Information Processing Method and Information Processing Apparatus

Abstract

To provide an information processing method and an information processing apparatus, which are capable of detecting whether path information (i.e., road information on a target path, branching information, position information of a vehicle) obtained related to a path in map data is right information.SOLUTION: An information processing method and an information processing apparatus obtain first path information related to a path included in a road network set on map data and determine whether the first path information is right on the basis of the first path information, and second path information related to the path stored in a database. Here, depending on the first path information being any of information representing a road attribute, information representing branching of the path, and information representing a position of the vehicle, a different determination is performed.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an information processing method and an information processing apparatus.

Background Art

[0002] An automatic driving permission notification system including a navigation device and a high-precision map information management device has been proposed (see Patent Document 1). According to the automatic driving permission notification system, a section corresponding to high-precision map data is extracted from a driving route planned by the vehicle and generated by the navigation device, and a driving route with higher precision than the driving route is generated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique described in Patent Document 1, the high-precision map data possessed by the high-precision map information management device has higher precision than the map data possessed by the navigation device. Therefore, in order to extract a section corresponding to the high-precision map data from the driving route, it is necessary to project the driving route onto the high-precision map data.

[0005] Here, there are limitations on the amount of data that the navigation device and the high-precision map information management device can hold or process, and on the amount of data that can be transmitted from the navigation device to the high-precision map information management device per unit time.

[0006] Therefore, path information (road information of the target path, branch information, vehicle position information) regarding a path on map data that is on the driving route is transmitted from the navigation device to the high-precision map information management device. The high-precision map information management device projects the driving route onto the high-precision map data based on the transmitted path information.

[0007] However, due to errors in the vehicle's position, malfunctions of the navigation device, communication conditions when communicating between the navigation device and the high-precision map information management device, etc., the path information obtained from the navigation device may become invalid information. In such a case, the high-precision map information management device cannot correctly project the driving route onto the high-precision map data.

[0008] The present invention has been made in view of the above problems. The object is to provide an information processing method and an information processing device that can detect whether path information (road information of the target path, branch information, vehicle position information) obtained regarding a path on map data is valid information.

Means for Solving the Problem

[0009] In order to solve the above-described problems, an information processing method and an information processing device according to an aspect of the present invention acquire first path information regarding a path included in a road network set on map data, and determine whether the first path information is valid based on the first path information and second path information regarding the path stored in a database. At that time, different determinations are made according to whether the first path information is information indicating a road attribute, information indicating a branch of the path, or information indicating the position of the vehicle.

Effect of the Invention

[0010] According to the present invention, it is possible to detect whether path information obtained regarding a path on map data is valid information.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3A

Figure 3B

Figure 3C

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 7A

Figure 7B

[0012] Next, embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same components are denoted by the same reference numerals and redundant description is omitted.

[0013] [Configuration of Vehicle Driving Support Device] FIG. 1 is a block diagram showing the configuration of a vehicle driving support device including an information processing apparatus according to the present embodiment. As shown in FIG. 1, the vehicle driving support device includes a navigation device 200 and an information processing apparatus 300. The navigation device 200 and the information processing apparatus 300 are connected by a communication path such as CAN (Controller Area Network) and Ethernet. In addition, the vehicle driving support device may include a vehicle control device 400 that automatically controls the running of the vehicle.

[0014] The navigation device 200 includes a controller (an example of a control unit or a processing unit). The controller is a general-purpose microcomputer including a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (navigation program) for causing the navigation device to function is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (210, 220, 230, 240, 250).

[0015] Here, an example is shown in which a plurality of information processing circuits (210, 220, 230, 240, 250) included in the navigation device 200 are realized by software. However, it is also possible to prepare dedicated hardware for executing each of the information processes shown below to configure the information processing circuits (210, 220, 230, 240, 250). Further, the plurality of information processing circuits (210, 220, 230, 240, 250) may be configured by individual hardware. Furthermore, the information processing circuits (210, 220, 230, 240, 250) may be shared with an electronic control unit (ECU) used for other controls related to the vehicle.

[0016] The navigation device 200 includes, as a plurality of information processing circuits (210, 220, 230, 240, 250), a map database 210, a self-vehicle position calculation unit 220, a route generation unit 230, a state determination unit 240, and an output unit 250.

