Calculation device and lane formation method

Abstract

To generate on a map a temporary lane in which an originally impassable is rewritten so as to be passable.SOLUTION: An arithmetic unit comprises: a map acquisition section for acquiring map information of a lane level; an obstacle information acquisition unit for acquiring passage obstacle information on a lane where a vehicle moving in a first direction travels; and a temporary lane formation unit for dividing lane information of the map information into zones based on the passage obstacle information and updating a map attribute in the divided lane information, thereby forming a temporary lane in which an area where at least the vehicle moving in the first direction cannot travel has been changed into an area where the vehicle moving in the first direction can travel.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a computing device and a lane formation method. [Background technology]

[0002] Research and development of vehicle driving support has been actively conducted. Patent Document 1 discloses a surrounding object recognition method including a sensor that acquires spatial position information of objects in the surrounding environment and a controller that recognizes objects present around the vehicle based on the spatial position information acquired by the sensor, the controller recognizes a lane closure area, which is an area where a lane is blocked by an object that is an obstacle to the vehicle's travel, based on the spatial position information, and extends the lane closure area by linking spatial position information of objects in the travel direction of the lane starting from the start point of the lane closure area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-009655 Summary of the Invention [Problem to be solved by the invention]

[0004] The invention described in Patent Document 1 does not anticipate rewriting maps. [Means for solving the problem]

[0005] A calculation device according to a first aspect of the present invention includes a map acquisition unit that acquires map information at a lane level, an obstacle information acquisition unit that acquires traffic obstacle information on a lane in which a vehicle traveling in a first direction is traveling, and a temporary lane formation unit that divides lane information of the map information into sections based on the traffic obstacle information and updates map attributes in the divided lane information to form a temporary lane in which at least an area in which vehicles traveling in the first direction cannot travel is changed to an area in which vehicles traveling in the first direction can travel. and a communication unit that transmits information about the temporary lane to other vehicles, wherein the temporary lane forming unit forms a priority temporary lane that prioritizes driving conditions for an emergency vehicle over other vehicles, the communication unit transmits the priority temporary lane to the other vehicles, and the temporary lane forming unit cancels the formation of the priority temporary lane after the emergency vehicle passes through the priority temporary lane. . A lane forming method according to a second aspect of the present invention is a computer-implemented lane forming method, comprising: acquiring lane-level map information; First acquisition process and obtains information on traffic obstructions on the lane in which the vehicle traveling in the first direction is traveling. Second acquisition process and dividing lane information of the map information into sections based on the traffic obstruction information, and updating map attributes in the divided lane information to form a temporary lane in which at least an area in which vehicles traveling in the first direction are not allowed to travel is changed to an area in which vehicles traveling in the first direction are allowed to travel. Temporary lane formation process and, and a communication process for transmitting information about the temporary lane to other vehicles, wherein the temporary lane formation process forms a priority temporary lane that prioritizes the travel conditions of the emergency vehicle over other vehicles, the communication process transmits the priority temporary lane to the other vehicles, and the temporary lane formation process cancels the formation of the priority temporary lane after the emergency vehicle passes through the priority temporary lane. . Effect of the Invention

[0006] According to the present invention, a temporary lane can be generated on a map by rewriting an area that is normally impassable to make it passable. [Brief description of the drawings]

[0007] [Figure 1] A functional configuration diagram of a vehicle equipped with a computing device according to a first embodiment. [Diagram 2] Functional configuration diagram of the driving area management unit [Diagram 3] FIG. 13 is a diagram for explaining the processing of the temporary lane forming unit when the number of oncoming lanes is two or more. [Figure 4] FIG. 13 is a diagram for explaining the processing of the temporary lane forming unit when the number of oncoming lanes is two or more. [Diagram 5] FIG. 13 is a diagram for explaining the processing of the temporary lane forming unit when the number of oncoming lanes is one. [Figure 6] FIG. 13 is a diagram for explaining the processing of the temporary lane forming unit when the number of oncoming lanes is one. [Figure 7] Flowchart showing the processing of the arithmetic unit [Figure 8] A functional configuration diagram of a vehicle equipped with a computing device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] --First embodiment-- Hereinafter, a first embodiment of a computing device will be described with reference to FIGS.

