Driving assistance planning device and driving assistance planning method

Abstract

The purpose of the present disclosure is to provide a driving assistance formulation device and a driving assistance formulation method with which it is possible to determine whether a host vehicle is traveling on a high precision map road with information of a small amount of data while suppressing an increase in the development cost of an IVI system,. This driving assistance formulation device comprises: a normal precision node information acquiring unit that acquires normal precision node information for a travel route of the host vehicle calculated using a normal precision map; a high precision map acquiring unit that acquires a high precision map; an association determining unit that determines whether a normal precision position is associated with a high precision node or a high precision link, on the basis of the normal precision node information and association information that indicates a correspondence relationship between the normal precision map and the high precision map; a travel determining unit that determines whether the host vehicle is traveling on a high precision map road, on the basis of the determination result of the association determining unit; and a driving assistance formulation unit that uses the high precision map to formulate travel assistance for the host vehicle when the travel determining unit has determined that the host vehicle is traveling on a high precision map road.

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance formulation device and a driving assistance formulation method for formulating driving assistance for a driver. [Background technology]

[0002] A technology has been disclosed that includes a high-precision map DB (database) that stores a high-precision map including road shape information for each lane, and generates driving assistance information based on the high-precision map (see, for example, Patent Document 1). The driving assistance information is used in driving assistance systems such as autonomous driving or ADAS (Advanced Driver-Assistance Systems).

[0003] Currently, in the high-precision map DB, map data is being developed in order from expressways and major roads, but it is thought that it will take time to develop map data for general roads. When using driving assistance information in a situation where not all roads are included in the high-precision map, it is important to determine whether the vehicle is traveling on a high-precision map road included in the high-precision map, or a normal-precision map road not included in the high-precision map. Here, a normal-precision map road refers to a road included in a normal-precision map that includes road shape information for each road.

[0004] As a method for determining whether or not the host vehicle is traveling on a high-precision map road included in the high-precision map, for example, a method may be considered, as disclosed in Patent Document 1, in which a normal-precision map DB and a high-precision map DB are provided, a travel trajectory of the host vehicle is obtained using the normal-precision map, and based on the obtained travel trajectory, it is determined whether or not the host vehicle is traveling on a high-precision map road. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2006-266865 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in order to make such a judgment using the above method, it is necessary to have both a high-precision map DB and a normal-precision map DB that stores normal-precision maps at the national level, which increases the data storage capacity and costs.

[0007] Meanwhile, IVI (In-Vehicle Infotainment) systems, which are in-vehicle information systems typified by car navigation systems, are becoming widespread. Since the IVI system is equipped with a normal-accuracy map DB that stores normal-accuracy maps at a national level, a method is conceivable in which map information and vehicle position information are acquired from the IVI system to determine whether the vehicle is traveling on a high-accuracy map road or a normal-accuracy map road. In order to associate the position of the normal-accuracy map road contained in the normal-accuracy map DB equipped in the IVI system with the position of the high-accuracy map road or its lane position contained in the high-accuracy map DB, it is necessary to compare information between the normal-accuracy map DB and the high-accuracy map DB. However, in order to access the normal-accuracy map DB equipped in the IVI system to perform such comparison, it is necessary to change the software of the IVI system, which results in a new problem of increased development costs for the IVI system.

[0008] The present disclosure has been made to solve such problems, and aims to provide a driving assistance formulation device and a driving assistance formulation method that are capable of determining whether or not the vehicle is traveling on a high-precision map road using a small amount of information, while suppressing increases in development costs for IVI systems. [Means for solving the problem]

[0009] In order to solve the above problems, a driving assistance planning device according to the present disclosure includes a normal accuracy node information acquisition unit that acquires normal accuracy node information including normal accuracy position information indicating normal accuracy positions of normal accuracy nodes in a driving route of the host vehicle calculated using road shape information on a road-by-road basis and a normal accuracy map including normal accuracy nodes; a high accuracy map acquisition unit that acquires a high accuracy map including road shape information on a lane-by-lane basis, high accuracy nodes, and high accuracy links; a linking determination unit that determines whether the normal accuracy position is linked to a high accuracy node or a high accuracy link based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit and linking information indicating a correspondence between the normal accuracy map and the high accuracy map; a driving determination unit that determines whether the host vehicle will travel on a high accuracy map road included in the high accuracy map based on a determination result of the linking determination unit; and a driving assistance planning unit that formulates driving assistance for the host vehicle using the high accuracy map when the driving determination unit determines that the host vehicle will travel on a high accuracy map road. Effect of the Invention

[0010] According to the present disclosure, it becomes possible to determine whether or not the vehicle is traveling on a road based on a high-precision map using a small amount of information while suppressing increases in development costs for IVI systems.

[0011] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing an example of a configuration of a driving assistance planning device according to a first embodiment. [Diagram 2] 1 is a block diagram showing an example of a configuration of an in-vehicle device including a driving assistance planning device according to a first embodiment. [Diagram 3] 4 is a flowchart showing an example of an operation of the driving assistance planning device according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of normal-precision nodes on a travel route in accordance with the first embodiment. [Diagram 5]FIG. 2 is a diagram showing an example of a high precision node in a high precision map road in accordance with the first embodiment. [Figure 6] FIG. 2 is a diagram showing an example of linking information according to the first embodiment. [Figure 7] 11 is a diagram showing an example of a relationship between normal-precision nodes and linked position information according to the first embodiment. FIG. [Figure 8] FIG. 2 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the first embodiment. [Figure 9] 10 is a flowchart showing an example of the operation of the driving assistance planning device according to the second embodiment. [Figure 10] FIG. 11 is a diagram showing an example of normal-precision nodes on a travel route in accordance with the second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of linking information according to the second embodiment. [Figure 12] FIG. 11 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the second embodiment. [Figure 13] FIG. 11 is a diagram illustrating an example of an intermediate node according to the second embodiment. [Figure 14] FIG. 11 is a diagram showing an example of linking information according to the second embodiment. [Figure 15] 11 is a flowchart showing an example of the operation of the driving assistance planning device according to the third embodiment. [Figure 16] FIG. 11 is a diagram showing an example of normal-precision nodes on a travel route in accordance with the embodiment 3. [Figure 17] FIG. 13 is a diagram showing an example of linking information according to embodiment 3. [Figure 18] FIG. 11 is a block diagram showing an example of the configuration of an in-vehicle device including a driving assistance planning device according to a fourth embodiment. [Figure 19] 13 is a flowchart showing an example of the operation of the driving assistance planning device according to the fourth embodiment. [Figure 20] FIG. 13 is a diagram showing an example of a high-precision node access data record according to the fourth embodiment. [Figure 21] FIG. 13 is a diagram showing an example of a high-precision node data record according to the fourth embodiment. [Figure 22] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 23] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 24] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Diagram 25] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 26] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 27] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 28] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Figure 29] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Diagram 30] FIG. 13 is a diagram illustrating an example of a high-precision node linked to a normal-precision node according to the fourth embodiment. [Diagram 31] FIG. 13 is a diagram showing an example of a high-precision link access data record according to the fifth embodiment. [Diagram 32] FIG. 13 is a diagram showing an example of a high-precision link data record according to the fifth embodiment. [Diagram 33] FIG. 13 is a block diagram showing an example of the configuration of an in-vehicle device including a driving assistance planning device according to a sixth embodiment. [Diagram 34] FIG. 2 is a diagram illustrating an example of a hardware configuration of a driving assistance planning device according to the first to sixth embodiments. [Diagram 35] FIG. 2 is a diagram illustrating an example of a hardware configuration of a driving assistance planning device according to the first to sixth embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] <Embodiment 1> <Configuration> Fig. 1 is a block diagram showing an example of the configuration of a driving assistance planning device 1 according to embodiment 1. Note that Fig. 1 shows the minimum necessary configuration for configuring the driving assistance planning device according to embodiment 1.

[0014] The driving assistance formulation device 1 includes a normal accuracy node information acquisition unit 2, a high accuracy map acquisition unit 3, a linking determination unit 4, a driving determination unit 5, and a driving assistance formulation unit 6. The driving assistance formulation device 1 is mounted on a vehicle (hereinafter also referred to as "host vehicle").

[0015] The normal accuracy node information acquisition unit 2 acquires normal accuracy node information including normal accuracy position information indicating the normal accuracy position of a normal accuracy node on a driving route of a vehicle calculated using road shape information on a road-by-road basis and a normal accuracy map including normal accuracy nodes.

[0016] The high-precision map acquisition unit 3 acquires a high-precision map including road shape information for each lane, high-precision nodes, and high-precision links.