[0017] The map database 210 stores map data necessary for route search operations to calculate the optimal driving route connecting the departure point and the destination, route guidance operations to guide the vehicle along the driving route obtained by the route search, and the like. On the map data stored in the map database 210, a road network of the area where the vehicle travels is set.

[0018] For example, the map data may include road information (information indicating road attributes such as curves, slopes, intersections, interchanges, narrow roads, straight roads, shoulder structures, speed limits, etc.). In addition, the map data may include branching information (information indicating branching, such as branching points where lane branching occurs, connection relationships between lanes at the branching points, and driving routes such as right and left turns or straight ahead for each lane).

[0019] Note that the map data stored in the map database 210 does not require the accuracy of high-precision map information necessary for autonomous driving. The map database 210 is realized by a hard disk device, a semiconductor memory, or a DVD and its reading device. Further, the map database 210 may be replaced with a communication device to obtain map data from an external map distribution server (not shown).

[0020] The own vehicle position calculation unit 220 calculates the position of the vehicle based on the detection data output from a GPS receiver (not shown), and performs map matching processing to correct the position of the vehicle when the calculated position of the vehicle is not on the road in the map data. As an example, the position of the vehicle is detected using a GPS receiver, but an autonomous navigation sensor using an azimuth sensor, a distance sensor, etc. may be used in combination to improve the detection accuracy.

[0021] The route generation unit 230 calculates the driving route of the vehicle from the departure point to the destination by performing route search processing using the specified search conditions, and newly generates a driving route on the map data. Note that the driving route generated by the route generation unit 230 may be generated such that the cost (such as the travel distance or travel time) when the vehicle moves from the departure point to the destination is minimized. The driving route generated by the route generation unit 230 may be set based on an instruction from the vehicle occupants.

[0022] The state determination unit 240 sets, as the target road network, a road network consisting of roads within a predetermined range from the position of the vehicle among the road networks set on the map data. The state determination unit 240 may set, as the target road network, a driving route within a predetermined range from the position of the vehicle among the driving routes generated by the route generation unit 230, and a route branching from the driving route within the predetermined range.

[0023] Here, the "predetermined range" when setting the target road network may be determined based on the amount of data that the navigation device 200 and the information processing device 300 can hold or process. The "predetermined range" may be determined based on the amount of data that can be transmitted from the navigation device 200 to the information processing device 300 per unit time. The length of the "predetermined range" is typically set to be about several kilometers, but is not limited thereto.

[0024] Further, the state determination unit 240 may update the target road network based on the position of the vehicle after driving so that the above-mentioned predetermined range is maintained each time the vehicle moves forward.

[0025] Further, the state determination unit 240 may determine whether the target road network has been reset. For example, when the driving route of the vehicle is changed (rerouted), or when the navigation device 200 is just started up, the state determination unit 240 may determine that the target road network has been reset.

[0026] The output unit 250 outputs information (path information) regarding paths included in the target road network set by the state determination unit 240. Here, a "path" means a route along which a vehicle can travel through the road network. The output unit 250 outputs, as path information, road information on the path and branch information (information indicating a branch). Additionally, the output unit 250 may output, as path information, position information (information indicating the position of the vehicle on the path) based on the position of the vehicle acquired by the own vehicle position calculation unit 220. That is, the path information output by the output unit 250 may include road information, branch information, and position information.

[0027] For example, the output unit 250 outputs path information regarding the target road network based on ADASIS (Advanced Driver Assistance Systems Interface Specifications).

[0028] Here, ADASIS is a standard established to promote the development and application of a predictive map-based driving assistance system that supports access to predictive road data in the ADASIS forum, which is regularly held mainly by members representing the automotive industry.

[0029] Path information compliant with ADASIS is output as the road shape (curve, intersection, gradient) regarding the road on which the vehicle plans to travel and the position of the road shape as the distance (offset) from the reference point and the latitude and longitude. Also, not only the vehicle speed and azimuth information of the vehicle but also road information such as the regulated speed (speed limit) and road type are output together.