[0009] FIG. 1 is a functional configuration diagram of a vehicle C equipped with a calculation device 10. The vehicle C is an emergency vehicle such as an ambulance or a patrol car. The vehicle C includes a calculation device 10, a communication unit 2, an information system 3, a navigation system 4, an on-board sensor 5, a vehicle control system 6, and a driving assistance device 7. The calculation device 10 includes a high-precision map 11, a locator 12, and a driving area management unit 13. The driving area management unit 13 includes a temporary lane assignment map 14. The driving assistance device 7 includes a dynamic map 71 and an ODD 72.

[0010] Arithmetic device 10 is, for example, an electronic control unit (ECU), and includes a CPU, which is a central processing unit, a ROM, which is a read-only storage device, and a RAM, which is a readable and writable storage device. The CPU deploys a program stored in the ROM into the RAM and executes it to realize locator 12 and drivable area management unit 13. Locator 12 and drivable area management unit 13 may be realized by a field programmable gate array (FPGA), which is a rewritable logic circuit, or an application specific integrated circuit (ASIC), which is an integrated circuit for a specific application, instead of a combination of a CPU, a ROM, and a RAM. Locator 12 and drivable area management unit 13 may also be realized by a combination of different configurations, for example, a combination of a CPU, a ROM, a RAM, and an FPGA, instead of a combination of a CPU, a ROM, and a RAM.

[0011] The high-precision map 11 is high-precision map information at the lane level that enables the vehicle C to drive automatically, and is stored in a non-volatile storage device, such as a flash memory. The high-precision map 11 includes information on nodes that are intersections or road ends, and information on links that connect the nodes. The node information includes a node identifier, a combination of latitude and longitude that is location information, an altitude, and the number of links to be connected. The link information includes a link identifier, the number of lanes, the latitude and longitude of an interpolation point included in each lane, the lane width, traffic regulations for each lane, the slope of the ground for each lane, the radius of curvature for each lane, the number of lanes for each link, and traffic regulations for each link. For example, the information on the number of lanes is information that "there are two lanes on the north side and two lanes on the south side." Traffic regulations include no-entry, speed limits, no right turns, and the like. The traffic regulations also include combinations with time periods. In the following, the link information is also referred to as "map attributes."

[0012] The temporary lane-added map 14 is a map in which information on some areas included in the high-precision map 11 has been partially rewritten. As will be described in detail later, the temporary lane-added map 14 is referred to preferentially over the high-precision map 11. The dynamic map 71 is generated by the driving assistance device 7 based on the output of the locator 12. The ODD 72 is information on the operational design domain, and is driving environment conditions under which the vehicle C can be automatically driven, such as the number of lanes, the presence or absence of road dividing lines, the inclination in the travel direction and width direction, the curvature radius, and the speed. The ODD 72 is a universal condition that is not tied to a specific road, but the high-precision map 11 and the temporary lane-added map 14 may include the ODD 72 limited to a certain area. The ODD 72 can also be called "information on driving assistance for the vehicle C".

[0013] The communication unit 2 is a communication device that communicates with the outside of the vehicle C, and realizes at least one of road-to-vehicle communication and vehicle-to-vehicle communication. The information system 3 acquires information on road traffic restrictions from the outside of the vehicle C, such as information on the occurrence of accident vehicles and scheduled construction work, and outputs it to the calculation device 10. The information on road traffic restrictions is, for example, information that "in the link with ID xx, the first lane is closed in the section 10 m north from the point at latitude L1 and longitude L2." The navigation system 4 calculates the route to the destination of the vehicle C. In this embodiment, the route to the destination is calculated in advance, and information on the route that the vehicle C should travel from now on, such as node identifiers arranged in the order of travel, is output to the calculation device 10.