[0017] The linking judgment unit 4 judges whether or not the normal accuracy position is linked to a high accuracy node or high accuracy link based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information indicating the correspondence between the normal accuracy map and the high accuracy map.

[0018] The travel determining unit 5 determines, based on the determination result of the linking determining unit 4, whether or not the host vehicle is traveling on a high precision map road included in the high precision map.

[0019] When the driving determination unit 5 determines that the host vehicle is traveling on a high-precision map road, the driving assistance formulation unit 6 formulates driving assistance for the host vehicle using the high-precision map.

[0020] Next, another configuration of the driving assistance formulation device including the driving assistance formulation device 1 shown in FIG. 1 will be described.

[0021] FIG. 2 is a block diagram showing an example of the configuration of the in-vehicle device 7 including a driving assistance planning device 9 according to another configuration.

[0022] The in-vehicle device 7 includes an information processing device 8, a driving assistance planning device 9, a driving assistance device 10, and a positioning device 11. The in-vehicle device 7 is mounted on a vehicle.

[0023] The driving assistance formulation device 9 can be applied not only to the in-vehicle device 7, but also to a device constructed as a system by appropriately combining a PND (Portable Navigation Device) that can be mounted on a vehicle and a server provided outside the vehicle. In this case, each function or each component of the driving assistance formulation device 9 is distributed and arranged among the functions that construct the above-mentioned system.

[0024] 2 shows a case where the information processing device 8, the driving assistance formulation device 9, the driving assistance device 10, and the positioning device 11 are provided separately, but each device may be arbitrarily combined to form an integrated device. For example, the driving assistance formulation device 9 and the driving assistance device 10 may be integrated.

[0025] The information processing device 8 corresponds to the IVI system described above, and is, for example, a navigation device. The information processing device 8 includes a normal accuracy map DB 12 and an application execution unit 13. The information processing device 8 may be provided outside the vehicle.

[0026] The normal-accuracy map DB 12 is a storage medium such as a memory or a hard disk drive (HDD), and stores normal-accuracy maps including road shape information for each road. The normal-accuracy map includes at least normal-accuracy nodes and normal-accuracy links that represent roads.

[0027] The application execution unit 13 executes, for example, a navigation function. The application execution unit 13 also outputs normal-accuracy node information along the driving route obtained as a result of the driving route search or driving route prediction to the driving assistance planning device 9. The normal-accuracy node information includes normal-accuracy position information indicating the position of the normal-accuracy node (normal-accuracy position) along the driving route. The application execution unit 13 performs the driving route search or driving route prediction using the vehicle position measured by a positioning unit (not shown) included in the information processing device 8 or the vehicle position measured by the positioning device 11.

[0028] The driving assistance formulation device 9 includes a normal accuracy node information acquisition unit 2, a linking determination unit 4, a driving determination unit 5, a driving assistance formulation unit 6, a high accuracy map DB 14, and a linking information table 15.

[0029] The normal accuracy node information acquisition unit 2 acquires normal accuracy node information from the information processing device 8.

[0030] The high-precision map DB 14 is a storage medium such as a memory or a hard disk drive (HDD), and stores a high-precision map including road shape information for each lane. The high-precision map includes at least high-precision nodes and high-precision links that represent roads for each lane. The driving assistance formulation device 9 includes the high-precision map DB 14, but may include the high-precision map acquisition unit 3 shown in FIG. 1 instead of the high-precision map DB 14. In this case, the high-precision map DB 14 may be included in the in-vehicle device 7 separately from the driving assistance formulation device 9, or may be provided outside the vehicle.

[0031] The linking information table 15 is a storage medium such as a memory or a hard disk drive (HDD), and stores linking information indicating the correspondence between the normal accuracy map and the high accuracy map. The linking information table 15 may be provided outside the vehicle. The linking information will be described in detail later.

[0032] The linking determination unit 4 determines, based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information stored in the linking information table 15, whether or not the normal accuracy node included in the normal accuracy node information is linked to a high accuracy node or high accuracy link stored in the high accuracy map DB 14, and identifies the high accuracy node or high accuracy link linked to the normal accuracy node.

[0033] Based on the determination result of the linking determination unit 4, the travel determination unit 5 determines whether the vehicle is traveling on a high precision map road.

[0034] When the driving determination unit 5 determines that the vehicle is traveling on a high-precision map road, the driving assistance formulation unit 6 formulates driving assistance for the driver of the vehicle using the high-precision map stored in the high-precision map DB 14. The driving assistance formulation unit 6 outputs information related to the formulated driving assistance (driving assistance information) to the driving assistance device 10.

[0035] The positioning device 11 uses a Global Navigation Satellite System (GNSS) to measure the current position of the vehicle. The positioning device 11 may also measure the current position of the vehicle by taking into consideration detection results obtained from a gyro sensor and a vehicle speed sensor (not shown) provided in the vehicle.

[0036] The driving assistance device 10 performs driving assistance for the driver of the vehicle based on the driving assistance information acquired from the driving assistance planning device 9. Examples of driving assistance include automated driving, ADAS, and notification assist.

[0037] <Operation> Fig. 3 is a flowchart showing an example of the operation of the driving support planning device. As a premise of the operation shown in Fig. 3, the application execution unit 13 of the information processing device 8 executes a route search or a route prediction using the normal-accuracy map stored in the normal-accuracy map DB 12, and generates normal-accuracy node information within a predetermined range in the travel route of the vehicle. Note that, after the application execution unit 13 executes the route search or the route prediction, the information processing device 8 may output the normal-accuracy node information only once, or may output the normal-accuracy node information multiple times.

[0038] In step S11, the normal accuracy node information acquisition unit 2 acquires one or more pieces of normal accuracy node information on the travel route of the host vehicle from the information processing device 8. Note that, when the information processing device 8 outputs normal accuracy node information only once, the normal accuracy node information acquisition unit 2 may acquire the normal accuracy node information, and when the information processing device 8 outputs normal accuracy node information multiple times, the normal accuracy node information acquisition unit 2 may acquire the normal accuracy node information only the first time.

[0039] 4 is a diagram showing an example of a normal-accuracy node on a travel route. The normal-accuracy node information acquired by the normal-accuracy node information acquisition unit 2 includes node information of points where roads enter or exit on the travel route of the vehicle. That is, the normal-accuracy node includes an entering node connected to a normal-accuracy link into which another road enters, and an exiting node connected to a normal-accuracy link exiting from another road.

[0040] In Fig. 4, N(1), N(2), N(3), N(6), N(8), N(10), and N(11) are normal-accuracy nodes on the vehicle's travel route, and indicate the positions of the normal-accuracy nodes on the normal-accuracy map. The vehicle travels through N(1), N(2), N(3), N(6), N(8), N(10), and N(11) in this order. The normal-accuracy node information includes normal-accuracy position information (coordinate values) of each normal-accuracy node.

[0041] The roads shown by thick lines in Fig. 4 correspond to high-precision map roads included in the high-precision map. In other words, the main highway shown in Fig. 4 is included in both the normal-precision map and the high-precision map. The normal-precision node N(3) is connected to an incoming link that enters the high-precision map road. The normal-precision nodes N(6) and N(8) are connected to outgoing links that exit the high-precision map road.

[0042] Fig. 5 is a diagram showing an example of high-precision nodes on a high-precision map road. For ease of explanation, Fig. 5 shows only one direction of the road. Fig. 5 also shows normal-precision nodes N(1), N(2), N(3), N(6), N(8), N(10), and N(11) shown in Fig. 4.

[0043] As shown in Figure 5, the high-precision map road (main highway) has three lanes (upper lane, middle lane, and lower lane in the figure). Each lane is composed of a sequence of high-precision nodes or a sequence of high-precision links connecting high-precision nodes.

[0044] The high-precision node sequence of the lane (upper lane) represented by the node sequence HN1 is HN1(1), HN1(2), . . . , HN1(N1).

[0045] The high-precision node sequence of the lane (middle lane) represented by the node sequence HN2 is HN2(1), HN2(2), . . . , HN2(N2).

[0046] The high-precision node sequence of the lane (lower lane) represented by the node sequence HN3 is HN3(1), HN3(2), . . . , HN3(N3).

[0047] In FIG. 5, HN1(n), HN2(n), and HN3(n) are depicted aligned vertically, but they do not necessarily have to be aligned vertically.

[0048] The high-precision node HN3(3) is connected to incoming links, some of which are included in the high-precision map (see Figure 4).

