Information processing method, program, and information processing device

Abstract

To provide an information processing method capable of appropriately performing control so as to avoid stopping in a state in which all or a portion of a vehicle protrudes into a stopping prohibition area in tracking travel control of a preceding vehicle.SOLUTION: An information processing device causes a processor to execute: acquiring map data (S102); acquiring vehicle position data by a locator (S104); acquiring distance measurement data between a vehicle and a feature by a sensor (S106); correcting the vehicle position data by comparing the distance data between a vehicle position and a feature position on the map data with the distance measurement data (S108); specifying a stopping prohibition area on the basis of the map data (S110); acquiring data on vehicular gap to a preceding vehicle by the sensor (S112); and controlling whether to make the vehicle enter the stopping prohibition area or to stop the vehicle in front of the stopping prohibition area on the basis of the corrected vehicle position data, the stopping prohibition area and the vehicular gap data (S114).SELECTED DRAWING: Figure 9

Description

[Technical field]

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

[0002] Generally, car navigation systems using maps and GPS (Global Positioning System) are widely used, but technology related to Advanced Driver-Assistance Systems (ADAS), which assist driving while grasping the situation around the vehicle, is also developing.

[0003] For example, on expressways, there is the Adaptive Cruise Control System (ACC), which controls the accelerator and brake to maintain a safe distance from the vehicle ahead, and the Traffic Jam Assist (TJA), which allows the vehicle to follow a slower vehicle ahead during traffic jams, etc.

[0004] On the other hand, on general roads, traffic lights and intersections exist, so complex and diverse control is required to take into account the traffic conditions around the vehicle. For example, when following a vehicle ahead, depending on the distance between the vehicle and the vehicle ahead and the stopping position of the vehicle ahead, there is a possibility that the vehicle will stop outside a no-stopping zone (e.g., an intersection area, etc.).

[0005] In the radar cruise control system disclosed in Patent Document 1, during following control of the preceding vehicle, the radar device grasps the distance between the vehicles, and the navigation device detects the vehicle position and the shape of the no-stopping zone through which the vehicle is about to pass. Then, it is determined whether there is a spatial area (area where the vehicle can stop) beyond the no-stopping zone through which the vehicle is about to pass, and the system performs normal following control of the preceding vehicle, or performs stop-maintenance control so that the vehicle stops at the stop line just before the no-stopping zone. This prevents the vehicle from stopping in the no-stopping zone. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2010-105605 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the technology disclosed in Patent Document 1 uses a navigation device to detect the vehicle position and no-stopping zones, so there is a risk that the vehicle will not be able to stop properly at the stop line due to detection errors, etc., and will stop outside the no-stopping zone.

[0008] Therefore, the present invention aims to provide an information processing method, program, and information processing device that can appropriately control a vehicle following a preceding vehicle to avoid the vehicle stopping with all or part of the vehicle extending beyond a no-stopping zone. [Means for solving the problem]

[0009] An information processing method according to one aspect of the present invention is an information processing method executed by an information processing device including a processor, in which the processor executes the following operations: acquire map data including feature data regarding roads and features present around the roads; acquire vehicle position data regarding the vehicle position measured by a locator mounted on the vehicle based on a signal from a satellite positioning system; acquire distance measurement data regarding the distance between the vehicle and a specified feature measured by a sensor mounted on the vehicle; correct the vehicle position data by comparing the distance data regarding the distance between the vehicle position on the map data based on the vehicle position data and a feature position based on specified feature data included in the map data with the distance measurement data; identify a no-stopping zone for the vehicle based on the map data; acquire following distance data regarding the distance between the vehicle and a preceding vehicle measured by a sensor mounted on the vehicle; and control whether to cause the vehicle to enter the no-stopping zone or to stop before the no-stopping zone based on the corrected vehicle position data, the no-stopping zone, and the following distance data. Effect of the Invention

[0010] According to the present invention, it is possible to provide an information processing method, a program, and an information processing device that can appropriately control a vehicle following a preceding vehicle to avoid the vehicle stopping with all or part of the vehicle extending beyond a no-stopping zone. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating an example of a configuration of an information processing system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of a hierarchical structure of map data according to an embodiment of the present invention. [Diagram 3] 1 is a diagram showing an example of a configuration of a vehicle according to an embodiment of the present invention; [Figure 4] 1 is a diagram illustrating an example of a configuration of an information processing device according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a diagram illustrating an example of a database according to an embodiment of the present invention. [Figure 6] FIG. 1 is a diagram showing an example of a vehicle 10 performing a following travel control for a preceding vehicle 50 in a no-stopping zone (intersection area) according to an embodiment of the present invention. [Figure 7] FIG. 2 is a diagram showing an example of correcting the vehicle position of a vehicle 10 on an HD map according to an embodiment of the present invention. [Figure 8] FIG. 1 is a diagram showing an example of performing running control for a vehicle 10 to follow a left-turning preceding vehicle 51 in a no-stopping zone (intersection area) according to an embodiment of the present invention. [Figure 9] 5 is a flowchart showing an example of a process for determining whether or not to allow a vehicle to enter a no-stopping zone according to an embodiment of the present invention. [Figure 10] 5 is a diagram showing an example of acquiring a stopping distance between a vehicle and a stop line according to an embodiment of the present invention; FIG. [Figure 11] 5 is a flowchart showing an example of a process related to a stopping distance between a vehicle and a stop line according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] [Embodiment] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the accompanying drawings, in which like reference numerals denote like or similar structures.

[0013] <System Overview> Fig. 1 is a diagram showing an example of the configuration of an information processing system 1 according to an embodiment of the present invention. The information processing system 1 shown in Fig. 1 includes a vehicle 10 equipped with a locator, an information processing device 20, and a positioning satellite 30 used in a Global Navigation Satellite System (GNSS), which are capable of transmitting and receiving data to and from each other via a network N. Furthermore, the number of vehicles 10 and information processing devices 20 may be one or more.