[0030] In the path information compliant with ADASIS, static information (road information) and dynamic information (e.g., position information, signal information) regarding the road on which the vehicle plans to travel are provided as list information sorted by an offset with the base point on the road being 0. Among the paths (routes on which the vehicle can travel), the path on which the vehicle is most likely to travel is called the main path (MAIN PATH) (or called MPP (Most Probable Path)). Among the paths, the paths other than the main path are called sub paths (SUB PATH).

[0031] Message names indicating the types of information transmitted in compliance with ADASIS include, for example, "POSITION", "SEGMENT", "STUB", "PROFILE SHORT", "PROFILE LONG", etc.

[0032] For example, the position information of the vehicle is transmitted by the "POSITION" message. The "POSITION" message includes information such as a path identification number (PID) that identifies the path on which the vehicle is located, an offset (OFFSET) indicating the position of the vehicle on the path, and the lane in which the vehicle is traveling.

[0033] For example, the road information is transmitted by the "SEGMENT" message. The "SEGMENT" message includes information such as a path identification number (PID) that identifies the path, an offset (OFFSET) indicating the position of a predetermined point on the path, and road attributes at the predetermined point (such as whether hands-off driving is possible when driving the vehicle, speed limit, number of lanes, number of oncoming lanes, etc.). In addition, the road information may also be transmitted by the "PROFILE SHORT" message and the "PROFILE LONG" message.

[0034] For example, the branching information is transmitted by the "STUB" message. The "STUB" message includes information such as a path identification number (PID) that identifies the path at the branching origin, an offset (OFFSET) indicating the position of the branching point, and a branching destination path identification number (branching destination PID) that identifies the path at the branching destination.

[0035] Each of the above messages includes information on the message type (type of path information). Therefore, by referring to the message type, it is possible to identify which message among messages such as "POSITION", "SEGMENT", "STUB", "PROFILE SHORT", and "PROFILE LONG" it is.

[0036] Therefore, by referring to the path information output by the output unit 250, it is possible to identify which type of path information it is, whether it is road information, branch information, or position information.

[0037] The output unit 250 scans the paths included in the target road network and outputs the above messages and the like as path information. Note that the direction of scanning the paths is the traveling direction of the vehicle. Therefore, the path information regarding the paths included in the target road network in front of the traveling direction of the vehicle is output by the output unit 250 along the direction from the side closer to the vehicle to the side farther away.

[0038] Next, the information processing device 300 includes a controller (an example of a control unit or a processing unit). A computer program (information processing program) for causing the controller to function as a high-precision map information management device is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (310, 320, 325, 330, 340).

[0039] Here, an example is shown in which a plurality of information processing circuits (310, 320, 325, 330, 340) included in the information processing device 300 are realized by software. However, it is also possible to prepare dedicated hardware for executing each of the information processes shown below to configure the information processing circuits (310, 320, 325, 330, 340). Also, the plurality of information processing circuits (310, 320, 325, 330, 340) may be configured by individual hardware. Furthermore, the information processing circuits (310, 320, 325, 330, 340) may be shared with an electronic control unit (ECU) used for other controls related to the vehicle.

[0040] The information processing apparatus 300 includes, as a plurality of information processing circuits (310, 320, 325, 330, 340), a route database 310, an input unit 320, a data inspection unit 325, a route information management unit 330, and an output unit 340.

[0041] The input unit 320 acquires the path information (first path information) output by the output unit 250 of the navigation apparatus 200.

[0042] The data inspection unit 325 inspects the consistency of the path information acquired by the input unit 320. For example, the data inspection unit 325 may determine whether the acquired path information is in a format compliant with ADASIS, and if it is determined that the format is not compliant, the acquired path information may be discarded.

[0043] In addition, the data inspection unit 325 identifies whether the acquired path information is any of the types of information such as road information, branch information, and position information. Then, the data inspection unit 325 executes a check process corresponding to the identified type on the path information, and determines whether the path information is valid or invalid. The "road information check process", "branch information check process", and "position information check process" executed by the data inspection unit 325 will be described later.

[0044] The route database 310 (database) records the path information (second path information) determined to be valid by the data inspection unit 325. The route database 310 may store path information for each path, or may store path information regarding a plurality of paths by queue management.