[0049] The area surrounded by a dashed line in Fig. 5 indicates the range of the high-precision map road on which the host vehicle travels. As shown in Fig. 5, the normal-precision node N(3) corresponds to the high-precision nodes HN1(3), HN2(3), and HN3(3), and the normal-precision node N(8) corresponds to the high-precision nodes HN1(8), HN2(8), and HN3(8). Therefore, the range of the high-precision nodes HN1(3), HN2(3), and HN3(3) to HN1(8), HN2(8), and HN3(8), which correspond to the normal-precision nodes N(3) to N(8), is the range of the high-precision map road on which the host vehicle travels.

[0050] In step S12, the linking judgment unit 4 judges whether or not the normal accuracy node included in the normal accuracy node information is linked to a high accuracy node or high accuracy link stored in the high accuracy map DB 14, based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information stored in the linking information table 15, and identifies the high accuracy node or high accuracy link linked to the normal accuracy node.

[0051] Fig. 6 is a diagram showing an example of the linked information stored in the linked information table 15. As shown in Fig. 6, the linked information includes an ID, linked position information, and linked reference information.

[0052] The linked position information is information indicating a representative position having an inflow link or an outflow link on a high-precision map road. In other words, the linked information indicates a position corresponding to the position of a specific high-precision node or the position of a specific high-precision link. In the example of FIG. 6, linked position information U(3), U(6), and U(8) corresponding to normal-precision nodes N(3), N(6), and N(8) are shown. For example, position information U(3) is the intersection point between the center line of the road connecting normal-precision nodes N(2) and N(3) and the center line of the lane represented by high-precision node HN3. Although it depends on the creation rules of the high-precision map, position information U(3) generally coincides with high-precision node HN3(3).

[0053] The linked reference information is information indicating a reference location in the high precision map DB 14 for accessing a high precision node or a high precision link corresponding to the linked position information. That is, the linked reference information is information for referencing a high precision node or a high precision link included in the high precision map based on the linked position information. The reference location may be expressed, for example, by a Uniform Resource Locator (URL).

[0054] The linking determination unit 4 performs a matching calculation to determine whether or not the positions of the normal-precision nodes N(1), N(2), N(3), N(6), N(8), N(10), and N(11) match with the linked position information. For example, the linking determination unit 4 determines that there is a match if the distance between the position of each normal-precision node and the position indicated by the linked position information is within a predetermined threshold DISth, and determines that there is no match if it is farther than the predetermined threshold DISth. That is, the linking determination unit 4 determines that there is a match if the distance Dis{N(n), U(u)}≦DISth, and determines that there is no match if the distance Dis{N(n), U(u)}>DISth. Here, DISth is, for example, 20 m.

[0055] In the example of FIG. 3, normal-precision nodes N(1), N(2), N(10), and N(11) are determined to be non-matching because they are far from the positions indicated by the linked position information.

[0056] 7 is a diagram showing an example of the relationship between normal-accuracy nodes and associated location information, in which associated location information is superimposed on a normal-accuracy map. In FIG. 7, U3, U6, and U8 indicate associated location information.

[0057] In step S13, the linking determination unit 4 determines whether or not there is a normal-precision node that matches the linked position information. If there is a matched normal-precision node, the process proceeds to step S14. On the other hand, if there is no matched normal-precision node, the process proceeds to step S16. In the example of FIGS. 4 to 7, the normal-precision node N(3) matches with the linked position information U(3), the normal-precision node N(6) matches with the linked position information U(6), and the normal-precision node N(8) matches with the linked position information U(8). In addition, the linked position information U(3) that matches with the normal-precision node N(3) corresponds to ID3-1, ID3-2, and ID3-3. That is, the high-precision nodes HN1(3), HN2(3), and HN3(3) are candidates for the linking target of the normal-precision node N(3). The same applies to the normal-precision nodes N(6) and N(8).

[0058] In step S14, the travel determining unit 5 determines that the vehicle is traveling on a high precision map road.

[0059] In step S15, the driving support formulation unit 6 accesses the high accuracy map DB 14 based on the linking reference information corresponding to the matched normal accuracy node information, and acquires the high accuracy node linked to the normal accuracy node. At this time, the driving support formulation unit 6 acquires the linking reference information corresponding to the matched normal accuracy node information directly from the linking determination unit 4 or via the driving determination unit 5. Then, the driving support formulation unit 6 formulates driving support using the acquired high accuracy node.

[0060] In the examples of Figures 4 to 7, the high-precision nodes HN1(3), HN2(3), and HN3(3) can be accessed based on the linking reference information corresponding to the matched ID3-1, ID3-2, and ID3-3, respectively. The same applies to ID6-i and ID8-i.

[0061] Through the above processing, the driving assistance planning unit 6 determines that the vehicle can travel through high-precision nodes HN1(3), HN2(3), HN3(3), HN1(6), HN2(6), HN3(6), HN1(8), HN2(8), and HN3(8) on the high-precision map road.

[0062] Next, because the vehicle enters the high precision map road by passing through the normal accuracy node N(3) from a road other than the high precision map road and exits the high precision map road by passing through the normal accuracy node N(8), the driving assistance formulation unit 6 can exclude the high precision nodes HN1(3) and HN2(3) that are not connected to an incoming link and the high precision nodes HN2(8) and HN3(8) that are not connected to an outgoing link from the candidates for high precision nodes on which the vehicle will travel.

[0063] Therefore, the driving assistance planner 6 determines that the candidates for the high accuracy node through which the host vehicle is traveling are HN3(3), HN1(6), HN2(6), HN3(6), and HN1(8).

[0064] Fig. 8 is a diagram showing an example of a high-precision node linked to a normal-precision node. The arrows in Fig. 8 indicate lanes on the high-precision map road on which the vehicle can travel. The area surrounded by a dashed line in Fig. 8 indicates the area of ​​the high-precision map road on which the vehicle can travel.

[0065] The driving assistance formulation unit 6 formulates driving assistance using high-precision nodes or high-precision links connecting high-precision nodes. Specifically, the driving assistance formulation unit 6 formulates a driving route for the host vehicle on a lane-by-lane basis, using a high-precision map including high-precision nodes or high-precision links linked to normal-precision positions of normal-precision nodes. For example, the driving assistance formulation unit 6 formulates driving assistance by performing a route search on a lane-by-lane basis.

[0066] Thereafter, the driving support formulation unit 6 outputs the driving support information to the driving support device 10. Based on the driving support information acquired from the driving support formulation unit 6 and the vehicle position acquired from the positioning device 11, the driving support device 10 executes driving support such as controlling the vehicle's travel or notifying the driver of guidance information.

[0067] In step S16, the travel determining unit 5 determines that the vehicle is not traveling on a high precision map road.

[0068] By performing the above processing, it becomes possible to determine whether or not the vehicle is traveling on a high-precision map road with a small amount of information while suppressing increases in development costs of the information processing device 8 (IVI system).

[0069] <Variation 1> In the first embodiment, the linked position information is expressed as point coordinates, but the present invention is not limited to this. The linked position information may be expressed as a specific area.

[0070] For example, the linked position information may be a circular area with a radius of 10 m centered on the position indicated by the linked position information shown in Fig. 6, or may be a 20 m square section expressed in latitude and longitude. When the linked position information is expressed as a specific area, the linking determination unit 4 determines that a match has occurred when the normal-accuracy position of the normal-accuracy node is within the range of the specific area indicated by the linked position information.

[0071] <Variation 2> In the first embodiment, the case where the linking reference information is information for accessing a high-precision node has been described, but the present invention is not limited to this. The linking reference information may be information for accessing a high-precision link connected to a high-precision node.

[0072] <Variation 3> In the first embodiment, the normal-precision node information acquisition unit 2 acquires normal-precision node information when the information processing device 8 outputs the normal-precision node information only once, and acquires normal-precision node information only the first time when the information processing device 8 outputs normal-precision node information multiple times. However, the present invention is not limited to this. The normal-precision node information acquisition unit 2 may acquire normal-precision node information multiple times.

[0073] For example, if the information processing device 8 outputs normal accuracy node information each time it re-searches for a route, the normal accuracy node information acquisition unit 2 may acquire normal accuracy node information each time it is output from the information processing device 8, and the linking judgment unit 4 may perform matching each time.

[0074] <Modification 4> The information processing device 8 may output the normal accuracy node information at a predetermined time interval or for each event, and the driving support planning device 9 may execute the matching process and the driving support planning process each time. That is, the normal accuracy node information acquisition unit 2 repeatedly acquires the normal accuracy node information at a predetermined timing. Here, the predetermined time interval is, for example, a 10 minute interval. Also, the matching process is synonymous with the matching calculation described above.

[0075] <Variation 5> The normal-accuracy node information output from the information processing device 8 may not be the entire driving route, but may be, for example, a range 500 m behind and 2 km ahead of the vehicle position. That is, the information processing device 8 outputs each normal-accuracy node information within a predetermined range with the vehicle as the base point. The normal-accuracy node information acquisition unit 2 of the driving assistance planning device 9 acquires each normal-accuracy node information within a predetermined range with the vehicle as the base point.