[0014] The on-board sensor 5 acquires information on obstacles present around the vehicle C and the current position of the vehicle C. The on-board sensor 5 is, for example, a combination of a receiver used to calculate position information, a camera to detect obstacles, and a sensor calculation unit. The above-mentioned receiver is a receiver that constitutes a satellite navigation system. The sensor calculation unit calculates the current position of the vehicle C using information contained in radio waves received from multiple satellites. Furthermore, the sensor calculation unit processes the image captured by the camera, for example by performing pattern matching processing, to detect obstacles that may hinder the passage of the vehicle C. The sensor calculation unit outputs information on obstacles present around the vehicle C and the current position of the vehicle C to the calculation device 10.

[0015] The vehicle control system 6 controls at least one of the accelerator, brake, and steering of the vehicle C based on an operation command from the driving assistance device 7. The control of the accelerator includes control of the engine speed if the vehicle C is equipped with an engine, and includes control of the motor speed if the vehicle C is equipped with a motor.

[0016] The driving assistance device 7 performs the following three processes. First, the driving assistance device 7 creates a dynamic map 71 by integrating the output of the arithmetic device 10. The arithmetic device 10 continues to output a part of the high-precision map 11 about the periphery and traveling direction of the vehicle C and the temporary lane-added map 14, so the driving assistance device 7 integrates the output of the arithmetic device 10 to create the dynamic map 71. However, if the integration continues, the dynamic map 71 will become bloated over time, so the driving assistance device 7 deletes information about an area that satisfies a predetermined condition, for example, information about an area 10 m or more behind the traveling direction of the vehicle C from the dynamic map 71.

[0017] Secondly, the driving assistance device 7 issues an operation command for at least one of the accelerator, brake, and steering of the vehicle C using the dynamic map 71 and the driving route information provided by the navigation system 4. Specifically, the driving assistance device 7 outputs an operation command to the vehicle control system 6 so that the vehicle C travels along the route set by the navigation system 4. The driving assistance device 7 includes an ODD 72, and when it is determined that the driving area of ​​the vehicle C does not satisfy the conditions of the ODD 72, the driving assistance device 7 issues a warning to the user using a notification unit (not shown) and interrupts driving assistance.

[0018] Thirdly, the driving assistance device 7 transmits the dynamic map 71 using the communication unit 2. By transmitting the dynamic map 71 to surrounding vehicles and the like from the communication unit 2, the surrounding vehicles can recognize the information on the temporary lane included in the dynamic map 71 for the vehicle C, and can take action to avoid a collision with the vehicle C. Note that if the surrounding vehicle is an emergency vehicle, the emergency vehicle may also travel through the temporary lane included in the received dynamic map 71.

[0019] The drivable area management unit 13 rewrites a part of the high-precision map 11 to generate the temporary lane-added map 14. The locator 12 reads out information on the high-precision map 11 around the vehicle C based on the current position of the vehicle C obtained from the on-board sensor 5, and outputs the information to the driving assistance device 7. However, when the temporary lane-added map 14 is available, the locator 12 preferentially reads the temporary lane-added map 14 over the high-precision map 11.

[0020] 2 is a functional configuration diagram of the travelable area management unit 13. The travelable area management unit 13 includes an obstacle information acquisition unit 131, a base map acquisition unit 132, an ODD management unit 133, a temporary lane formation unit 134, and a travel condition setting unit 135.

[0021] The obstacle information acquisition unit 131 acquires information on traffic restrictions on the road from the information system 3 and outputs it to the temporary lane formation unit 134. However, the obstacle information acquisition unit 131 may acquire information on traffic restrictions on the road limited to a predetermined distance, for example, within a radius of 1 km, from the vehicle C based on the position information of the vehicle C calculated by the on-board sensor 5. The base map acquisition unit 132 acquires information on a high-precision map within a predetermined distance, for example, within a radius of 1 km, from the high-precision map 11 based on the position information of the vehicle C calculated by the on-board sensor 5, and outputs it to the temporary lane formation unit 134.

[0022] The ODD management unit 133 reads the ODD 72 from the driving support device 7 and outputs it to the driving condition setting unit 135. The temporary lane formation unit 134 forms a temporary lane based on the obstacle information output by the obstacle information acquisition unit 131 and the information of the high-precision map output by the base map acquisition unit 132. The formation of the temporary lane will be described in detail later. The driving condition setting unit 135 sets a speed limit for the temporary lane formed by the temporary lane formation unit 134. For example, this speed is set to the lowest speed among the maximum speed at which automatic driving is possible in the ODD 72, the maximum travelable speed calculated from the curvature of the temporary lane, and the speed limit of the road on which the temporary lane is formed.