[0014] The vehicle 10 is equipped with a driving assistance system or an automatic driving system, and is capable of controlling driving to follow a preceding vehicle. The vehicle 10 is equipped with a locator, and is capable of receiving signals from a GNSS positioning satellite 30 and detecting the position information of the vehicle using the locator.

[0015] The locator may be a known locator capable of measuring the position of the vehicle based on a signal from a satellite positioning system. For example, if a high-precision locator capable of receiving information from a quasi-zenith satellite and measuring the position of the vehicle with high precision is used, the accuracy of the vehicle position can be improved to about 0.5 m or less. The position information includes, for example, three-dimensional position information of latitude, longitude, and altitude, or two-dimensional position information of latitude and longitude.

[0016] The vehicle 10 also has various sensors mounted thereon, and as will be described later, for example, a radar device is used to measure the distance to a traffic light, the distance to a preceding vehicle, and the like.

[0017] The positioning satellite 30 is a satellite that transmits a signal required for measuring position information. For example, the positioning satellite 30 is a satellite used in GNSS, and may include a satellite (e.g., a quasi-zenith satellite) that can transmit a signal related to highly accurate position information.

[0018] The information processing device 20 is, for example, a server, and acquires from the vehicle 10, position information of the vehicle 10 measured by a locator, distance information measured by various sensors, and the like. The information processing device 20 also controls the running and stopping of the vehicle 10 based on the position information of the vehicle 10 and the measured distance information while using map data described below. Note that the information processing device 20 may be composed of multiple information processing devices.

[0019] <Map data overview> Here, an overview of the map data used in this embodiment will be described. The map data used in this embodiment is, for example, high-precision three-dimensional map data used for automatic driving and the like. As a specific example, this map data is map data called a dynamic map that is provided in real time and to which more dynamic information such as information on surrounding vehicles and traffic information is added. The map data used in this embodiment is, for example, classified into four hierarchical levels.

[0020] Fig. 2 is a diagram showing an example of a hierarchical structure of map data according to an embodiment of the present invention. In the example shown in Fig. 2, the map data is classified into static information SI1, semi-static information SI2, semi-dynamic information MI1, and dynamic information MI2.

[0021] The static information SI1 is three-dimensional, highly accurate basic map data (high-accuracy three-dimensional map data) that includes road surface information, lane information, three-dimensional structures, etc., and is composed of three-dimensional position coordinates and linear vector data that indicate features. The quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2 are dynamic data that change from moment to moment, and are data that are superimposed on the static information based on position information.

[0022] The quasi-static information SI2 includes traffic regulation information, road construction information, wide-area weather information, etc. The quasi-dynamic information MI1 includes accident information, congestion information, narrow-area weather information, etc. The dynamic information MI2 includes ITS (Intelligent Transport System) information, including surrounding vehicles, pedestrians, traffic lights, etc.

[0023] To realize a dynamic map, it is important to construct high-precision three-dimensional map data (hereinafter also referred to as "HD (High Definition) map") corresponding to the static information SI1. HD maps have a predetermined accuracy level that can be managed at least on a lane-by-lane basis, for automated driving systems on general roads including intersection areas. For example, if the accuracy level is the map information level used to indicate the accuracy of position and height on a digitized map, an HD map is a map having a map information level of about 500 (equivalent scale 1 / 500) or a level more precise than map information level 500.

[0024] The HD map is generated based on point cloud data acquired by, for example, a laser scanner, which is obtained by a measurement vehicle equipped with a Mobile Mapping System (MMS) measurement system moving around and performing 3D measurements of the surrounding terrain. The HD map includes feature data managed for each of the identified features, which are identified from the point cloud data as features, such as traffic lights, road signs, road signs, lane markings, road shoulders, etc. that exist on and around the road. The feature data may include any information related to the feature, such as feature ID, type, position, size, configuration, and data generation (update) date and time. The features that are the subject of the generation of feature data include real features that exist in reality, and virtual features such as lane links that are generated from real features.

[0025] Furthermore, the HD map is not limited to being generated based on point cloud data obtained by MMS measurement, and may be generated by other methods as long as the method has the above-mentioned accuracy level. For example, the HD map may be generated based on 3D surveying using an airborne laser, or may be generated based on high-resolution images.

[0026] <Vehicle configuration> Fig. 3 is a diagram showing an example of the configuration of a vehicle 10 according to an embodiment of the present invention. In the example shown in Fig. 1, the vehicle 10 includes, as on-board devices, a locator 101, a processor 102, various sensors 103, and a communication device 104.

[0027] Locator 101 acquires position information (coordinate position information) of vehicle 10 based on a signal from positioning satellite 30. For example, if locator 101 is a high-precision locator that calculates the vehicle position of vehicle 10 with a high accuracy of 50 cm, the accuracy is about 50 cm or less, and therefore it is possible to measure the vehicle position on a lane-by-lane basis. If such a high-precision locator is used, vehicle 10 can be more appropriately controlled in the driving control in a no-stopping zone, which will be described later. Locator 101 may also perform positioning using a positioning augmentation signal or carrier phase from positioning satellite 30, perform lane map matching using a camera, or perform accuracy evaluation using raw data of the GNSS.

[0028] The processor 102 performs driving control, including running and stopping of the vehicle 10, and controls the transmission and reception of data to and from external devices.

[0029] The various sensors 103 include a radar device, an on-board camera, a vehicle speed sensor, an acceleration sensor, etc. The radar device is, for example, a LiDAR (Light Detection and Ranging) or a millimeter wave radar, and measures the distance to features such as traffic lights, road markings, road signs, dividing lines, and road shoulder edges that exist on the road and around the road, and obtains distance measurement data, or measures the distance to a preceding vehicle and obtains distance data. In addition, such distances may be measured based on an image captured by an on-board camera, or may be measured using both the radar device and the on-board camera. The vehicle speed sensor detects the speed of the vehicle 10, and the acceleration sensor detects the direction, attitude, etc. of the vehicle 10, and the data detected by each may be used as appropriate to realize more accurate driving control of the vehicle 10.