[0045] In addition, the route database 310 may store, for example, high-precision map data, which is high-precision map data necessary for autonomous driving. The high-precision map data has higher precision than the map data stored in the map database 210. Also, the high-precision map data has more and detailed map information than the map database 210.

[0046] Similar to the map database 210 provided in the navigation device 200, the route database 310 may be implemented by a hard disk device, a semiconductor memory, or a DVD and its reading device. Also, the route database 310 may acquire high-precision map data from an external map distribution server (not shown) via a communication device (not shown).

[0047] Based on the path information stored in the data inspection unit 325, the route information management unit 330 constructs the target road network transmitted from the navigation device 200. In addition, the route information management unit 330 may extract a driving route corresponding to the constructed target road network from the high-precision map data stored in the route database 310. For example, based on the vehicle's position information, the route information management unit 330 may limit the range for searching the driving route on the high-precision map data and extract a driving route having the same topology as the topology of the target road network within the limited range.

[0048] The configuration of the target road network by the route information management unit 330 will be described. For example, assume that the following path information shown in Table 1 is stored in the route database 310.

[0049]

Table 1

[0050] According to Table 1, since there are four types with PID = 8, 9, 10, and 11, it can be seen that four paths exist in the target road network. Here, the paths corresponding to PID = 8, 9, 10, and 11 will be described as path PA, PB, PC, and PD respectively.

[0051] Corresponding to path PA, it can be seen that the path information at each point on path PA is stored in the order of INDEX = A1, A2, A3, A4, A5. Hereinafter, it is assumed that the symbols attached to the points shown on the drawing are the same as INDEX. Also, it is assumed that the output from the output unit 250 is in the order of the numbers attached to the end of INDEX.

[0052] Here, since the type of the path information of INDEX = A2 is the position information, it can be seen that a vehicle exists at the point represented by INDEX = A2 (OFFSET = 100). On the other hand, since the types of the path information of INDEX = A3 and A4 are the branch information (source), it can be seen that paths PB and PC branch from the points represented by INDEX = A3 and A4 respectively. The branch destination of the path is identified by the branch destination PID.

[0053] Corresponding to path PB, it can be seen that the path information at each point on path PB is stored in the order of INDEX = B1, B2, B3. Here, since the type of the path information of INDEX = B1 is the branch information (destination), it can be seen that path PB starts from the point represented by INDEX = B1.

[0054] Corresponding to path PC, it can be seen that the path information at each point on path PC is stored in the order of INDEX = C1, C2, C3, C4. Here, since the type of the path information of INDEX = C1 is the branch information (destination), it can be seen that path PC starts from the point represented by INDEX = C1. Also, since the type of the path information of INDEX = C3 is the branch information (source), it can be seen that path PD branches from the point represented by INDEX = C3. The branch destination of the path is identified by the branch destination PID.

[0055] Corresponding to path PD, it can be seen that path information at each point on path PD is stored in the order of INDEX = D1, D2. Here, since the type of the path information with INDEX = D1 is branch information (forward), it can be seen that path PD starts from the point represented by INDEX = D1.

[0056] In addition, path information whose type of path information is road information is also stored in the route database 310.

[0057] Based on the path information shown in Table 1, the path information management unit 330 can construct a road network having the topology shown in FIG. 4. FIG. 4 is a diagram showing an example of a road network constructed based on the acquired path information.

[0058] The output unit 340 outputs information regarding the target road network configured by the path information management unit 330. For example, the output unit 340 may output a driving route corresponding to the target road network, or may output high-precision map data along the driving route. In addition, the output unit 340 may transmit the extracted driving route and the high-precision map data along the extracted driving route to the vehicle control device 400.

[0059] [Check Processing for Path Information] Next, with reference to FIG. 2, the check processing for path information performed in the data inspection unit 325 will be described. FIG. 2 is a flowchart showing the check processing in the information processing apparatus according to the present embodiment. Note that the check processing shown in FIG. 2 may be repeatedly executed at a predetermined cycle.

[0060] In step S101, the input unit 320 acquires first path information from the navigation device 200. Here, the data inspection unit 325 may inspect the consistency of the acquired first path information.