[0023] The processing of the temporary lane forming unit 134 will be described with reference to Figures 3 to 6. The processing of the temporary lane forming unit 134 differs depending on the number of lanes of the road on which the obstacle has occurred. The case where the number of oncoming lanes is two or more will be described first, and then the case where the number of oncoming lanes is less than two will be described.

[0024] The upper part of FIG. 3 shows lane information generated from information on the high-precision map 11, and the lower part of FIG. 3 shows lane information after the temporary lane has been formed by the temporary lane forming unit 134. However, in the upper part of FIG. 3, an object that obstructs passage, indicated by reference symbol P (hereinafter referred to as a "traffic obstacle"), was generated from information on traffic restrictions acquired by the obstacle information acquiring unit 131. The link shown in FIG. 3 has two lanes on each side, for a total of four lanes. In FIG. 3, a traffic obstruction occurs across reference symbol 100 and the two lanes pointing to the right in the figure. In this example, vehicle C travels in the right direction in the figure. In the following, the right direction in the figure is also referred to as the "first direction" and the left direction in the figure is also referred to as the "second direction."

[0025] The temporary lane forming unit 134 first calculates the granularity of the section that divides the existing lane, in other words, the length of the section. There are at least two types of sections: a section corresponding to a traffic obstacle P and a section for lane change. The length of the section corresponding to the traffic obstacle P is determined based on the length of the traffic obstacle P. For example, the length of the section corresponding to the traffic obstacle P may be the length of the traffic obstacle P itself, or may be the length of the traffic obstacle P multiplied by a predetermined coefficient, for example, "1.5". In addition, a lower limit value of the length of the section corresponding to the traffic obstacle P may be set, and for example, the distance traveled for one second at the speed limit of the link where the traffic obstacle P exists may be set as the lower limit value. In the lower diagram of FIG. 3, reference numerals 2002 and 2013 indicate sections corresponding to the obstacle area.

[0026] The length of the lane change section is determined based on the speed limit of the area. For example, the length of the lane change section may be the distance traveled for 3 seconds at the speed limit of the area. If the speed limit of the link shown in Figure 3 is 60 km / h, the length of the lane change section is approximately 50 m. In the lower diagram of Figure 3, reference numerals 1002, 1012, 2001, 1003, 1013, 2003, and 2014 are sections corresponding to obstacle areas.

[0027] Next, the temporary lane forming unit 134 sets one adjacent lane of the opposite lane as a temporary lane. That is, the sections indicated by the reference numerals 2001, 2002, and 2003 shown in the lower part of FIG. 3 are set as temporary lanes, and the vehicle travel direction is changed to the right side as shown by the direction of the arrows. Note that this temporary lane is an area where the opposite lane exists for the vehicle C traveling to the right in the figure, and is an area where travel is not possible. Then, the section adjacent to the section of the lane change in the adjacent lane of the opposite lane, that is, the section indicated by the reference numerals 20X1 and 20X2, is set as a prohibited lane where travel is prohibited. Note that the center of the section indicated by the reference numeral 2002 is set to a position that coincides with the center of the obstacle P in the left-right direction in the figure.

[0028] Next, the driving condition setting unit 135 sets driving conditions for the temporary lane set by the temporary lane forming unit 134, i.e., the section indicated by the reference numerals 2001 to 2003. As described above, the driving conditions are the maximum speed at which automatic driving is possible in the ODD 72, the maximum travelable speed calculated from the curvature of the temporary lane, and the speed limit of the road on which the temporary lane is formed, i.e., the node N10, which is the lowest speed. Note that the curvature of the temporary lane is the ratio of the length of the lane change section to the interval between the lanes L2 and L3, and the larger the steering angle, the lower the speed is set.