[0076] The driving support formulation device 9 may perform the matching process using only normal-accuracy node information within a certain range from the vehicle position, instead of performing the matching process for all normal-accuracy node information acquired from the information processing device 8. In this manner, the normal-accuracy node information used in the calculation by the driving support formulation device 9 may be limited. Here, the vehicle position may be acquired from the information processing device 8 or from another device. When the vehicle position is acquired from the information processing device 8, the information processing device 8 includes a positioning unit (not shown). When the vehicle position is acquired from another device, examples of the other device include a smartphone, a drive recorder, and an event recorder.

[0077] When the range of normal-accuracy nodes to be subjected to the matching process when normal-accuracy node information is acquired for the first time after the vehicle starts traveling is set as the first matching range, and when the range of normal-accuracy nodes to be subjected to the matching process when normal-accuracy node information is acquired from the next time onwards is set as the second matching range, the second matching range may be made wider than the first matching range. Since the result of the previous matching process can be reused from the second time onwards, the matching process is possible even with normal-accuracy node information over a long distance.

[0078] The information processing device 8 may change the range of the initial normal-accuracy node information and the range of the normal-accuracy node information from the next time onward. In this case, the driving support planning device 9 may perform a matching process on all the normal-accuracy node information acquired from the information processing device 8.

[0079] In the above, the normal-precision node information acquisition unit 2 acquires normal-precision node information within a predetermined range from the vehicle as the base point, but the present invention is not limited to this. The normal-precision node information acquisition unit 2 may acquire multiple pieces of normal-precision node information that satisfy a predetermined condition.

[0080] <Embodiment 2> In the first embodiment, the case where the matching process is performed using position information has been described. In the second embodiment, the case where the matching process is performed using direction information in addition to position information will be described.

[0081] <Configuration> The configuration of the in-vehicle device including the driving assistance formulation device according to the embodiment 2 is basically the same as that of the embodiment 1. Therefore, in the following, the driving assistance formulation device according to the embodiment 2 will be described as the driving assistance formulation device 9 shown in FIG.

[0082] In the second embodiment, the normal-accuracy node information output by the information processing device 8 includes normal-accuracy position information and normal-accuracy orientation information. The normal-accuracy orientation information is information indicating the orientation of a normal-accuracy link flowing into or out of a normal-accuracy node. Furthermore, the linking information stored in the linking information table 15 includes linked position information and linked orientation information. The linked orientation information is information indicating the orientation of a high-accuracy link flowing into or out of a high-accuracy node.

[0083] <Operation> Fig. 9 is a flowchart showing an example of the operation of the driving assistance planning device 9. As a premise of the operation shown in Fig. 9, it is assumed that the application execution unit 13 of the information processing device 8 executes a route search or a route prediction using the normal-accuracy map stored in the normal-accuracy map DB 12, and generates normal-accuracy node information within a predetermined range on the travel route of the host vehicle.

[0084] Note that the processes in steps S23, S24, and S26 are similar to those in steps S13, S14, and S16 in FIG. 3 described in the first embodiment, and therefore will not be described here.

[0085] In step S21, the normal-accuracy node information acquisition unit 2 acquires, from the information processing device 8, one or more pieces of normal-accuracy node information on the travel route of the host vehicle.

[0086] Fig. 10 is a diagram showing an example of a normal-accuracy node on a travel route. The normal-accuracy node information acquired by the normal-accuracy node information acquisition unit 2 includes the position of the normal-accuracy node N(n) and the orientation Θ(n) at the normal-accuracy node N(n). The normal-accuracy node N(n) corresponds to the position indicated by the normal-accuracy position information. The orientation Θ(n) corresponds to the orientation indicated by the normal-accuracy orientation information. The arrow in Fig. 10 shows an image of the orientation Θ(n).

[0087] As shown in Figure 10, in the travel route, normal-precision node N(3) is a node that merges with the main line of the expressway, so the direction Θ(3) is the direction of the link that merges with normal-precision node N(3). Directions Θ(1), Θ(2), Θ(6), Θ(8), Θ(10), and Θ(11) are directions along the travel route or directions that exit (separate) from the main line of the expressway (exit from link N(n)).

[0088] In step S22, the linking judgment unit 4 judges whether or not the normal accuracy node included in the normal accuracy node information is linked to a high accuracy node or high accuracy link stored in the high accuracy map DB 14, based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information stored in the linking information table 15, and identifies the high accuracy node or high accuracy link linked to the normal accuracy node.

[0089] Specifically, the linking determination unit 4 performs a first matching calculation and a second matching calculation. In the first matching calculation (first linking determination), matching is performed to determine whether or not a normal accuracy position exists near the position indicated by the linked position information, based on the linked position information stored in the linked information table 15 and the normal accuracy position included in the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2. In the second matching calculation (second linking determination), matching is performed between the direction indicated by the linked direction information and the normal accuracy direction indicated by the normal accuracy direction information, based on the linked direction information stored in the linked information table 15 and the normal accuracy direction information included in the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2.

[0090] Fig. 11 is a diagram showing an example of the linked information stored in the linked information table 15. The linked information shown in Fig. 11 is different from the linked information shown in Fig. 6 described in the first embodiment in that linked direction information is added. Also, the linked reference information indicates a reference location in the high precision map DB 14 for accessing a high precision link.

[0091] In addition, the high-precision nodes HN1(3) and HN2(3) do not have an incoming link, but HN3(3) does have an incoming link, so ID3-3in for the incoming link is added, and the linking reference information is set to refer to the incoming link. Similarly, the high-precision nodes HN3(6) and HN1(8), which have an outgoing link, have ID6-3out and ID8-1out for the outgoing links added. If there are multiple incoming and outgoing lanes, there will also be multiple IDn-in and IDn-out.

[0092] Here, the first matching calculation and the second matching calculation performed by the link determination unit 4 will be described.

[0093] <First matching calculation> In the first matching calculation, the distance between the position of the normal-accuracy node (normal-accuracy position N(n)) and the position U(u) indicated by the linked position information is calculated as shown in the following formula (1). U(u) may be defined as a position or a predetermined area. When U(u) is defined as a predetermined area and a normal-accuracy position exists within the predetermined area, the linking determination unit 4 determines that the distance between the normal-accuracy position and the position indicated by the linked position information is 0. f1 = DIS{N(n), U(u)} (1)

[0094] <Second matching calculation> In the second matching calculation, as shown in the following formula (2), the difference between the orientation of the normal accuracy node (normal accuracy orientation Θ(n)) and the orientation ΘU(u) indicated by the linked orientation information is calculated. ΘU(u) may be defined as a specific orientation or may be defined as a predetermined orientation range. When ΘU(u) is defined as a predetermined orientation range, and the normal accuracy orientation is present within the predetermined orientation range, the linking determination unit 4 determines that the difference between the normal accuracy orientation and the orientation indicated by the linked orientation information is zero. f2=DIS{Θ(n), ΘU(u)}···(2)

[0095] Next, examples 1 to 3 of the determination by the link determination unit 4 of whether or not there is a match between the normal-precision node information and the link information based on the results of the first matching calculation and the second matching calculation will be described.

[0096] <Matching judgment example 1> The link determination unit 4 determines that a match has occurred when f1 satisfies a predetermined condition and f2 satisfies a predetermined condition.

[0097] For example, the link determination unit 4 determines that a match occurs if f1≦DISth and f2≦DISΘth.

[0098] <Matching judgment example 2> When the linked position information U(u) is defined as a predetermined area and the linked orientation information ΘU(u) is defined as a predetermined orientation range, the linking judgment unit 4 judges that a match has occurred when, for example, f1=0 and f2=0.

[0099] <Matching judgment example 3> The link determination unit 4 may determine whether or not a match has been achieved by comprehensively considering both f1 and f2.

[0100] For example, the association determination unit 4 may determine that a match has occurred when f1·α1+f2·α2 is equal to or smaller than a predetermined value, where α1 and α2 are weighting coefficients.

[0101] Using any one of the above judgment examples 1 to 3, the link judgment unit 4 judges whether or not there is a match between the normal-precision node information and the link information.

[0102] As described above, in step S22, the association determination unit 4 performs matching between the normal-accuracy node information shown in Fig. 10 and the association information shown in Fig. 11. At this time, the direction information is used, so the result is different from that in the first embodiment.

