling on a road 25 from the bottom to the top of the drawing. Also, in FIG. 9, a bicycle 30 is traveling parallel to the vehicle 31 on a sidewalk 24 beside the road 25. In this embodiment, if the bicycle 30 changes direction and shows signs of jumping out in front of the vehicle 31 from a location 22 without a curb, deceleration control is performed. The control flow of the vehicle including this deceleration control is shown in FIG. 10 below.

[0046] In step S131, this flow starts. This can be realized by using the start of the vehicle as a trigger, similar to steps S101 and S111.

[0047] Next, in step S132, the same processes as in steps S104 and S112 are performed. In addition, in step S133, the vehicle driving control unit 10 acquires the cautionary trajectory areas around the current position acquired in the same manner as in step S114 from the cautionary trajectory area information 8 of the MPU 7 or the map data management center 11.

[0048] Next, in step S134, the vehicle driving control unit 10 judges whether the current position is a caution area. As a result, if it is a caution area (Y), the process proceeds to step S135. On the other hand, if it is not a caution area (N), the process ends (step S139).

[0049] Next, in step S135, the vehicle driving control unit 10 determines whether the bicycle 30 has changed direction and is heading toward the vehicle (road 25) based on the detection results of the sensor 2. As a result, if the bicycle 30 has changed direction toward the vehicle (Y), the process proceeds to step S136. If the bicycle 30 has not changed direction toward the vehicle (N), the process proceeds to step S137. Then, in step S136, the vehicle driving control unit 10 performs deceleration control on the brake mechanism, etc. Note that this step may also perform deceleration control after (1) outputting to an in-vehicle terminal, etc., that deceleration is necessary, or (2) outputting (1).

[0050] Next, in step S137, the vehicle driving control unit 10 determines whether the detection performance of the sensor 2, etc. has deteriorated due to environmental conditions such as the surrounding weather, based on the detection results of the sensor 2, etc. Then, the vehicle driving control unit 10 determines whether the detection performance has deteriorated and the vehicle is in a degenerate mode. This degenerate mode indicates that some of the automatic driving functions are inhibited in order to prioritize safety. As a result, if the vehicle is in the degenerate mode (Y), the process proceeds to step S138. If the vehicle is not in the degenerate mode (N), the process ends (step S139). This step can be omitted.

[0051] Next, in step S138, the vehicle driving control unit 10 controls the vehicle 1, with the current position acquired in step S32 as the location where acceleration is to be suppressed. Note that this step may (1) output to an in-vehicle terminal or the like that the location is the location where acceleration is to be suppressed, or (2) (1) after outputting. Then, the process proceeds to step S139, and the process flow ends. This concludes the explanation of the second embodiment. EXAMPLES

[0052] Next, as a third embodiment, evacuation control for evacuating the vehicle 1 when an emergency occurs to the vehicle 1 will be described. In the third embodiment, the caution points identified in the first embodiment are used as evacuation locations. Since the caution points allow entry from the sidewalk 24 to the road 25, movement in the opposite direction is also possible. In the third embodiment, evacuation control is performed by utilizing this property.

[0053] First, Fig. 11 is a diagram for explaining vehicle evacuation control in Example 3. In Fig. 11, when a vehicle 31 (vehicle 1) in which some abnormality or emergency has occurred needs to be evacuated from a road 25, the vehicle 31 is evacuated to a portion 22 where a curb is cut.

[0054] Next, a process flow of the evacuation control will be described with reference to Fig. 12, which is a process flow of the evacuation control of the vehicle in the third embodiment.

[0055] In step S141, this flow is started. This can be realized by using the start of the vehicle as a trigger, similar to step S141. Next, in step S142, the vehicle driving control unit 10 judges, using the vehicle behavior detection sensor 4, the sensor 2, etc., whether an abnormality or emergency has occurred in the vehicle 1 and evacuation is necessary. Here, abnormalities and emergencies include breakdowns of the vehicle 1 and natural disasters such as earthquakes and fires. Evacuation also includes stopping the vehicle 1.

[0056] As a result of step S142, if it is necessary to stop (Y), the process proceeds to step S142. On the other hand, if it is not necessary to stop (N), this processing flow ends (step S147).

[0057] Next, in step S143, the same process as in step S132 is performed to obtain the vehicle position. Then, in step S144, the vehicle driving control unit 10 obtains the caution points from the caution points information 8 in the storage unit of either the MPU 7 or the map data management center 11. In this case, it is preferable to obtain the section with long, broken curbs identified in step S117 of the first embodiment.