[0029] Fig. 4 is a diagram showing the temporary lanes set by the temporary lane forming unit 134 in the example of Fig. 3. In Fig. 4, the temporary lane of the vehicle is shown by diagonal hatching, and the temporary lane of the oncoming vehicle is shown by grid hatching. In this way, in the examples shown in Figs. 3 and 4, one lane of the oncoming vehicle is used as the temporary lane as it is. However, the information on the temporary lane of the oncoming vehicle may be information that one lane near the center cannot be traveled within the range shown in Fig. 4.

[0030] 5 to 6 are diagrams for explaining the generation of temporary lanes when there is one lane on each side, i.e., when there is one oncoming lane. Figs. 5 and 6 correspond to Figs. 3 and 4, respectively. Below, the differences between Figs. 3 and 5 and between Figs. 4 and 6 will be mainly explained. The link shown in Fig. 5 has one lane on each side, for a total of two lanes. In Fig. 5 as well, a traffic obstruction P has occurred in the lane heading right as shown. In this example as well, vehicle C travels in the direction to the right as shown.

[0031] The temporary lane forming unit 134 calculates the length of the section that divides the existing lane, as in the previous example. There is no particular difference in this respect, so a detailed description will be omitted. Next, the temporary lane forming unit 134 calculates a lateral offset value of the lane based on the position and size of the traffic obstacle P and the ODD 72, and forms a new lane. That is, in the example of FIG. 3, the adjacent oncoming lane is used as a temporary lane as is, but in this example, an appropriate offset value is calculated with the aim of reducing the use of the oncoming lane. For example, when the distance between the traffic obstacle P and the center line is 1 m, and the ODD 72 specifies that "when crossing a dividing line, the distance to the nearest object is 0.5 m or more," the temporary lane forming unit 134 sets the temporary lane as follows. That is, the temporary lane forming unit 134 calculates an offset value so that the distance between the left side of the vehicle C and the traffic obstacle P is 0.5 m or more, for example, 0.8 m.

[0032] The section indicated by reference numeral 1002 is moved by the calculated offset value to generate a section indicated by reference numeral 2001, and sections 2002 and 2003 are formed in this traveling direction. As in the previous example, the length of section 2002 is determined based on the length of the obstacle P, and the lengths of sections 2001 and 2003 are determined based on the speed limit of the area. Next, the driving condition setting unit 135 sets driving conditions for the temporary lane set by the temporary lane forming unit 134, i.e., the sections indicated by reference numerals 2001 to 2003. The method of setting the driving conditions is the same as the example shown in FIG. 3, so details will be omitted.

[0033] Fig. 6 is a diagram showing the temporary lanes set by the temporary lane forming unit 134 in the example of Fig. 5. In Fig. 6, the upper and lower ends of the drawing, i.e., the shoulders on both sides of the road, are shown by dotted hatching. Unlike the example shown in Fig. 4, there is only one lane for oncoming traffic, so the offset lanes 2012-2014 for oncoming vehicles partly extend onto the shoulders.

[0034] 7 is a flowchart showing the processing of the arithmetic device 10. First, in step S301, the temporary lane forming unit 134 calculates the section granularity of division based on the position and size of the obstacle acquired by the obstacle information acquiring unit 131, the ODD information acquired by the ODD managing unit 133, the speed limit information acquired by the base map acquiring unit 132, and the like. Specifically, the start point and length of the section to be divided, or the start point and end point of the section to be divided, are specified. In the following step S302, the temporary lane forming unit 134 divides the lane information acquired by the base map acquiring unit 132 based on the section granularity determined in step S131.

[0035] In the next step S303, the temporary lane forming unit 134 judges whether the lane to be processed has two or more lanes on one side. If the temporary lane forming unit 134 judges that the lane has two or more lanes on one side, the process proceeds to step S306, and if the temporary lane forming unit 134 judges that the lane does not have two or more lanes on one side, the process proceeds to step S304. In step S304, the temporary lane forming unit 134 calculates an offset value in the lane width direction based on the width of the obstacle and the ODD, as shown in Figs. 5 and 6, to form a new lane. In the next step S305, the temporary lane forming unit 134 changes the attribute of the new lane formed in step S304 to a temporary lane, and proceeds to step S307.