[0030] The communication device 104 transmits and receives data to and from an external device. For example, the communication device 104 transmits to the information processing device 20 the position information of the vehicle 10 measured by the locator 101, distance measurement data including the distance to a feature measured by a radar device, and vehicle distance data including the vehicle distance to a preceding vehicle.

[0031] <Configuration of information processing device> 4 is a diagram showing an example of the configuration of an information processing device 20 according to an embodiment of the present invention. The information processing device 20 includes one or more processing devices (CPU: Central Processing Unit) 210, one or more network communication interfaces 220, a storage device 230, a user interface 250, and one or more communication buses 270 for interconnecting these components. Note that the user interface 250 is not necessarily required.

[0032] Storage device 230 may be, for example, a high-speed random access memory such as DRAM, SRAM, or other random access solid-state storage device. Storage device 230 may also be a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. Storage device 230 may also be a non-transitory computer-readable recording medium.

[0033] The storage device 230 stores data used by the information processing system 1. For example, the storage device 230 stores data related to the traveling of the vehicle 10. As specific examples, a dynamic map, an HD map, vehicle information, traffic information, and the like are stored in the storage device 230.

[0034] Fig. 5 is a diagram showing an example of a database according to an embodiment of the present invention. In the example shown in Fig. 5, the storage device 230 stores dynamic map data as a high-precision map database. As described above, the dynamic map data includes static information SI1, semi-static information SI2, semi-dynamic information MI1, and dynamic information MI2, and each piece of information is associated with each other.

[0035] The static information SI1 included in the dynamic map data includes an HD map, which includes feature data. This feature data is basic information when an application uses the dynamic map, and includes data on features such as traffic lights, road markings, road signs, lane markings, and road shoulders that exist on and around the road.

[0036] In a driving assistance system or an autonomous driving system in which an HD map can be used, when a driving control such as ACC or TJA is being performed to follow a preceding vehicle, it may be important to determine whether to cause the vehicle 10 to enter and pass through a no stopping zone or to stop just before the no stopping zone.

[0037] If the vehicle 10 enters a no-stopping zone but the preceding vehicle is stalled, the vehicle may not be able to pass through the no-stopping zone and may end up stopping with all or part of the vehicle protruding into the no-stopping zone. If the vehicle stops with all or part of the vehicle protruding into the no-stopping zone, it may cause traffic congestion or even a serious accident. That is, when performing a driving control to follow the preceding vehicle on the vehicle 10, the information processing device 20 must appropriately determine and control whether to allow the vehicle 10 to enter and pass through the no-stopping zone or to stop the vehicle 10 before the no-stopping zone so as to avoid the vehicle 10 stopping with all or part of the vehicle protruding into the no-stopping zone.

[0038] Hereinafter, a detailed description will be given of the following travel control of the vehicle 10 in the vicinity of a no-stopping zone by the information processing device 20 using the HD map. Note that, here, an intersection area will be described as an example of the no-stopping zone.

[0039] Fig. 6 is a diagram showing an example of a vehicle 10 performing a following travel control for a preceding vehicle in a no-stopping zone (intersection area) according to an embodiment of the present invention. In Fig. 6, when the vehicle 10 traveling on a road approaches the intersection area, the information processing device 20 judges and controls whether to allow the vehicle 10 to enter the intersection area as is, or to stop the vehicle 10 in front of the intersection area without entering the intersection area.

[0040] Returning to Fig. 4, a description will be given of the CPU 210 that executes processing related to driving control of the vehicle 10 according to this embodiment in the information processing device 20. The CPU 210 executes programs stored in the storage device 230 to configure a driving control unit 212, a transmission / reception unit 213, an acquisition unit 214, a correction unit 215, an identification unit 216, and a determination unit 217. The CPU 210 controls the processing of each unit, which will be described later, and executes processing related to driving control of the vehicle 10.

[0041] The driving control unit 212 controls each unit and uses various data to control the driving of the vehicle 10. For example, the driving control unit 212 controls the driving and stopping of the vehicle 10 based on the HD map stored in the storage device 230, vehicle position data acquired from the vehicle 10, distance measurement data relating to the distance to a predetermined feature, and following distance data relating to the following distance to a preceding vehicle.

[0042] The transmission / reception unit 213 transmits and receives data to and from an external device via the network communication interface 220. For example, the transmission / reception unit 213 is configured as a receiving unit that receives data, signals, and the like from the vehicle 10, and is also configured as a transmitting unit that transmits data, signals, and the like to the vehicle 10. As a specific example, the transmission / reception unit 213 receives from the vehicle 10 various data measured by a locator, various sensors, and the like mounted on the vehicle 10, and transmits to the vehicle 10 control signals and the like related to the running or stopping of the vehicle 10.

[0043] The acquisition unit 214 acquires map data including feature data related to features existing on roads and around roads. As a specific example, the acquisition unit 214 acquires data of an HD map stored in the storage device 230. The HD map is, for example, a high-precision three-dimensional map that is generated based on point cloud data measured by a measurement vehicle and meets a predetermined accuracy, and is map data including feature data in which traffic lights, road signs, road signs, lane lines, road shoulder edges, and the like existing on roads and around roads are each a feature. As described above, the HD map is not limited to point cloud data, and may be generated based on an airborne laser or a high-resolution image. In this way, by using high-precision map data, it is possible to realize more accurate driving control of the vehicle 10.

[0044] The acquisition unit 214 acquires data measured by a locator and various sensors mounted on the vehicle 10. As a specific example, the vehicle position of the vehicle 10 is measured by a locator mounted on the vehicle 10 based on a signal from a satellite positioning system, and information including the measured vehicle position of the vehicle 10 is transmitted as vehicle position data from the vehicle 10 to the information processing device 20. As a result, the acquisition unit 214 acquires the vehicle position data.