[0103] In the example of Figures 10 and 11, by performing the above judgment, it is determined that ID3-3in, ID6-1, ID6-2, ID6-3, and ID8-1out are matched. Then, based on the linking reference information corresponding to each ID, normal accuracy node N(3) is linked to the incoming link HL3in3 connecting to high accuracy node HN3(3), normal accuracy node N(6) is linked to high accuracy links HL1(6), HL2(6), and HL3(6), and normal accuracy node N(8) is linked to the outgoing link HL1out(8). Figure 12 is a diagram showing an example of high accuracy nodes linked to normal accuracy nodes.

[0104] 9, in step S25, the driving assistance planner 6 accesses the high accuracy map DB 14 based on the linking reference information corresponding to the matched normal accuracy node information, and acquires the high accuracy link linked to the normal accuracy node information. Then, the driving assistance planner 6 uses the acquired high accuracy link to formulate the driving assistance.

[0105] In the first embodiment, whether or not the vehicle passes through a high precision node is estimated based on whether the vehicle enters a road on the high precision map from outside the road on the high precision map, whether the vehicle continues traveling on the road on the high precision map, and whether the vehicle exits from the road on the high precision map to outside the road on the high precision map. On the other hand, in the second embodiment, whether or not the vehicle travels on an incoming link or an outgoing link is made clear by the matching process, and therefore the estimation as in the first embodiment is not necessary.

[0106] <Variation 1> In the second embodiment, the case where the linking reference information is information for accessing a high-precision link has been described, but the present invention is not limited to this. The linking reference information may be information for accessing a high-precision node, as in the first embodiment.

[0107] <Variation 2> In the first and second embodiments, a case where one inflow link or one outflow link exists for a specific node has been described as an example, but the present invention is not limited to this. A plurality of inflow links may exist for a specific node, a plurality of outflow links may exist for a specific node, or one or more inflow links and one or more outflow links may exist for a specific node.

[0108] 10 to 12, when two incoming links exist in the normal-precision node N(3), the linking information has two incoming IDs such as ID3-3in1 and ID3-3in2. In the second embodiment, since the direction information is used, it is possible to determine from which incoming link the high-precision map road is to be entered.

[0109] In addition, for the normal-precision node N(3), there may be inflow links for multiple lanes on the high-precision map road. For example, there may be inflow links to the high-precision node HN1(3) as well as to the high-precision node HN3(3). Similarly, there may be outflow links to the high-precision nodes HN1(6) and HN3(8).

[0110] One normal-precision node may correspond to multiple high-precision nodes with different inflows and outflows, such as high-precision node HN1(6) having an inflow link and high-precision node HN3(6) having an outflow link.

[0111] <Variation 3> In the second embodiment, the normal-accuracy direction information includes only one direction corresponding to the inflow, outflow, or along the road, but is not limited to this. The normal-accuracy direction information includes two directions: the direction information of the normal-accuracy link that is connected to the normal-accuracy node on the travel route, and the direction information of the normal-accuracy link that departs from the normal-accuracy node. Similarly, the linked direction information may also include two directions.

[0112] Here, "orientation information of a normal-accuracy link connected to a normal-accuracy node present on the travel route" refers to, for example, orientation information of two links (the link between N(2) and N(3) and the link between N(3) and N(6)) connected to normal-accuracy node N(3) present on the route in Figure 10. Also, "orientation information of a normal-accuracy link departing from the normal-accuracy node" refers to, for example, the link between N(3) and N(6) connected to normal-accuracy node N(3) in Figure 10.

[0113] In this way, since two pieces of directional information are used, matching accuracy is improved.

[0114] <Modification 4> In the first and second embodiments, the driving assistance formulation device 9 acquires normal-precision node information related to an incoming node and an outgoing node on a travel route, but the present invention is not limited to this. The information processing device 8 may set an intermediate node when a predetermined node addition condition is satisfied between a specific node and a next node, and output normal-precision node information corresponding to the intermediate node. In this case, the driving assistance formulation device 9 acquires normal-precision node information including the intermediate node.

[0115] Here, the node addition condition is, for example, that an intermediate node is added between a specific node and the next node if the distance between those nodes is greater than a predetermined distance (e.g., 3 km). Also, one or more intermediate nodes are set so that the distance between the intermediate nodes or between the original node and the intermediate node is within a predetermined distance (e.g., 3 km).

[0116] For example, if the distance between a specific node and the next node is more than 3 km and less than 6 km, one intermediate node is set at the center between the two nodes. If the distance between a specific node and the next node is more than 6 km and less than 9 km, two intermediate nodes are set at equal intervals. The position of the intermediate node is not limited to the center between the two nodes, and may be set at a point a predetermined distance (for example, 3 km) from the specific node.

[0117] Linking information is set for the intermediate nodes set as described above. For example, if the distance between normal-precision nodes N(3) and N(6) is 8.7 km and the distance between N(6) and N(8) is 5 km, intermediate nodes N(4) and N(5) are set at equal intervals (2.9 km) from N(3) and N(6). Similarly, intermediate node N(7) is set at a position 2.5 km between N(6) and N(8). The intermediate nodes N(4), N(5), and N(7) set in this manner are shown in FIG. 13.

[0118] 12 shows a case where the intermediate node and the high-precision node are at almost the same position, but in general, the position corresponding to the intermediate node on the high-precision map and the position corresponding to the intermediate node on the normal-precision map are not the same position. Therefore, it is preferable to link the normal-precision node to the high-precision link rather than the high-precision node, as in the linking information shown in FIG. 11.

[0119] In the fourth modification, the inflow nodes or outflow nodes are connected by one high-precision link. In this case, the linking information has the content shown in FIG. 14. As shown in FIG. 14, ID3-1, ID4-1, and ID5-1 refer to the same high-precision link. Note that the inflow nodes or outflow nodes may be represented by multiple high-precision links.

[0120] Here, for example, a case will be described in which the information processing device 8 outputs high-precision node information up to 20 km ahead of the vehicle position. When the normal-precision node N(6) is located 21 km ahead of the vehicle, N(3) is 12.3 km (21 km-8.7 km=12.3 km) ahead of the vehicle position because N(3) and N(6) are 8.7 km apart. In this case, in the second embodiment, it is not possible to accurately grasp whether the vehicle is traveling on a high-precision map road 12.3 km to 20 km ahead of the vehicle position. On the other hand, in the fourth modification, since information up to N(5) is available, it is possible to determine whether the vehicle is traveling on a high-precision map road up to the position of N(5), that is, up to 12.3 km+2.9 km×2=18.1 km.

[0121] Normally, while driving on a high-precision map road, it can be determined that the vehicle will continue on the high-precision map road until the next exit link (e.g., an interchange) is reached, but this is effective in cases where the map version stored in the normal-precision map DB of the information processing device 8 is different from the map version stored in the high-precision map DB 14 of the driving assistance formulation device 9, and one of the versions does not contain information on a newly constructed interchange.

[0122] <Embodiment 3> In the first embodiment, the case where the matching process is performed using location information has been described. In the third embodiment, the case where the matching process is performed using link attributes in addition to location information will be described.

[0123] <Configuration> The configuration of the in-vehicle device including the driving assistance formulation device according to the embodiment 3 is basically the same as that of the embodiment 1. Therefore, in the following, the driving assistance formulation device according to the embodiment 3 will be described as the driving assistance formulation device 9 shown in FIG.

[0124] In the third embodiment, the normal-accuracy node information output by the information processing device 8 includes normal-accuracy position information and normal-accuracy link attributes. The normal-accuracy link attributes are attributes of normal-accuracy links flowing into or out of the normal-accuracy node. Furthermore, the linking information stored in the linking information table 15 includes linking position information and linking link attributes. The linking link attributes indicate attributes of high-precision links flowing into or out of the high-precision node.

[0125] <Operation> Fig. 15 is a flowchart showing an example of the operation of the driving assistance planning device 9. As a premise of the operation shown in Fig. 15, it is assumed that the application execution unit 13 of the information processing device 8 executes a route search or a route prediction using the normal-accuracy map stored in the normal-accuracy map DB 12, and generates normal-accuracy node information within a predetermined range on the travel route of the host vehicle.

[0126] Note that the processes in steps S33, S34, and S36 are similar to those in steps S13, S14, and S16 in FIG. 3 described in the first embodiment, and therefore will not be described here.

[0127] In step S31, the normal-accuracy node information acquisition unit 2 acquires, from the information processing device 8, one or more pieces of normal-accuracy node information on the travel route of the host vehicle.

[0128] Fig. 16 is a diagram showing an example of normal-accuracy nodes on a travel route. As shown in Fig. 16, in the travel route of the vehicle, normal-accuracy link attributes A(1) and A(6) corresponding to normal-accuracy nodes N(1) and N(6), which are along a road, respectively, are "along the road". Normal-accuracy link attributes A(2), A(8), A(10), and A(11) corresponding to branching normal-accuracy nodes N(2), N(8), N(10), and N(11), respectively, are "outflow". Normal-accuracy link attribute A(3) corresponding to incoming normal-accuracy node N(3) is "inflow".