[0061] In step S103, the data inspection unit 325 determines whether the first information corresponds to road information. If the first information corresponds to road information (YES in step S103), the process proceeds to step S111, and the data inspection unit 325 executes a check process for the road information. If the first information does not correspond to road information (NO in step S103), the process proceeds to step S105.

[0062] In step S105, the data inspection unit 325 determines whether the first information corresponds to branch information. If the first information corresponds to branch information (YES in step S105), the process proceeds to step S113, and the data inspection unit 325 executes a check process for the branch information. If the first information does not correspond to branch information (NO in step S105), the process proceeds to step S107.

[0063] In step S107, the data inspection unit 325 determines whether the first information corresponds to location information. If the first information corresponds to location information (YES in step S107), the process proceeds to step S115, and the data inspection unit 325 executes a check process for the location information. If the first information does not correspond to location information (NO in step S107), the check process shown in FIG. 2 ends.

[0064] After the check processes in steps S111, S113, and S115, in step S117, the data inspection unit 325 determines whether the first path information is determined to be valid.

[0065] If it is determined that the first path information is valid (YES in step S117), in step S121, the route database 310 stores the first path information as the second path information. That is, the data inspection unit 325 registers the first path information in the route database 310.

[0066] Note that if the first path information is location information, the data inspection unit 325 replaces and updates the location information registered in the route database 310 with the first path information.

[0067] On the other hand, when it is determined that the first path information is inappropriate (NO in step S117), in step S119, the path database 310 deletes the stored second path information. That is, the data inspection unit 325 initializes the path database 310.

[0068] After steps S119 and S121, the check process shown in FIG. 2 ends.

[0069] [Check Process for Road Information] Next, with reference to FIG. 3A, the "check process for road information" (step S111 in FIG. 2) will be described. FIG. 3A is a flowchart showing the check process for road information.

[0070] In step S201, the data inspection unit 325 acquires one piece of second path information from the second path information stored in the path database 310. If there is no second path information stored in the path database 310, the data inspection unit 325 may determine that the first path information is valid.

[0071] In step S203, when the first path information indicates the road attribute at the first point on the first path and the second path information indicates the road attribute or branch at the second point on the second path, the data inspection unit 325 determines whether the first point is behind the second point along the traveling direction of the vehicle.

[0072] For example, when the PIDs of the first path information and the second path information match, it is determined whether the offset of the first path information is smaller than the offset of the second path information. If the offset of the first path information is smaller than the offset of the second path information, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0073] If the PID of the first path information is different from the PID of the second path information, the determination method based on the offset on the same path cannot be adopted. Therefore, the data inspection unit 325 starts from the second point, travels in the direction opposite to the traveling direction of the vehicle through the target road network configured by the route information management unit 330, and determines whether it can reach the first point. If it can reach the first point from the second point, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0074] When it is determined that the first point is behind the second point along the traveling direction of the vehicle (YES in step S203), in step S209, the data inspection unit 325 determines that the first path information is inappropriate.

[0075] When it is not determined that the first point is behind the second point along the traveling direction of the vehicle (NO in step S203), in step S205, the data inspection unit 325 determines whether unevaluated second path information exists in the route database 310. That is, the data inspection unit 325 determines whether second path information other than the second path information acquired in step S201 exists in the route database 310.

[0076] If unevaluated second path information exists (YES in step S205), the process returns to step S201. On the other hand, if unevaluated second path information does not exist (NO in step S205), in step S207, the data inspection unit 325 determines that the first path information is legitimate.

[0077] After steps S207 and S209, the check process shown in FIG. 3A ends.

[0078] FIG. 5 is a diagram showing an example in the case where the newly acquired road information is determined to be inappropriate. It is assumed that the path information shown in the following Table 2 is stored in the route database 310 corresponding to the road network shown in FIG. 5.

[0079]

Table 2

[0080] Consider the case where, with the path information shown in Table 2 stored, first path information, which is road information with “INDEX = A5, OFFSET = 200” (road information indicating the road attributes at the first point where OFFSET = 200), is newly acquired (see FIG. 5).

[0081] Referring to Table 2, second path information with “INDEX = A4, OFFSET = 300” (road information indicating the road attributes at the second point where OFFSET = 300) is already stored. Therefore, storing the above first path information does not store information so as to extend the end of path PA.