[0045] The acquisition unit 214 also acquires distance measurement data relating to the distance between the vehicle 10 and a predetermined feature measured by a sensor mounted on the vehicle 10. As a specific example, a distance S10 between the vehicle 10 and a traffic light 40 is measured using a radar device mounted on the vehicle 10, and information including the measured distance S10 is transmitted as distance measurement data from the vehicle 10 to the information processing device 20. As a result, the acquisition unit 214 acquires the distance measurement data.

[0046] The acquisition unit 214 also acquires inter-vehicle distance data relating to the inter-vehicle distance between the vehicle 10 and the preceding vehicle 50 measured by a sensor mounted on the vehicle 10. As a specific example, the inter-vehicle distance S20 between the vehicle 10 and the preceding vehicle 50 is measured using a radar device mounted on the vehicle 10, and information including the measured inter-vehicle distance S20 is transmitted from the vehicle 10 to the information processing device 20 as inter-vehicle distance data. As a result, the acquisition unit 214 acquires the inter-vehicle distance data.

[0047] The correction unit 215 calculates distance data relating to the distance between the vehicle position on the HD map based on the vehicle position data acquired by the acquisition unit 214 and the feature position based on the feature data of the traffic light 40 included in the HD map. Then, the correction unit 215 compares the distance data calculated on the HD map with the distance measurement data acquired by the acquisition unit 214. In this way, the correction unit 215 corrects the vehicle position data.

[0048] Fig. 7 is a diagram showing an example of correcting the vehicle position of vehicle 10 on the HD map for the vehicle position according to an embodiment of the present invention. In Fig. 7, the vehicle position of vehicle 10 measured by locator 101 is set to coordinate P10 on the HD map. Correction unit 215 grasps the feature position of traffic light 40 on the HD map based on feature data of traffic light 40 included in the HD map, and calculates the distance between the feature position of traffic light 40 and the vehicle position (coordinate P10). Meanwhile, distance S20 between vehicle 10 and traffic light 40 measured by the radar device is based on actual measurement.

[0049] The correction unit 215 compares the distance between the vehicle 10 and the traffic light 40 calculated on the HD map with the distance S10 between the vehicle 10 and the traffic light 40 measured by the radar device. Then, the correction unit 215 corrects the vehicle position (coordinate P10) of the vehicle 10 (coordinate P11). That is, the correction unit 215 corrects the vehicle position (coordinate P10) on the HD map to the coordinate P11 based on the distance S10 between the vehicle 10 and the traffic light 40.

[0050] In this way, by correcting (coordinate P11) the vehicle position of the vehicle 10 on the HD map measured by the locator 101 based on the distance S10 measured by the radar device, the vehicle position of the vehicle 10 can be appropriately determined with high accuracy.

[0051] Note that, here, the traffic light 40 is treated as a feature, and the vehicle position of the vehicle 10 on the HD map is corrected based on the distance S10 between the vehicle 10 and the traffic light 40 measured by the radar device, but the feature for which the distance to the vehicle 10 is measured is not limited to this. For example, other traffic lights, road markings, road signs, dividing lines, road shoulder edges, etc. may be used as the feature for which the distance to the vehicle 10 is measured, as long as they are included in the HD map as feature data and the distance to the vehicle 10 can be measured by the radar device.

[0052] The identification unit 216 identifies a no-stopping zone (intersection area) for the vehicle 10 based on the HD map. As a specific example, when the HD map includes feature data that defines an intersection area as a feature, the identification unit 216 may identify the no-stopping zone A10 based on the feature data of the intersection area. This allows the identification unit 216 to easily and simply identify the intersection area as a feature as the no-stopping zone A10.

[0053] Also, for example, when the HD map includes feature data in which a stop line is a feature, the identification unit 216 may identify an area from a stop line before entering an intersection to a stop line before an oncoming vehicle enters the intersection as the no-stopping area A10. When the HD map does not include feature data in which an intersection area is a feature, or when the no-stopping area A10 shown in FIG. 6 or the like is appropriately identified, the identification unit 216 can appropriately identify the no-stopping area A10 using the stop line as a reference. That is, since the identification unit 216 uses the stop line where the vehicle must stop as a reference, it can appropriately identify an area where the vehicle must avoid stopping (intersection area) as the no-stopping area A10.

[0054] The determination unit 217 determines whether to cause the vehicle 10 to enter the no stopping area A10 or to stop the vehicle 10 before the no stopping area A10, based on the corrected vehicle position data, the no stopping area data, and the vehicle distance data.

[0055] As a specific example, referring to FIG. 6, the vehicle position of the vehicle 10 on the HD map is accurately and appropriately corrected to coordinates P11 by the correction unit 215, and the stopping-prohibited area A10 is specified by the identification unit 216. If the vehicle 10 attempts to enter and pass through the stopping-prohibited area A10, the vehicle will travel along a route from the entry position IN10 to the exit position OUT10. The route length D10 of the route can be calculated based on the stopping-prohibited area A10, and in this case, it is the length of one side of the stopping-prohibited area A10. Furthermore, the acquisition unit 214 acquires the inter-vehicle distance S20 between the vehicle 10 and the preceding vehicle 50.

[0056] If the path length D10 from the entry position IN10 to the exit position OUT10 in the no-stopping zone A10 + the stopping space < the inter-vehicle distance S20, the determination unit 217 determines that the vehicle 10 will enter the no-stopping zone A10. Then, the driving control unit 212 transmits a control signal indicating that the vehicle 10 will enter the no-stopping zone A10 to the vehicle position indicated by the coordinate P11, and controls the vehicle 10 to drive.