[0129] In step S32, the linking judgment unit 4 judges whether or not the normal accuracy node included in the normal accuracy node information is linked to a high accuracy node or high accuracy link stored in the high accuracy map DB 14, based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information stored in the linking information table 15, and identifies the high accuracy node or high accuracy link linked to the normal accuracy node.

[0130] Specifically, the linking determination unit 4 performs a third matching calculation and a fourth matching calculation. In the third matching calculation (third linking determination), matching is performed to determine whether or not a normal-precision position exists near the position indicated by the linked position information, based on the linked position information stored in the linked information table 15 and the normal-precision position included in the normal-precision node information acquired by the normal-precision node information acquisition unit 2. Here, the third matching calculation corresponds to the first matching calculation described above. In the fourth matching calculation (fourth linking determination), matching is performed to determine whether or not the linked link attribute stored in the linked information table 15 matches the normal-precision link attribute included in the normal-precision node information acquired by the normal-precision node information acquisition unit 2.

[0131] Fig. 17 is a diagram showing an example of the linking information stored in the linking information table 15. The linking information shown in Fig. 17 is different from the linking information shown in Fig. 6 described in the first embodiment in that linked direction information is added. Also, like the linking reference information shown in Fig. 14 described in the second embodiment, the linking reference information indicates a reference location in the high precision map DB 14 for accessing a high precision link.

[0132] 6 described in the first embodiment, the linking information shown in FIG. 17 adds ID3-3in, ID6-3out, and ID8-1out, similar to the linking information shown in FIG. 14 described in the second embodiment.

[0133] As shown in FIG. 16, the normal-precision node information acquired by the normal-precision node information acquisition unit 2 includes N(n) and A(n) (n=1, 2, 3, 6, 8, 10, 11). The linking determination unit 4 performs the third matching calculation and the fourth matching calculation to determine that ID3-3in, ID6-1, ID6-2, ID6-3, and ID8-1out match. Based on this determination, the normal-precision node N(3) is linked to the incoming link HL3in(3). The normal-precision node N(6) is linked to the high-precision links HL1(6), HL2(6), and HL3(6). The normal-precision node N(8) is linked to the outgoing link HL1out(8).

[0134] The high-precision link associated with the normal-precision node based on the matching result is similar to that shown in FIG. 12 described in the second embodiment.

[0135] 15, in step S35, the driving support planner 6 accesses the high accuracy map DB 14 based on the linking reference information corresponding to the matched normal accuracy node information, and acquires the high accuracy link linked to the normal accuracy node information. Then, the driving support planner 6 uses the acquired high accuracy link to formulate the driving support.

[0136] In the first embodiment, whether or not the vehicle passes through a high precision node is estimated based on whether the vehicle enters a road on the high precision map from outside the road on the high precision map, whether the vehicle continues traveling on the road on the high precision map, and whether the vehicle exits from the road on the high precision map to outside the road on the high precision map. On the other hand, in the third embodiment, whether or not the vehicle travels on an incoming link or an outgoing link is made clear by the matching process, and therefore the estimation as in the first embodiment is not necessary.

[0137] <Variation 1> In the third embodiment, the case where the linking reference information is information for accessing a high-precision link has been described, but the present invention is not limited to this. The linking reference information may be information for accessing a high-precision node, as in the first embodiment.

[0138] <Variation 2> In the third embodiment, a case has been described in which a link attribute relating to inflow or outflow is defined, but the present invention is not limited to this.

[0139] For example, a link attribute may be a road type, such as a highway, a general road, or a minor street.

[0140] <Variation 3> The link attribute may include the number of outgoing links indicating the number of outgoing links outgoing from the node, or the number of incoming links indicating the number of incoming links into the node. In this case, linking information corresponding to the number of outgoing links, the number of incoming links, and the links along the road are set.

[0141] <Modification 4> When the direction of travel on the high-precision map road is set to "1" and there are multiple departing links, the link attribute may be information indicating the number of the departing link in the clockwise direction from the starting point (number 1) of the direction of travel. An example of a case where multiple departing links exist is when there are multiple exits from one interchange.

[0142] When the normal accuracy map stored in the normal accuracy map DB includes link attributes of multiple outflow links, the driving assistance formulation device 9 is able to perform matching by obtaining normal accuracy node information including link attributes indicating which link is to be included in the route.

[0143] <Variation 5> In the third embodiment, the case where matching is performed using location information and link attributes has been described, but the present invention is not limited to this. For example, the direction information described in the second embodiment may be added, and matching may be performed using location information, direction information, and link attributes.

[0144] Specifically, the normal-accuracy node information includes normal-accuracy direction information indicating the direction of the normal-accuracy link flowing in or out of the normal-accuracy node, and normal-accuracy link attributes indicating the attributes of the normal-accuracy link flowing in or out of the normal-accuracy node. The linking information includes linking direction information indicating the direction of the high-accuracy link flowing in or out of the high-accuracy node, and linking link attributes indicating the attributes of the high-accuracy link flowing in or out of the high-accuracy node. The linking determination unit 4 determines whether the normal-accuracy position information is linked to the high-accuracy node or high-accuracy link based on a fifth matching calculation (fifth linking determination) for determining whether the normal-accuracy position information is linked to the linked position information, a sixth matching calculation (sixth linking determination) for determining whether the normal-accuracy direction information is linked to the linked direction information, and a seventh matching calculation (seventh linking determination) for determining whether the normal-accuracy link attribute is linked to the linked link attribute. Here, the fifth matching calculation corresponds to the first and third matching calculations described above. The sixth matching calculation corresponds to the second matching calculation described above. The seventh matching calculation corresponds to the fourth matching calculation described above.

[0145] When a large number of nodes are present in the vicinity of the normal-precision node N(n), the accuracy of linking is improved compared to the second and third embodiments.

[0146] <Fourth embodiment> In the first to third embodiments, the case has been described where the linked information table 15 is provided separately from the high precision map DB 14. In the fourth embodiment, a case will be described where the linked information is stored in the high precision map DB 14.

[0147] <Configuration> FIG. 18 is a block diagram showing an example of the configuration of an in-vehicle device 16 including a driving assistance planning device 17 according to the fourth embodiment.

[0148] 18, the driving support formulation device 17 is characterized in that the high accuracy map DB 14 stores linkage information. The other configurations and basic operations are similar to those of the driving support formulation device 9 shown in FIG. 2 described in the first embodiment.

[0149] In the high precision map DB 14, the linked position information included in the linking information is included in the attribute information of the high precision node or high precision link. Also, the linked reference information included in the linking information utilizes a data record for accessing the high precision node or high precision link originally provided in the high precision map DB 14.

[0150] <Operation> Fig. 19 is a flowchart showing an example of the operation of the driving support planning device 17. As a premise of the operation shown in Fig. 19, it is assumed that the application execution unit 13 of the information processing device 8 executes a route search or a route prediction using a normal-accuracy map stored in the normal-accuracy map DB 12, and generates normal-accuracy node information within a predetermined range on the travel route of the vehicle. In the following, it is assumed that the situation is as shown in Figs. 4 and 5 described in the first embodiment.

[0151] Note that the processes in steps S43, S44, and S46 are similar to those in steps S13, S14, and S16 in FIG. 3 described in the first embodiment, and therefore will not be described here.

[0152] In step S41, the normal-accuracy node information acquisition unit 2 acquires, from the information processing device 8, information on one or more normal-accuracy nodes on the travel route of the host vehicle.

[0153] In the example of FIG. 4, the normal-precision node information acquisition unit 2 acquires normal-precision node information of normal-precision nodes N(1), N(2), N(3), N(6), N(8), N(10), and N(11).

[0154] In step S42, the linking judgment unit 4 judges whether or not the normal accuracy node included in the normal accuracy node information is linked to a high accuracy node or high accuracy link stored in the high accuracy map DB 14, based on the normal accuracy node information acquired by the normal accuracy node information acquisition unit 2 and the linking information stored in the linking information table 15, and identifies the high accuracy node or high accuracy link linked to the normal accuracy node.

[0155] Specifically, the linking determination unit 4 performs matching calculations starting from the normal-precision node N(1). However, since matching between all high-precision nodes included in the high-precision map and the normal-precision node N(1) would increase the calculation time, the high-precision nodes to be matched are narrowed down in advance.