[0036] In step S306, the temporary lane forming unit 134 changes the attribute of one lane adjacent to the oncoming lane to a temporary lane as shown in Figs. 3 and 4, and proceeds to step S307. That is, in this case, the existing lane is used as a temporary lane as it is, so there is no need to calculate an offset value as in step S304. In step S307, the driving condition setting unit 135 sets driving conditions for the temporary lane set in step S305 or step S306. In the following step S308, the calculation device 10 generates a temporary lane added map 14, which is map data to which information about the temporary lane is added, and outputs it to the locator 12, and the process shown in Fig. 7 ends.

[0037] According to the above-described first embodiment, the following advantageous effects can be obtained. (1) The arithmetic device 10 includes a base map acquisition unit 132 that acquires a high-precision map 11, which is map information at the lane level; an obstacle information acquisition unit 1311 that acquires traffic obstacle information on a lane on which a vehicle traveling in a first direction, for example, in the right direction in FIG. 3, travels; and a temporary lane formation unit 134 that divides lane information of the high-precision map 11 into sections based on the traffic obstacle information and updates a part of the high-precision map 11 in the divided lane information to form a temporary lane in which at least a region in which a vehicle traveling in the right direction in FIG. 3 could not travel, for example, the region indicated by reference numerals 2001 to 2003 in FIG. 3, is changed to a region in which a vehicle traveling in the right direction in FIG. 3 can travel. Therefore, the arithmetic device 10 can generate a temporary lane on a map in which a region that is originally impassable is rewritten to be passable. By using the temporary lane assignment map 14 in which the temporary lane is recorded, the driving assistance device 7 can transmit at least one operation command of the accelerator, brake, and steering of the vehicle C to the vehicle control system 6, for example, to continue automatic driving.

[0038] (2) As shown in steps S304 and S305 of Fig. 5 to Fig. 6 and Fig. 7, the temporary lane forming unit 134 forms a new temporary lane by determining a lateral offset value for the original lane based on the lane width information in the traffic obstruction information. Therefore, a temporary lane can be generated even on a road with one lane in each direction.

[0039] (3) The temporary lane forming unit 134 generates a temporary lane in which vehicles traveling in the second direction, which is the left side in FIG 5, can travel, based on the offset value, as indicated by reference numerals 2012 to 2014. Therefore, the temporary lane forming unit 134 can form another temporary lane in which vehicles can travel by going beyond the shoulder of the road to avoid vehicle C, an emergency vehicle, traveling in the temporary lane indicated by reference numerals 2001 to 2003 in FIG 3.

[0040] (4) The calculation device 10 includes a driving condition setting unit 135 that calculates a speed limit based on the shape of the temporary lane or the ODD 72, which is information related to driving assistance for the vehicle C, and adds the speed limit to the attributes of the temporary lane. Therefore, the calculation device 10 can set an appropriate speed for the created temporary lane.

[0041] (5) The arithmetic device 10 includes a communication unit 2 that transmits information about the temporary lane to other vehicles. Therefore, the arithmetic device 10 can notify other vehicles in advance of possible driving routes of the vehicle C equipped with the arithmetic device 10, thereby contributing to the safe driving of surrounding vehicles and the vehicle C.

[0042] (6) The temporary lane forming unit 134 divides the lane information in the map information into sections based on the traffic obstruction information. Therefore, the calculation device 10 can divide the existing lane into sections according to the length of the impassable area.

[0043] (Variation 1) In the above-described first embodiment, the vehicle C equipped with the arithmetic device 10 has been described as an emergency vehicle. However, the vehicle C does not have to be an emergency vehicle. In this case, the vehicle C runs in a place not subject to legal regulations that define the vehicle's running area, such as within a factory site or a theme park. According to this modification, the arithmetic device 10 can be installed in vehicles other than emergency vehicles.

[0044] (Variation 2) In the above-described first embodiment, the arithmetic device 10 includes the communication unit 2. However, the arithmetic device 10 does not necessarily need to include the communication unit 2. In this case, the dynamic map 71 including the temporary lane assignment map 14 cannot be transmitted to other vehicles, but the vehicle C equipped with the arithmetic device 10 can travel in the temporary lane in the same manner as in the first embodiment.