[0057] On the other hand, if the path length D10 from the entry position IN10 to the exit position OUT10 in the no-stopping zone A10 + stopping space ≧ inter-vehicle distance S20, the determination unit 217 determines that the vehicle 10 should be stopped before the no-stopping zone A10. Then, the driving control unit 212 transmits a control signal to the vehicle 10 at the vehicle position indicated by the coordinate P11, indicating that the vehicle 10 should be stopped before the no-stopping zone A10, and controls the vehicle 10 to stop.

[0058] The stopping space may be set in consideration of the length of vehicle 10 and the distance to the preceding vehicle. For example, in the case of a general passenger car (total length of about 5 m), the stopping space may be set to 6 m, taking into consideration a distance of about 1 m behind the preceding vehicle, or the stopping space may be set according to the type of vehicle, such as a light car, bus, truck, etc., or for each vehicle.

[0059] As described above, according to the information processing device 20 according to an embodiment of the present invention, the acquisition unit 214 acquires the HD map stored in the storage device 230, and acquires the vehicle position data of the vehicle 10 measured by the locator 101 and the radar device mounted on the vehicle 10, the distance measurement data including the distance S10 to the traffic light 40, and the vehicle distance data including the vehicle distance S20 to the preceding vehicle 50. The correction unit 215 compares the distance calculated based on the vehicle position (coordinate P10) on the HD map based on the vehicle position data and the feature position based on the feature data of the traffic light 40 included in the HD map with the distance S10 included in the distance measurement data, and corrects the vehicle position (coordinate P10) on the HD map to the accurate vehicle position (coordinate P11) with high accuracy. The identification unit 216 identifies the no-stopping zone A10 based on the HD map. Then, the determination unit 217 determines whether the vehicle 10 at the corrected vehicle position (coordinate P11) should enter the no-stopping area A10 or stop before the no-stopping area A10 based on the path length D10+stopping space from the entry position IN10 to the exit position OUT10 in the no-stopping area A10 and the vehicle distance S20. As a result, the travel control unit 212 controls the vehicle 10 by transmitting a control signal indicating that the vehicle 10 will enter the no-stopping area A10 or a control signal indicating that the vehicle 10 will stop before the no-stopping area A10 to the vehicle 10. In this way, the information processing device 20 appropriately controls the vehicle 10 to avoid stopping in a state where all or part of the vehicle 10 protrudes into the no-stopping area A10 in the following travel control of the preceding vehicle.

[0060] Although FIG. 6 shows an example in which the vehicle 10 travels straight through an intersection area, this is not limited to this example. For example, the information processing device 20 according to one embodiment of the present invention can also be applied when the vehicle 10 turns left or right through an intersection area.

[0061] Fig. 8 is a diagram showing an example of a vehicle 10 performing running control to follow a left-turning preceding vehicle 51 in a no-stopping zone (intersection area) according to an embodiment of the present invention. What differs from the example in Fig. 6 in Fig. 8 is the distance S21 from the vehicle 10 to the preceding vehicle 51 measured by a radar device, and the path length D11 from an entry position IN10 to an exit position OUT11 along which the vehicle 10 travels when entering and passing through the no-stopping zone A10.

[0062] The distance S21 is the straight-line distance from the vehicle 10 to the preceding vehicle 51, but here it is necessary to calculate the inter-vehicle distance S22 along the left-turn travel path. Since the left-turn position LP can be grasped in the HD map, the inter-vehicle distance S22 along the left-turn travel path can be calculated based on the distance S21. In addition, based on the HD map, the route length D11 from the entry position IN10 to the exit position OUT11 along which the vehicle 10 travels when entering and passing through the no-stopping zone A10 can also be calculated.

[0063] In this way, when the path length D11 from the entry position IN10 to the exit position OUT11 in the no-stopping zone A10 + stopping space < the inter-vehicle distance S22, the judgment unit 217 judges to cause the vehicle 10 to enter the no-stopping zone A10. On the other hand, when the path length D11 from the entry position IN10 to the exit position OUT11 in the no-stopping zone A10 + stopping space ≧ the inter-vehicle distance S22, the judgment unit 217 judges to cause the vehicle 10 to stop before the no-stopping zone A10.

[0064] Then, as in the example shown in FIG. 6, the driving control unit 212 controls the vehicle 10 at the vehicle position indicated by the coordinate P11 by transmitting a control signal indicating that the vehicle 10 is to enter the no-stopping area A10, or a control signal indicating that the vehicle 10 is to stop just before the no-stopping area A10, thereby appropriately avoiding the vehicle 10 from stopping with all or part of it extending beyond the no-stopping area A10 in the following driving control of the preceding vehicle.

[0065] In this embodiment, the no-stopping area A10 is an intersection area, but this is not limited to this. For example, railroad crossings, crossing tracks, entrances and exits for emergency vehicles, entrances and exits to parking lots, etc. may also be identified as no-stopping areas.

[0066] In addition, in this embodiment, the vehicle 10 is stopped before the no-stopping zone A10, but the stopping position may be a stop line located before the no-stopping zone. A stop line on a road is a position where the vehicle 10 must stop, and stopping the vehicle 10 at the stop line complies with traffic rules and is a correct and important control. The position of the stop line can be grasped as a feature position of the stop line on the HD map based on feature data of the stop line as a feature included in the HD map.

[0067] <Operation> Next, each process related to the following travel control performed on the vehicle 10 in the vicinity of a no-stopping zone will be described.

[0068] 9 is a flowchart showing an example of a process for determining whether or not to allow a vehicle to enter a no-stopping zone according to an embodiment of the present invention. The process shown in FIG. 9 is executed by a processor included in the information processing device 20.

[0069] In step S102, the information processing device 20 executes a process of acquiring map data including feature data related to roads and features existing around the roads. For example, the information processing device 20 acquires an HD map stored in the storage device 230.