[0082] Storing the above first path information will lead to destroying the path information regarding path PA already stored in the route database 310. Therefore, the first path information cannot be stored in the route database 310. Thus, assuming there is an inconsistency in the order of the path information, the data inspection unit 325 determines that the first path information is inappropriate.

[0083] [Check Process for Branch Information] Next, with reference to FIG. 3B, the “check process for branch information” (step S113 in FIG. 2) will be described. FIG. 3B is a flowchart showing the check process for branch information.

[0084] In step S301, the data inspection unit 325 acquires one piece of second path information from the second path information stored in the route database 310. If there is no second path information stored in the route database 310, the data inspection unit 325 may determine that the first path information is legitimate.

[0085] In step S303, when the first path information indicates a branch to the first branch destination path at the first point on the first path, and the second path information indicates a branch to the second branch destination path at the second point on the second path, or the road attribute at the second point, the data inspection unit 325 determines whether the first point is behind the second point along the traveling direction of the vehicle.

[0086] For example, when the PIDs of the first path information and the second path information match, it is determined whether the offset of the first path information is smaller than the offset of the second path information. When the offset of the first path information is smaller than the offset of the second path information, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0087] When the PIDs of the first path information and the second path information are different, the determination method based on the offset on the same path cannot be adopted. Therefore, the data inspection unit 325 starts from the second point and travels in the direction opposite to the traveling direction of the vehicle through the target road network configured by the route information management unit 330, and determines whether it can reach the first point. When it can reach the first point from the second point, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0088] When it is determined that the first point is behind the second point along the traveling direction of the vehicle (YES in step S303), in step S315, the data inspection unit 325 determines that the first path information is inappropriate.

[0089] When it is not determined that the first point is behind the second point along the traveling direction of the vehicle (NO in step S303), in step S305, the data inspection unit 325 determines whether the first branch destination path and the second branch destination path match. When the second path information is road information, it is determined as a case where the first branch destination path and the second branch destination path do not match.

[0090] When the first branch destination path and the second branch destination path do not match (NO in step S305), the process proceeds to step S311. On the other hand, when the first branch destination path and the second branch destination path match (YES in step S305), in step S307, the data inspection unit 325 determines whether the branch source paths match. That is, the data inspection unit 325 determines whether the first path and the second path match.

[0091] When the branch source paths do not match (NO in step S307), in step S315, the data inspection unit 325 determines that the first path information is inappropriate.

[0092] When the branch source paths match (YES in step S307), in step S309, the data inspection unit 325 determines whether the branch points match. That is, the data inspection unit 325 determines whether the first point and the second point match.

[0093] When the branch points do not match (NO in step S309), in step S315, the data inspection unit 325 determines that the first path information is inappropriate. On the other hand, when the branch points match (YES in step S309), the process proceeds to step S311.

[0094] In step S311, the data inspection unit 325 determines whether unevaluated second path information exists in the path database 310. That is, the data inspection unit 325 determines whether second path information other than the second path information acquired in step S301 exists in the path database 310.

[0095] When unevaluated second path information exists (YES in step S311), the process returns to step S301. On the other hand, when unevaluated second path information does not exist (NO in step S311), in step S313, the data inspection unit 325 determines that the first path information is valid.

[0096] After steps S313 and S315, the check process shown in FIG. 3B is terminated.

[0097] FIG. 6A is a diagram showing a first example when newly acquired branch information is determined to be inappropriate. It is assumed that path information shown in the following Table 3 is stored in the route database 310 corresponding to the road network shown in FIG. 6A.

[0098] [Table 3]

[0099] Consider a case where first path information, which is branch information of "INDEX = A5, OFFSET = 100" (branch information indicating a branch at the first point where OFFSET = 100), is newly acquired while the path information shown in Table 3 is stored (see FIG. 6A).

[0100] Referring to Table 3, second path information of "INDEX = A3, OFFSET = 200" (branch information indicating a branch at the second point where OFFSET = 200) is already stored. Also, second path information of "INDEX = A4, OFFSET = 300" (road information indicating the road attribute at the second point where OFFSET = 300) is already stored.

[0101] In these cases, it corresponds to a situation where the first point is behind the second point along the traveling direction of the vehicle. Therefore, storing the above first path information does not mean storing information to extend the end of path PA.