[0045] (Variation 3) The calculation device 10 does not need to include the high precision map 11 and the locator 12. In this case, it is sufficient that the inside of the vehicle C, other than the calculation device 10, has a configuration corresponding to the high precision map 11 and the locator 12.

[0046] (Variation 4) In the above-described first embodiment, no special follow-up was performed after the vehicle C traveled through the temporary lane. However, the calculation device 10 may retransmit the dynamic map 71 that does not include the temporary lane after the vehicle C traveled through the temporary lane. In this case, the calculation device 10 creates the dynamic map 71 using only the high precision map 11 in advance. Then, similarly to the first embodiment, the calculation device 10 transmits the dynamic map 71 using the temporary lane-added map 14 in advance, and transmits the dynamic map 71 using only the high precision map 11 when the vehicle C finishes traveling through the temporary lane.

[0047] Furthermore, in this modified example, attributes may be set for the temporary lane so that the driving conditions for emergency vehicles are given priority over other vehicles. For example, attributes may be set so that only emergency vehicles can use the temporary lane and only emergency vehicles can use the lane.

[0048] According to the fourth modification, the following advantageous effects can be obtained. (7) The temporary lane forming unit 134 forms a priority temporary lane that gives priority to the driving conditions of the vehicle C, which is an emergency vehicle, over other vehicles, and the communication unit 2 transmits information about the priority temporary lane to the other vehicles. The temporary lane forming unit 134 cancels the formation of the priority temporary lane after the vehicle C passes through the priority temporary lane. This makes it possible to minimize the impact of forming the temporary lane.

[0049] (Variation 5) In the above-described embodiment, the communication unit 2 is provided outside the arithmetic device 10. However, the communication unit 2 may be built into the arithmetic device 10 and become a part of the arithmetic device 10. In addition, the arithmetic device 10 and the driving assistance device 7 may be integrally configured, or each of the arithmetic device 10 and the driving assistance device 7 may be configured from a plurality of hardware components.

[0050] (Variation 6) In the above embodiment, the temporary lanes are of two types: a section corresponding to a traffic obstacle P and a section for lane change. However, other sections may be provided. For example, a section for speed adjustment may be provided to mitigate abrupt changes in speed in the temporary lane.

[0051] --Second embodiment-- A second embodiment of the arithmetic device will be described with reference to FIG. 8. In the following description, the same components as those in the first embodiment are given the same reference numerals, and differences will be mainly described. Points that are not particularly described are the same as those in the first embodiment. This embodiment differs from the first embodiment mainly in that it includes an entry determination unit.

[0052] 8 is a functional configuration diagram of a vehicle C equipped with a calculation device 10A in the second embodiment. The calculation device 10A includes an entry judgment unit 15 in addition to the configuration in the first embodiment. The entry judgment unit 15 receives the temporary lane assigned map 14 generated by the drivable area management unit 13 and the output of the in-vehicle sensor 5. The entry judgment unit 15 judges whether or not entry into the temporary lane is possible using the output of the in-vehicle sensor 5, and outputs the judgment result to the driving support device 7. When the driving support device 7 is notified by the entry judgment unit 15 that entry is possible, it enters the temporary lane.

[0053] Specifically, the entry judgment unit 15 first identifies the relative positional relationship between the temporary lane and the vehicle C using the position information included in the output of the on-board sensor 5 and the temporary lane assignment map 14. Next, the entry judgment unit 15 judges whether the obstacle position information included in the output of the on-board sensor 5 overlaps with the position of the temporary lane. If it is determined that the two overlap, the entry judgment unit 15 judges that entry into the temporary lane is impossible. If it is determined that the two do not overlap, the entry judgment unit 15 judges that entry into the temporary lane is possible.

[0054] According to the above-described second embodiment, the following advantageous effects can be obtained. (8) The arithmetic device 10A includes an entry determination unit 15 that uses an external sensor to confirm that no oncoming vehicles are entering and determines whether or not the vehicle C can enter the temporary lane. Therefore, the vehicle C equipped with the arithmetic device 10A can safely enter the temporary lane using the entry determination unit 15.