[0070] In step S104, information processing device 20 executes acquisition processing of vehicle position data related to the vehicle position measured by locator 101 mounted on vehicle 10 based on a signal from a satellite positioning system. For example, the vehicle position of vehicle 10 is measured by a high-precision locator, and information processing device 20 acquires vehicle position data related to the vehicle position of vehicle 10.

[0071] In step S106, the information processing device 20 executes a process of acquiring distance measurement data relating to the distance between the vehicle 10 and a predetermined feature measured by a sensor mounted on the vehicle 10. For example, a radar device mounted on the vehicle 10 measures a distance S10 between the vehicle 10 and a traffic light 40 installed ahead of the vehicle 10, and the information processing device 20 acquires distance measurement data including the measured distance S10.

[0072] In step S108, the information processing device 20 corrects the vehicle position data acquired in step S104 based on the distance measurement data acquired in step S106. For example, the information processing device 20 calculates the distance on the HD map between the vehicle position based on the vehicle position data acquired in step S104 and a feature position based on feature data of the traffic light 40 as a feature included in the HD map acquired in step S102, and compares the distance data relating to the distance with the distance measurement data acquired in step S106. In this way, the information processing device 20 corrects the vehicle position data acquired in step S104.

[0073] In step S110, the information processing device 20 executes a process of identifying a no-stopping zone A10 for the vehicle 10, based on the map data. For example, the information processing device 20 identifies the no-stopping zone A10, based on feature data of an intersection area as a feature included in the HD map.

[0074] In step S112, the information processing device 20 executes a process of acquiring distance data relating to the distance between the vehicle 10 and the preceding vehicle 50 measured by a sensor mounted on the vehicle 10. For example, a radar device mounted on the vehicle 10 measures the distance S20 between the vehicle 10 and the preceding vehicle 50, and the information processing device 20 acquires the distance data including the measured distance S20.

[0075] In step S114, the information processing device 20 executes a determination process of whether or not (no stopping area A10 identified in step S110+stopping space)<(inter-vehicle distance acquired in step S112). If (route length D10 from entry position IN10 to exit position OUT10 in no stopping area A10+stopping space)<inter-vehicle distance S20, the information processing device 20 proceeds to the process of step S116 (Yes in step S114). On the other hand, if (route length D10 from entry position IN10 to exit position OUT10 in no stopping area A10+stopping space)≧inter-vehicle distance S20, the information processing device 20 proceeds to the process of step S116 (No in step S114).

[0076] In step S116, the information processing device 20 executes a process of causing the vehicle 10, whose vehicle position is based on the corrected vehicle position data, to enter the no-stopping zone A10. For example, the information processing device 20 transmits a control signal to the vehicle 10 indicating that the vehicle 10 will enter the no-stopping zone A10, and controls the vehicle 10 to travel.

[0077] In step S118, the information processing device 20 executes a process of stopping the vehicle 10, whose vehicle position is based on the corrected vehicle position data, before the no-stopping zone A10. For example, the information processing device 20 transmits a control signal to the vehicle 10 indicating that the vehicle 10 should stop before the no-stopping zone A10, and controls the vehicle 10 to stop.

[0078] In this way, according to the processing executed by the processor included in the information processing device 20, in the following driving control of the preceding vehicle, by using the HD map stored in the memory device 230 and information measured by the locator 101 and various sensors 103 mounted on the vehicle 10, it is possible to appropriately control the vehicle 10 to avoid stopping all or part of the vehicle 10 outside the no-stopping zone A10.

[0079] <Stopping at the stop line> In the above-described embodiment, the vehicle 10 is controlled to stop before the no-stopping zone A10 or at a stop line existing before the no-stopping zone A10, but the position where the vehicle 10 is stopped is important, and it is preferable to control the vehicle 10 more accurately, accurately, and safely. Hereinafter, a method of stopping the vehicle 10 in consideration of the stopping distance between the vehicle 10 and the stop line existing before the no-stopping zone A10 will be described.

[0080] The acquisition unit 214 acquires stopping distance data relating to the distance between the vehicle 10 indicated by the vehicle position data corrected by the correction unit 215 and a stop line as feature data included in the map data. As a specific example, the acquisition unit 214 grasps the feature position of the stop line on the HD map based on the vehicle position (coordinate P11) on the HD map corrected by the correction unit 215 and the feature data of the stop line as a feature included in the HD map. In this way, the acquisition unit 214 acquires stopping distance data relating to the distance between the vehicle 10 and the stop line.

[0081] When the vehicle 10 is stopped before the no-stopping zone A10 (when the process proceeds to step S118 because of No in step S114), the driving control unit 212 stops the vehicle 10 indicated by the corrected vehicle position data at the stop line based on the stopping distance data acquired by the acquisition unit 214. As a specific example, the driving control unit 212 transmits a control signal indicating that the vehicle 10 will stop at the stop line based on the distance between the vehicle position of the vehicle 10 and the feature position of the stop line to the vehicle 10 at the vehicle position indicated by the coordinate P11, thereby controlling the vehicle 10 to stop at the stop line. For example, the speed of the vehicle 10 may be controlled to be gradually reduced depending on the distance between the vehicle position of the vehicle 10 and the feature position of the stop line.

[0082] As a result, when the vehicle 10 is stopped in front of the no stopping area A10, the speed of the vehicle 10 is gradually reduced based on the distance between the vehicle 10 and the stop line, and the vehicle 10 can be stopped accurately, safely and with high precision at the stop line.

[0083] Fig. 10 is a diagram showing an example of acquiring the stopping distance between a vehicle and a stop line according to an embodiment of the present invention. In Fig. 10(A), the preceding vehicle 50 has passed the stop line 60 in front of the vehicle 10, so the stop line 60 can be seen from the vehicle 10. On the other hand, in Fig. 10(B), the preceding vehicle 50 is between the vehicle 10 and the stop line 60 in front of the vehicle 10, so the stop line 60 cannot be seen from the vehicle 10.