[0156] For example, high-precision nodes in the vicinity of the normal-precision node N(n) are narrowed down as primary candidates. Here, the vicinity means, for example, the same mesh, an adjacent mesh, or within a predetermined distance (for example, 400 m).

[0157] Fig. 20 is a diagram showing an example of a high-precision node access data record. The high-precision node access data record is information that is originally included in the high-precision map DB 14 regardless of the linking information. The high-precision node access data record stores a group of pointer information for accessing the high-precision node data record that stores the data of the high-precision node. Although not shown in Fig. 20, each piece of pointer information corresponds to the mesh ID in which the high-precision node exists.

[0158] Fig. 21 is a diagram showing an example of a high-precision node data record. As shown in Fig. 21, data of a high-precision node HNi(n) has high-precision node coordinates (position information) that are originally present in the high-precision map DB 14, attribute 1 such as road type, and attribute 2 that stores linked position information. The fourth embodiment is characterized in that the high-precision node data record has attribute 2. Note that attribute 2 may store a linked ID, as in the first embodiment.

[0159] The linking determination unit 4 uses the high-precision node access data record to access all high-precision node data records existing in the vicinity of the normal-precision position N(n) and picks out all high-precision nodes having linked position information matching N(n).

[0160] In the examples of Figures 4 and 5, as shown in Figures 22 to 24, high-precision nodes HN1(3), HN2(3), and HN3(3) having attribute 2 in which linked position information U(3) is stored are matched with normal-precision node N(3). As shown in Figures 25 to 27, high-precision nodes HN1(6), HN2(6), and HN3(6) having attribute 2 in which linked position information U(6) is stored are matched with normal-precision node N(6). As shown in Figures 28 to 30, high-precision nodes HN1(8), HN2(8), and HN3(8) having attribute 2 in which linked position information U(8) is stored are matched with normal-precision node N(8).

[0161] 19, in step S45, the driving support planner 6 picks up a high-precision node based on the linked position information corresponding to the matched normal-precision node information, and then uses the picked-up high-precision node to plan driving support.

[0162] As in the first embodiment, because the vehicle enters from the normal-accuracy map road to the high-accuracy map road at the position of the normal-accuracy node N(3), the only high-accuracy node associated with the normal-accuracy node N(3) is HN3(3). Because the vehicle exits from the high-accuracy map road to the normal-accuracy map road at the position of the normal-accuracy node N(8), the only high-accuracy node associated with the normal-accuracy node N(8) is HN1(8). The high-accuracy nodes associated with the normal-accuracy node N(6) remain HN1(6), HN2(6), and HN3(6). Therefore, the nodes and links through which the host vehicle may travel are the same as those in FIG. 8 described in the first embodiment.

[0163] Unlike the first embodiment, since the data of the high-precision node has already been accessed, the driving assistance is formulated using the information of the accessed high-precision node or the information of the high-precision link connected to the high-precision node. That is, the processing load on the driving assistance formulation device 17 is reduced and the processing time can be shortened compared to the first embodiment.

[0164] <Variation 1> In the fourth embodiment, a case where the linked position information is stored in attribute 2 of a high-precision node has been described, but the present invention is not limited to this. The linked position information may be stored in attribute 2 of a high-precision link. In this case, the linked information is also stored in the inflow link and outflow link, so that, for example, the linked position information U(3) is stored in attribute 2 of the high-precision links HL1(3), HL2(3), and HL3(3) and the inflow link HL3in(3) that are linked to the normal-precision node N(3). The linked position information U(3) matches the normal-precision node N(3).

[0165] Linked location information U(6) is stored in attribute 2 of high-precision links HL1(6), HL2(6), HL3(6), and outgoing link HL3out(6) linked to normal-precision node N(6). Linked location information U(6) matches normal-precision node N(6).

[0166] Linked location information U(8) is stored in attribute 2 of high-precision links HL1(8), HL2(8), HL3(8) and outgoing link HL3out(8) linked to normal-precision node N(8). Linked location information U(8) matches normal-precision node N(8).

[0167] <Fifth Preferred Embodiment> In the fourth embodiment, a case where linked position information is stored in attribute 2 of a high-precision node is described, and in the first modification of the fourth embodiment, a case where linked position information is stored in attribute 2 of a high-precision link is described. In the fifth embodiment, a combination of the second and fourth embodiments is described, that is, a case where linked position information and linked orientation information are stored in attribute 2 of a high-precision link is described.

[0168] <Configuration> The configuration of the in-vehicle device including the driving assistance formulation device according to the embodiment 5 is basically the same as that of the embodiment 4. Therefore, in the following, the driving assistance formulation device according to the embodiment 5 will be described as the driving assistance formulation device 17 shown in FIG.

[0169] Fig. 31 is a diagram showing an example of a high-precision link access data record, and Fig. 32 is a diagram showing an example of a high-precision link data record.

[0170] As shown in FIG. 32, attribute 2 of a high precision link stored in the high precision map DB 14 stores linked position information and linked direction information.

[0171] <Operation> The operation of the driving support formulation device 17 is a combination of the operation shown in FIG. 9 described in the second embodiment and the operation of the first modified example of the fourth embodiment. The matching result and the driving support formulation result are the same as those in the second embodiment.

[0172] <Variation 1> A configuration may be adopted in which the third embodiment and the fourth embodiment are combined. In this case, the information processing device 8 outputs normal-precision node information including link attributes. Linked position information and linked link attributes are stored in attribute 2 of the high-precision link or high-precision node stored in the high-precision map DB 14. The matching process may be the same as that of the third embodiment.

[0173] <Sixth embodiment> FIG. 33 is a block diagram showing an example of the configuration of an in-vehicle device 18 including a driving assistance planning device 19 according to the sixth embodiment.

[0174] As shown in Fig. 33, driving support formulation device 19 is characterized by including a high-precision positioning unit 20. Other configurations are similar to those of any of the first to third embodiments, and therefore detailed description thereof will be omitted here. Note that high-precision positioning unit 20 may be included in driving support formulation device 17 shown in Fig. 18 and described in the fourth embodiment.

[0175] The high-precision positioning unit 20 has a function of measuring the traveling position of the host vehicle to an accuracy of the order of several tens of centimeters, and a function of detecting the traveling lane of the host vehicle.

[0176] <Operation> The driving assistance formulation device 19 can formulate driving assistance according to the driving lane in which the host vehicle is currently traveling and the driving position.

[0177] For example, in step S15 in FIG. 3 described in the first embodiment, information can be output that guides the vehicle to an appropriate driving lane in which to exit the outflow link, depending on the driving position.

[0178] For example, when the vehicle approaches within a predetermined distance from the exit node HN1(8), and the vehicle is in a lane that does not lead to the exit node HN1(8), i.e., when the vehicle is in a lane that leads to the high-precision node HN2(6) or HN3(6), guidance information can be output to guide the vehicle to travel in a lane that leads to the high-precision node HN1(6).

[0179] <Hardware configuration> The functions of the normal-accuracy node information acquisition unit 2, the linking determination unit 4, the driving determination unit 5, and the driving support formulation unit 6 in the driving support formulation device 9 described in the first embodiment are realized by a processing circuit. That is, the driving support formulation device 9 includes a processing circuit for acquiring normal-accuracy node information, determining whether the normal-accuracy node is linked to a high-accuracy node or a high-accuracy link, identifying a high-accuracy node or a high-accuracy link linked to the normal-accuracy node, determining that the vehicle is traveling on a high-accuracy map road, and formulating driving support using the high-accuracy node linked to the normal-accuracy node information. The processing circuit may be dedicated hardware, or may be a processor (also called a CPU, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor)) that executes a program stored in a memory.

[0180] When the processing circuit is a dedicated hardware, the processing circuit 21 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these, as shown in Fig. 34. Each function of the normal accuracy node information acquisition unit 2, the linking determination unit 4, the driving determination unit 5, and the driving support formulation unit 6 may be realized by the processing circuit 21, or each function may be realized together by one processing circuit 21.

[0181] When the processing circuit 21 is the processor 22 shown in FIG. 35, the functions of the normal accuracy node information acquisition unit 2, the linking determination unit 4, the travel determination unit 5, and the driving support formulation unit 6 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 23. The processor 22 realizes each function by reading and executing the program recorded in the memory 23. That is, the driving support formulation device 9 includes a memory 23 for storing a program that results in the execution of a step of acquiring normal accuracy node information, a step of determining whether the normal accuracy node is linked to a high accuracy node or a high accuracy link and identifying a high accuracy node or a high accuracy link linked to the normal accuracy node, a step of determining that the vehicle travels on a high accuracy map road, and a step of formulating driving support using a high accuracy node linked to the normal accuracy node information. In addition, it can be said that these programs cause a computer to execute the procedures or methods of the normal accuracy node information acquisition unit 2, the linking determination unit 4, the travel determination unit 5, and the driving support formulation unit 6. Here, the memory may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

[0182] In addition, with regard to each function of the normal accuracy node information acquisition unit 2, the linking judgment unit 4, the driving judgment unit 5, and the driving assistance formulation unit 6, some functions may be realized by dedicated hardware and other functions may be realized by software or firmware.