[0055] In each of the above-mentioned embodiments and modifications, the configuration of the functional blocks is merely an example. Some functional configurations shown as separate functional blocks may be integrated, or a configuration shown in one functional block diagram may be divided into two or more functions. In addition, some of the functions of each functional block may be provided by other functional blocks.

[0056] In the above-mentioned embodiments and modifications, the program is stored in a ROM (not shown), but the program may be stored in a non-volatile storage device (not shown). The arithmetic device may have an input / output interface (not shown), and the program may be read from another device via the input / output interface and a medium available to the arithmetic device when necessary. The medium here refers to, for example, a storage medium that is detachable from the input / output interface, or a communication medium, i.e., a network such as a wired, wireless, or optical network, or a carrier wave or digital signal that propagates through the network. Some or all of the functions realized by the program may be realized by a hardware circuit or an FPGA.

[0057] The above-mentioned embodiments and modifications may be combined with each other. Although various embodiments and modifications have been described above, the present invention is not limited to these. Other aspects that are conceivable within the scope of the technical idea of ​​the present invention are also included in the scope of the present invention. [Explanation of symbols]

[0058] 2. Communications Department 5…In-vehicle sensors 7. Driving support device 10, 10A...Calculation unit 11…High-precision map 13…Drivable area management unit 14...Temporary lane map 15...Entry decision section 71…Dynamic Map 131…Fault information acquisition unit 132…Basic Map Acquisition Department 133...ODD Management Department 134…Temporary lane formation section 135...Driving condition setting section

Claims

1. A map acquisition unit that acquires lane-level map information; an obstacle information acquisition unit that acquires traffic obstacle information on a lane in which a vehicle traveling in a first direction is traveling; a temporary lane forming unit that divides lane information of the map information into sections based on the traffic obstruction information and updates map attributes in the divided lane information to form a temporary lane in which at least an area in which vehicles traveling in the first direction cannot travel is changed to an area in which vehicles traveling in the first direction can travel; A communication unit that transmits information about the temporary lane to other vehicles, The temporary lane forming unit forms a priority temporary lane that prioritizes travel conditions for emergency vehicles over other vehicles, The communication unit transmits the priority temporary lane to other vehicles, The temporary lane forming unit is a computing device that cancels formation of the priority temporary lane after the emergency vehicle has passed through the priority temporary lane.

2. 2. The computing device according to claim 1, The temporary lane forming unit is a calculation device that forms a new temporary lane by determining a lateral offset value with respect to the original lane based on lane width information in the traffic obstruction information.

3. 3. The computing device according to claim 2, The temporary lane forming unit further generates a temporary lane in which vehicles traveling in a second direction opposite to the first direction can travel, based on the offset value.

4. 2. The computing device according to claim 1, The arithmetic device further includes a driving condition setting unit that calculates a speed limit based on a shape of the temporary lane or information regarding driving assistance of a vehicle equipped with the arithmetic device, and adds the speed limit to an attribute of the temporary lane.

5. 3. The computing device according to claim 1, The computing device further includes an entry determination unit that uses an external sensor to confirm that no oncoming vehicles are entering and determines whether or not entry into the temporary lane is permitted.

6. 2. The computing device according to claim 1, The temporary lane forming unit is a calculation device that divides lane information of the map information into sections based on the traffic obstacle information and the speed limit.

7. 1. A computer implemented method for lane formation, comprising: A first acquisition process for acquiring lane-level map information; A second acquisition process for acquiring traffic obstacle information on a lane in which a vehicle traveling in the first direction is traveling; a temporary lane forming process for dividing lane information of the map information into sections based on the traffic obstruction information, and updating map attributes in the divided lane information to form a temporary lane in which at least an area in which vehicles traveling in the first direction are not allowed to travel is changed to an area in which vehicles traveling in the first direction are allowed to travel; A communication process for transmitting information about the temporary lane to other vehicles, In the temporary lane formation process, a priority temporary lane is formed in which the driving conditions of emergency vehicles are given priority over other vehicles; In the communication process, the priority temporary lane is transmitted to other vehicles; In the temporary lane formation process, the formation of the priority temporary lane is cancelled after the emergency vehicle has passed through the priority temporary lane.

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