[0084] 10(A), the acquisition unit 214 acquires stop distance measurement data relating to the distance between the vehicle 10 and the stop line 60 located in front of the no-stopping area A10, which is measured by a sensor mounted on the vehicle 10. As a specific example, a distance S30 between the vehicle 10 and the stop line 60 is measured using a radar device mounted on the vehicle 10, and information including the measured distance S30 is transmitted from the vehicle 10 to the information processing device 20 as stop distance measurement data. As a result, the acquisition unit 214 acquires the stop distance measurement data.

[0085] The correction unit 215 corrects the stopping distance data based on the stop distance measurement data acquired by the acquisition unit 214. As a specific example, the correction unit 215 calculates distance data regarding the distance between the vehicle position of the vehicle 10 and the feature position of the stop line 60 based on the feature position based on the feature data of the stop line 60 as a feature included in the HD map. Then, the correction unit 215 corrects the stopping distance data by comparing the distance data calculated on the HD map with the stop distance measurement data acquired by the acquisition unit 214.

[0086] When the vehicle 10 is stopped before the no-stopping zone A10 (when the process proceeds to step S118 because of No in step S114), the driving control unit 212 stops the vehicle 10 at the position of the stop line 60 indicated by the corrected vehicle position data based on the stopping distance data corrected by the correction unit 215. As a specific example, the driving control unit 212 transmits a control signal indicating that the vehicle 10 is to stop at the position of the stop line 60 to the vehicle 10 at the vehicle position indicated by the coordinate P11 based on the distance between the vehicle 10 on the HD map corrected based on the stopping distance measurement data, and controls the vehicle 10 to stop at the position of the stop line 60. For example, the speed of the vehicle 10 may be controlled to be gradually decelerated according to the distance between the vehicle 10 and the stop line 60.

[0087] In this way, when the vehicle 10 is stopped just before the no-stopping zone A10, the distance between the vehicle 10 and the stop line 60 is grasped more accurately, and the vehicle 10 can be stopped more accurately, safely and at the position of the stop line 60 based on that distance.

[0088] 10B, since a preceding vehicle 50 exists between the vehicle 10 and the stop line 60, the distance between the vehicle 10 and the stop line 60 cannot be measured using the radar device mounted on the vehicle 10. That is, in this case, the acquisition unit 214 acquires stopping distance data relating to the distance between the vehicle 10 indicated by the vehicle position data corrected by the correction unit 215 and the stop line 60 as feature data included in the map data. Then, when the vehicle 10 is stopped before the no-stopping zone A10 (when the process proceeds to step S118 due to No in step S114), the driving control unit 212 stops the vehicle 10 indicated by the corrected vehicle position data at the stop line 60 based on the stopping distance data acquired by the acquisition unit 214.

[0089] Next, a description will be given of each process related to the stopping distance between the vehicle 10 and the stop line 60. This is each process related to the stopping distance between the vehicle 10 and the stop line 60 when the vehicle 10 is stopped at the stop line 60 in step S118.

[0090] 11 is a flowchart showing an example of a process related to the stopping distance between a vehicle and a stop line according to an embodiment of the present invention. The process shown in FIG.

[0091] In step S202, the information processing device 20 executes a process of acquiring stopping distance data relating to the distance between the vehicle 10 at the vehicle position based on the corrected vehicle position data and the stop line 60 as a feature included in the HD map.

[0092] In step S204, the information processing device 20 executes a process of determining whether or not a preceding vehicle 50 is present between the vehicle 10 and the stop line 60. If a preceding vehicle 50 is not present between the vehicle 10 and the stop line 60, the process proceeds to step S206 (Yes in step S204). On the other hand, if a preceding vehicle 50 is present between the vehicle 10 and the stop line 60, the process proceeds to step S210 (No in step S204).

[0093] In step S206, the information processing device 20 executes a process of acquiring stop distance measurement data relating to the distance between the vehicle 10 and the stop line 60 measured by a sensor mounted on the vehicle 10. For example, a distance S30 between the vehicle 10 and the stop line 60 is measured using a radar device mounted on the vehicle 10, and the information processing device 20 acquires stop distance measurement data including the measured distance S30.

[0094] In step S208, the information processing device 20 executes a correction process for the stopping distance data based on the acquired stopping distance measurement data. For example, the information processing device 20 corrects the distance between the vehicle 10 and the stop line 60 on the HD map, which is calculated based on the feature data of the stop line 60 as a feature included in the HD map, based on the distance S30 measured using the radar device, and uses the corrected distance as the stopping distance.

[0095] In step S210, the information processing device 20 uses, as the stopping distance, the distance between the vehicle 10 and the stop line 60 on the HD map, which is calculated based on feature data of the stop line 60 as a feature included in the HD map.

[0096] In this way, when stopping the vehicle 10 at the stop line 60, the distance between the vehicle 10 and the stop line 60 is grasped more accurately and with greater precision depending on the situation, and the vehicle 10 is stopped more accurately and with greater precision at the stop line 60.

[0097] Stopping beyond the stop line can cause traffic congestion or lead to a serious accident, and conversely, even stopping well before the stop line can still cause traffic congestion, so it is extremely important to accurately grasp the distance between the vehicle 10 and the stop line 60 with high precision and to stop the vehicle 10 at the stop line 60 with high precision.

[0098] Furthermore, each process performed by the information processing device 20 according to one embodiment of the present invention described above can be regarded as an information processing method that provides a series of processing procedures. This method is provided in the form of a program for causing a computer to execute the series of processing procedures. This program may be introduced into a computer in the form of being downloaded from a predetermined server, in the form of accessing a predetermined server in which the program is stored via the Internet, or in the form of being recorded on a computer-readable recording medium. Also, some or all of the functional blocks constituting the information processing device 20 according to one embodiment of the present invention described above may be realized as an integrated circuit such as an LSI (Large-Scale Integration).