[0102] Storing the above first path information will lead to destroying the path information regarding path PA already stored in the route database 310. Therefore, the first path information cannot be stored in the route database 310. Thus, assuming there is an inconsistency in the order of the path information, the data inspection unit 325 determines that the first path information is inappropriate.

[0103] FIG. 6B is a diagram showing a second example when newly acquired branch information is determined to be inappropriate. It is assumed that path information shown in the following Table 4 is stored in the route database 310 corresponding to the road network shown in FIG. 6B.

[0104] [Table 4]

[0105] Consider the case where first path information, which is branch information indicating a branch from path PC, which is the first path, to path PB, which is the first branch destination path, with "INDEX = C3, branch destination PID = 9", is newly acquired while the path information shown in Table 4 is stored (see FIG. 6B). Referring to Table 4, it can be seen that second path information, which is branch information indicating a branch from path PA, which is the second path, to path PB, which is the second branch destination path, with "INDEX = A3, branch destination PID = 9", is stored.

[0106] In this case, it corresponds to the situation where the first path and the second path are different and the first branch destination path and the second branch destination path match. Here, storing the above first path information will lead to destroying the path information regarding path PB that is already stored in the route database 310. Therefore, the first path information cannot be stored in the route database 310. Thus, as an inconsistency in the branch information, the data inspection unit 325 determines that the first path information is inappropriate.

[0107] FIG. 6C is a diagram showing a third example when newly acquired branch information is determined to be inappropriate. It is assumed that path information shown in the following Table 5 is stored in the route database 310 corresponding to the road network shown in FIG. 6C.

[0108] [Table 5]

[0109] Consider the case where, with the path information shown in Table 5 stored, new first path information, which is branch information with "INDEX=A5, branch destination PID=9, OFFSET=400", is obtained (see Fig. 6B). The above first path information is branch information indicating a branch from path PA, which is the first path, to path PB, which is the first branch destination path, at the first point where OFFSET = 400. Referring to Table 5, it can be seen that second path information, which is branch information with "INDEX=A3, branch destination PID=9, OFFSET=200", is stored. The above second path information is branch information indicating a branch from path PA, which is the second path, to path PB, which is the second branch destination path, at the second point where OFFSET = 400.

[0110] In this case, it corresponds to the situation where the first path and the second path match, and the first branch destination path and the second branch destination path match, and the first point and the second point are different. Here, if the above first path information is stored, it will lead to the destruction of the path information regarding path PA and path PB already stored in the path database 310. Therefore, the first path information cannot be stored in the path database 310. Thus, assuming it is an inconsistency in the branch information, the data inspection unit 325 determines that the first path information is inappropriate.

[0111] [Check Process for Location Information] Next, with reference to Fig. 3C, the "check process for location information" (step S115 in Fig. 2) will be described. Fig. 3C is a flowchart showing the check process for location information.

[0112] In step S401, the data inspection unit 325 obtains second path information, which is location information, from among the second path information stored in the path database 310. If there is no second path information stored in the path database 310, the data inspection unit 325 may determine that the first path information is valid.

[0113] In step S403, when the first path information indicates that the vehicle is located at the first point on the first path and the second path information indicates that the vehicle is located at the second point on the second path, the data inspection unit 325 determines whether the first point is behind the second point along the traveling direction of the vehicle.

[0114] For example, when the PIDs of the first path information and the second path information match, it is determined whether the offset of the first path information is smaller than the offset of the second path information. When the offset of the first path information is smaller than the offset of the second path information, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0115] When the PIDs of the first path information and the second path information are different, the determination method based on the offset on the same path cannot be adopted. Therefore, the data inspection unit 325 starts from the second point and travels in the direction opposite to the traveling direction of the vehicle through the target road network configured by the route information management unit 330 to determine whether it can reach the first point. When it can reach the first point from the second point, it can be determined that the first point is behind the second point along the traveling direction of the vehicle.

[0116] When it is determined that the first point is behind the second point along the traveling direction of the vehicle (YES in step S403), in step S409, the data inspection unit 325 determines that the first path information is inappropriate.