[0058] Next, in step S145, the vehicle driving control unit 10 judges whether the vehicle position is the caution point acquired in step S144 or is within a predetermined range. As a result, if the vehicle position is the caution point or is within the predetermined range (Y), the process proceeds to step S146. If the vehicle position is not the caution point or is not within the predetermined range (N), the process flow ends (step S147). If the vehicle position is not the caution point or is not within the predetermined range (N), the process may return to step S143 and loop the subsequent processes. If a pedestrian crossing is stored as a caution point, the pedestrian crossing may be excluded from the process.

[0059] Next, in step S146, the vehicle driving control unit 10 performs control to stop the vehicle at the caution point acquired in step S144. Note that this step may also perform the stop control after (1) outputting a stop instruction to an in-vehicle terminal or the like, or (2)(1) output. Then, the process proceeds to step S147, and this processing flow ends. This concludes the explanation of the third embodiment. [Explanation of symbols]

[0060] 1: Vehicle, 2: Sensor, 3: Curb shape detection unit, 4: Vehicle behavior detection sensor, 5: Caution area detection unit, 6: Position information acquisition sensor, 7: MPU, 8: Caution area information, 9: Map information, 10: Vehicle driving control unit, 11: Map data management center

Claims

1. An in-vehicle information processing device connected to a sensor and installed in a moving body, A storage unit that stores map information and cautionary point information indicating cautionary points in the moving object; a vehicle driving control unit that determines whether a current position of the moving object is a caution area based on the caution area information and the map information; a step condition detection unit that detects a step condition on a road surface using the road surface condition of the road on which the moving object is traveling detected by the sensor; determining whether a current position of the moving object is within a step-eliminating area that satisfies a predetermined condition based on the step condition; When the current position of the moving body is a step-eliminating area and the current position of the moving body is not recorded as a caution point in the caution point information, the step-eliminating area which is the current position of the moving body is set as a caution point in the caution point information, and the caution point information is updated. a caution point detection unit that performs an update to delete the recorded caution point from the caution point information when the current position of the moving object is not in a step elimination area and the current position of the moving object is recorded as a caution point in the caution point information; An in-vehicle information processing device having an output unit that outputs the updated cautionary passage area information.

2. 2. The in-vehicle information processing device according to claim 1, The caution area detection unit is an in-vehicle information processing device that uses an adjacent shape condition between the road and an adjacent area of ​​the road as the predetermined condition for the step situation.

3. 3. The vehicle-mounted information processing device according to claim 2, The caution area detection unit is an in-vehicle information processing device that determines, as the adjacent shape condition, whether the elevation difference is equal to or smaller than a predetermined value or whether the inclination is equal to or smaller than a predetermined value.

4. 4. The in-vehicle information processing device according to claim 1, The caution point detection unit is an in-vehicle information processing device that extracts, from the step clearance area, a step clearance area in which other road conditions detected by the sensor satisfy a predetermined condition.

5. A map data management center device is provided in a moving body and connected to an in-vehicle information processing device connected to a sensor, A storage unit that stores map information and cautionary point information indicating cautionary points in the moving object; a receiving unit that receives, from the in-vehicle information processing device, a step condition on a road surface detected using the road surface condition of the road on which the moving object is traveling, which is detected by the sensor; determining whether a current position of the moving object is within a step-eliminating area that satisfies a predetermined condition based on the step condition; When the current position of the moving body is a step-eliminating area and the current position of the moving body is not recorded as a caution point in the caution point information, the step-eliminating area which is the current position of the moving body is set as a caution point in the caution point information, and the caution point information is updated. a caution point detection unit that performs an update to delete the recorded caution point from the caution point information when the current position of the moving object is not in a step elimination area and the current position of the moving object is recorded as a caution point in the caution point information; A map data management center device having an output unit that outputs the updated information on the cautionary passage areas.

6. 6. The map data management center device according to claim 5, The caution area detection unit is a map data management center device that uses an adjacent shape condition between the road and an adjacent area of ​​the road as the predetermined condition for the step condition.

7. 7. The map data management center device according to claim 6, The warning spot detection unit is a map data management center device that determines whether the adjacent shape condition is whether the elevation difference is equal to or smaller than a predetermined value or whether the inclination is equal to or smaller than a predetermined value.

8. 6. The map data management center device according to claim 5, The caution point detection unit is a map data management center device that extracts, from the step-free areas, step-free areas in which other road conditions detected by the sensor satisfy predetermined conditions.

9. 9. A map data management system comprising the map data management center device according to claim 5 and the in-vehicle information processing device.

Images