[0099] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those shown as examples and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other.

[0100] As a modification of the above-described embodiment, the information processing device 20 may be included in an in-vehicle device of the vehicle 10. For example, when the vehicle 10 holds an HD map and is capable of autonomous driving by itself, the acquisition unit 214 of the CPU 210 acquires data output from the various sensors 103, and the accelerator and brake of the vehicle 10 are controlled by the driving control unit 212 performing driving control. [Explanation of symbols]

[0101] 1...information processing system, 10...vehicle, 20...information processing device, 30...positioning satellite, 40...traffic signal, 50, 51...preceding vehicle, 60...stop line, 101...locator, 102...processor, 103...various sensors, 104...communication device, 210...processing device (CPU), 212...driving control unit, 213...transmitter / receiver, 214...acquisition unit, 215...correction unit, 216...identification unit, 217...judgment unit, 220...network communication interface, 230...storage device, 250...user interface, 270...communication bus, A10...no stopping area, S10, S20, S21, S22, S30...sensor measured distance, D10, D11...route length, IN10...entrance position, OUT10, OUT11...exit position, LP...left turn position, P10, P11...coordinates, N...network

Claims

1. An information processing method executed by an information processing device including a processor, The processor, Acquiring map data including feature data on roads and features existing around the roads; obtaining vehicle position data relating to a vehicle position as determined by a locator mounted on the vehicle based on signals from a satellite positioning system; acquiring distance measurement data relating to a distance between the vehicle and a predetermined feature included in the map data as feature data using a sensor mounted on the vehicle; correcting the vehicle position data by comparing distance data relating to a distance between a vehicle position on the map data based on the vehicle position data and a feature position based on feature data corresponding to the predetermined feature included in the map data with the ranging data; Identifying a no-stopping zone for the vehicle based on feature data of a stop line as a feature included in the map data; acquiring vehicle distance data relating to a vehicle distance between the vehicle and a preceding vehicle measured by a sensor mounted on the vehicle; Controlling whether to cause the vehicle to enter the no stopping zone or to stop the vehicle before the no stopping zone based on the corrected vehicle position data, the no stopping zone, and the vehicle distance data; An information processing method for performing the above.

2. The controlling comprises: When a route length from an entry position to an exit position in the no-stopping zone plus a stopping space is less than the vehicle distance, the vehicle indicated by the corrected vehicle position data is caused to enter the no-stopping zone; When a route length from an entry position to an exit position in the no-stopping zone plus a stopping space is equal to or greater than the inter-vehicle distance, the vehicle indicated by the corrected vehicle position data is stopped in front of the no-stopping zone. The information processing method according to claim 1 .

3. The position where the vehicle is to be stopped, which is indicated by the corrected vehicle position data, is a stop line located just before the no-stopping area.

3. The information processing method according to claim 1 or 2.

4. acquiring stopping distance data relating to a distance between the vehicle indicated by the corrected vehicle position data and a stop line as feature data included in the map data; The control includes, when the vehicle is stopped before the no-stopping zone, stopping the vehicle indicated by the corrected vehicle position data at the stop line based on the stopping distance data. The information processing method according to claim 3.

5. If the preceding vehicle is not present between the vehicle and the no-stopping area, acquiring stopping distance measurement data relating to a distance between the vehicle and a stop line located before the no stopping zone, the data being measured by a sensor mounted on the vehicle; correcting the stopping distance data based on the acquired stopping distance measurement data; Further, The control includes, when the vehicle is stopped before the no-stopping zone, stopping the vehicle indicated by the corrected vehicle position data at the stop line based on the corrected stopping distance data. The information processing method according to claim 4.

6. The no-stopping zone is an area from a stop line before entering an intersection to a stop line before an oncoming vehicle enters the intersection. The information processing method according to claim 1 .

7. The map data is a high-precision three-dimensional map having a predetermined accuracy level. The information processing method according to claim 1 .

8. A program to be executed by an information processing device including a processor, The processor, Acquiring map data including feature data on roads and features existing around the roads; obtaining vehicle position data relating to a vehicle position as determined by a locator mounted on the vehicle based on signals from a satellite positioning system; acquiring distance measurement data relating to a distance between the vehicle and a predetermined feature included in the map data as feature data using a sensor mounted on the vehicle; correcting the vehicle position data by comparing distance data relating to a distance between a vehicle position on the map data based on the vehicle position data and a feature position based on feature data corresponding to the predetermined feature included in the map data with the ranging data; Identifying a no-stopping zone for the vehicle based on feature data of a stop line as a feature included in the map data; acquiring vehicle distance data relating to a vehicle distance between the vehicle and a preceding vehicle measured by a sensor mounted on the vehicle; Controlling whether to cause the vehicle to enter the no stopping zone or to stop the vehicle before the no stopping zone based on the corrected vehicle position data, the no stopping zone, and the vehicle distance data; A program that executes the following.

9. An information processing device including a processor, The processor, Acquiring map data including feature data relating to roads and features existing around the roads; obtaining vehicle position data relating to a vehicle position as determined by a locator mounted on the vehicle based on signals from a satellite positioning system; acquiring distance measurement data relating to a distance between the vehicle and a predetermined feature included in the map data as feature data using a sensor mounted on the vehicle; correcting the vehicle position data by comparing distance data relating to a distance between a vehicle position on the map data based on the vehicle position data and a feature position based on feature data corresponding to the predetermined feature included in the map data with the ranging data; identifying a no-stopping zone for the vehicle based on feature data of at least two stop lines included in the map data; acquiring vehicle distance data relating to a vehicle distance between the vehicle and a preceding vehicle measured by a sensor mounted on the vehicle; Controlling whether to cause the vehicle to enter the no stopping zone or to stop the vehicle before the no stopping zone based on the corrected vehicle position data, the no stopping zone, and the vehicle distance data; An information processing device that executes the above.

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