[0183] Thus, the processing circuitry may implement the functions described above through hardware, software, firmware, or a combination of these.

[0184] Although the hardware configuration of the driving support formulation device 9 described in the first embodiment has been described above, the hardware configuration of the driving support formulation device described in the second to sixth embodiments is similar.

[0185] Within the scope of the present disclosure, the embodiments can be freely combined, and each embodiment can be modified or omitted as appropriate.

[0186] Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0187] 1 Driving assistance formulation device, 2 Normal accuracy node information acquisition unit, 3 High accuracy map acquisition unit, 4 Linking judgment unit, 5 Driving judgment unit, 6 Driving assistance formulation unit, 7 In-vehicle device, 8 Information processing device, 9 Driving assistance formulation device, 10 Driving assistance device, 11 Positioning device, 12 Normal accuracy map DB, 13 Application execution unit, 14 High accuracy map DB, 15 Linking information table, 16 In-vehicle device, 17 Driving assistance formulation device, 18 In-vehicle device, 19 Driving assistance formulation device, 20 High accuracy positioning unit, 21 Processing circuit, 22 Processor, 23 Memory.

Claims

1. a normal-accuracy node information acquiring unit that acquires normal-accuracy node information including normal-accuracy position information indicating normal-accuracy positions of normal-accuracy nodes on a travel route of the host vehicle calculated using road shape information for each road and a normal-accuracy map including normal-accuracy nodes; a high-precision map acquisition unit that acquires a high-precision map including lane-by-lane road shape information, high-precision nodes, and high-precision links; a link determination unit that determines whether or not the normal-accuracy location is linked to the high-accuracy node or the high-accuracy link based on the normal-accuracy node information acquired by the normal-accuracy node information acquisition unit and link information indicating a correspondence relationship between the normal-accuracy map and the high-accuracy map; a travel determination unit that determines whether the host vehicle travels on a high precision map road included in the high precision map based on a determination result of the linking determination unit; a driving assistance planning unit that plans driving assistance for the host vehicle using the high-precision map when the driving determination unit determines that the host vehicle will travel on the high-precision map road; A driving assistance planning device comprising:

2. 2. The driving assistance planning device according to claim 1, wherein the linking information includes linked position information indicating a position corresponding to a position of a specific one of the high-precision nodes or a position of a specific one of the high-precision links, and linked reference information that is information for referencing the high-precision nodes or the high-precision links included in the high-precision map based on the linked position information.

3. The driving assistance planning device according to claim 2 , wherein the associated position information includes information indicating a predetermined area including a position corresponding to a position of a specific one of the high-precision nodes or a position of a specific one of the high-precision links.

4. The normal accuracy node information includes normal accuracy direction information indicating a direction of a normal accuracy link flowing into or out of the normal accuracy node, The linking information includes linking direction information indicating a direction of the high-precision link that flows into or flows out of the high-precision node, The driving assistance planning device of claim 2, wherein the linking determination unit determines whether the normal accuracy position is linked to the high accuracy node or the high accuracy link based on a first linking determination that determines whether the normal accuracy position information and the linked position information are linked, and a second linking determination that determines whether the normal accuracy orientation information and the linked orientation information are linked.

5. The driving support planning device according to claim 4 , wherein the associated direction information is information indicating a predetermined direction range including directions of the high-precision links that flow in to or out of the high-precision node.

6. The normal accuracy direction information includes directions of the normal accuracy links flowing into and out of the normal accuracy node; The driving support planning device according to claim 4 , wherein the associated direction information includes directions of the high-precision links that flow in and out of the high-precision node.

7. The normal accuracy node information includes normal accuracy link attributes indicating attributes of normal accuracy links flowing into or out of the normal accuracy node, The linking information includes a linking link attribute indicating an attribute of the high-precision link flowing in or out of the high-precision node, The driving assistance planning device of claim 2, wherein the linking determination unit determines whether the normal accuracy position is linked to the high accuracy node or the high accuracy link based on a third linking determination that determines whether the normal accuracy position information and the linked position information are linked, and a fourth linking determination that determines whether the normal accuracy link attribute and the linked link attribute are linked.

8. the normal accuracy link attributes include attributes of the normal accuracy links flowing into or out of the normal accuracy nodes corresponding to a junction or branching point of roads; The driving assistance planning device according to claim 7 , wherein the linking link attributes include attributes of the high-precision links that flow into or out of the high-precision nodes that correspond to a junction or branch point of roads.

9. the normal-accuracy node information includes normal-accuracy direction information indicating a direction of a normal-accuracy link flowing into or out of the normal-accuracy node, and normal-accuracy link attributes indicating attributes of the normal-accuracy link flowing into or out of the normal-accuracy node, The linking information includes: linked direction information indicating a direction of the high-precision link flowing in or out of the high-precision node; and linked link attributes indicating attributes of the high-precision link flowing in or out of the high-precision node; The driving assistance planning device of claim 2, wherein the linking judgment unit judges whether the normal accuracy position is linked to the high accuracy node or the high accuracy link based on a fifth linking judgment that judges whether the normal accuracy position information and the linked position information are linked, a sixth linking judgment that judges whether the normal accuracy direction information and the linked direction information are linked, and a seventh linking judgment that judges whether the normal accuracy link attribute and the linked link attribute are linked.

10. The link attribute includes a number of high-precision links that flow into or out of the high-precision node, The driving support planning device according to claim 9 , wherein the association information exists according to the number of links.

11. The driving support planning device according to claim 2 , wherein the linked position information is included as an attribute of the high-precision node corresponding to the normal-precision position of the normal-precision node or an attribute of the high-precision link.

12. The driving support planning device according to claim 4 , wherein the associated position information and the associated orientation information are included as attributes of the high-precision node corresponding to the normal-precision position of the normal-precision node or as attributes of the high-precision link.

13. The driving assistance planning device according to claim 7 , wherein the linked position information and the linked link attribute are included as attributes of the high-precision node or attributes of the high-precision link corresponding to the normal-precision position of the normal-precision node.

14. The driving assistance planning device according to claim 1 , wherein the association information is stored in a storage medium different from the high-precision map.

15. The driving assistance planning device according to claim 1 , wherein the driving assistance planning unit plans a lane-by-lane driving route for the host vehicle using the high-precision map including the high-precision node or the high-precision link associated with the normal-precision location.

16. the normal-precision node information acquisition unit acquires a plurality of pieces of normal-precision node information that satisfy a predetermined condition; The driving support planning device according to claim 1 , wherein the linking determination unit determines whether each of the normal-accuracy locations is linked to the high-accuracy node or the high-accuracy link based on each of the normal-accuracy node information and the linking information.

17. The driving assistance planning device according to claim 1 , wherein the normal-accuracy nodes include an inflow node connected to a normal-accuracy link flowing into another road, and an outflow node connected to a normal-accuracy link flowing out from another road.

18. 18. The driving assistance planning device of claim 17, wherein when a positional relationship between one of the inflow nodes or outflow nodes and another of the inflow nodes or outflow nodes adjacent to the one of the inflow nodes or outflow nodes satisfies a predetermined condition, the normal accuracy node information includes information regarding an intermediate node set between the one of the inflow nodes or outflow nodes and the other of the inflow nodes or outflow nodes.

19. A positioning unit that measures the position of the vehicle on a lane basis, The driving assistance planning device according to claim 1 , wherein the driving assistance planning unit plans the driving assistance for the host vehicle based on the position of the host vehicle measured by the positioning unit.

20. Obtaining normal-accuracy node information including normal-accuracy position information indicating normal-accuracy positions of normal-accuracy nodes in a travel route of the vehicle calculated using road shape information for each road and a normal-accuracy map including normal-accuracy nodes; Obtain high-precision maps that include lane-level road geometry information, high-precision nodes, and high-precision links; determining whether or not the normal-accuracy location is linked to the high-accuracy node or the high-accuracy link based on the acquired normal-accuracy node information and linking information indicating a correspondence relationship between the normal-accuracy map and the high-accuracy map; determining whether the host vehicle travels on a high precision map road included in the high precision map based on a determination result of whether the normal precision location is associated with the high precision node or the high precision link; a driving assistance planning method for planning driving assistance for the host vehicle using the high-precision map when it is determined that the host vehicle will travel on the high-precision map road;

Images