[0117] When it is not determined that the first point is behind the second point along the traveling direction of the vehicle (NO in step S403), in step S405, the data inspection unit 325 determines whether the first point is ahead of the second point by a predetermined distance or more along the traveling direction of the vehicle.

[0118] Here, the predetermined distance may be set based on the upper limit speed of the vehicle and the elapsed time from the timing when the second path information was acquired to the timing when the first path information was acquired. For example, the predetermined distance may be a value calculated by multiplying the upper limit speed by the elapsed time. Note that the upper limit speed of the vehicle may be the upper limit value of the speed at which the vehicle can travel, or may be a value calculated by multiplying a predetermined coefficient by the speed limit set based on traffic regulations.

[0119] When it is determined that the first point is ahead of the second point by a predetermined distance or more (YES in step S405), in step S409, the data inspection unit 325 determines that the first path information is inappropriate.

[0120] On the other hand, when it is not determined that the first point is ahead of the second point by a predetermined distance or more (NO in step S405), in step S407, the data inspection unit 325 determines that the first path information is valid.

[0121] After steps S407 and S409, the check process shown in FIG. 3C is terminated.

[0122] FIG. 7A is a diagram showing a first example in the case where the newly acquired position information is determined to be inappropriate. In FIG. 7A, it is assumed that the path information shown in the following Table 6 is stored in the route database 310 corresponding to the road network shown at the top.

[0123]

Table 6

[0124] Consider a case where, with the path information shown in Table 6 stored, new first path information with position information of "INDEX = AT, OFFSET = 120" is acquired (refer to the road network shown at the bottom in Fig. 7A). The above first path information is position information indicating that the vehicle is located at the first point where OFFSET = 120. Referring to Table 6, it can be seen that second path information with position information of "INDEX = AT, OFFSET = 180" is stored. The above second path information is position information indicating that the vehicle is located at the second point where OFFSET = 180.

[0125] In this case, it corresponds to a situation where the first point is behind the second point along the traveling direction of the vehicle. When the position information of the vehicle stored in the route database 310 is updated based on the above first path information, although the vehicle is moving forward on path PA, it seems as if the vehicle has moved in reverse on path PA. Such a phenomenon may occur when there is a problem with the accuracy of the position information.

[0126] Therefore, the above first path information cannot be stored in the route database 310. Thus, assuming there is a problem with the accuracy of the position information, the data inspection unit 325 determines that the first path information is inappropriate.

[0127] Fig. 7B is a diagram showing a second example when the newly acquired position information is determined to be inappropriate. Assume that, corresponding to the road network shown at the top in Fig. 7B, the following path information shown in Table 7 is stored in the route database 310.

[0128]

Table 7

[0129] Consider a case where, with the path information shown in Table 7 stored, new first path information, which is position information with "INDEX = AT, OFFSET = 180", is acquired (refer to the road network shown at the bottom in FIG. 7B). The above first path information is position information indicating that the vehicle is located at a first point where OFFSET = 180. Referring to Table 7, it can be seen that second path information, which is position information with "INDEX = AT, OFFSET = 120", is stored. The above second path information is position information indicating that the vehicle is located at a second point where OFFSET = 120.

[0130] Assuming that a predetermined distance ΔD corresponds to a distance of about 50 in terms of the OFFSET difference, the above case corresponds to a case where the first point is ahead of the second point by a predetermined distance or more along the traveling direction ("180 - 120 = 60 > ΔD"). When updating the position information of the vehicle stored in the route database 310 based on the above first path information, although the vehicle is moving forward at a speed less than the assumed speed of path PA, it appears as if the vehicle is moving at a speed equal to or greater than the assumed speed of path PA. Such a phenomenon can occur when there is a problem with the accuracy of the position information.

[0131] Therefore, the above first path information cannot be stored in the route database 310. Thus, assuming that there is a problem with the accuracy of the position information, the data inspection unit 325 determines that the first path information is inappropriate.

[0132] [Effects of the Embodiment] As described in detail above, the information processing method and information processing apparatus according to the present embodiment acquire first path information regarding a first path included in a road network set on map data, and determine whether the first path information is valid based on the first path information and second path information regarding a second path included in the road network, which is stored in a database. At that time, different determinations are made according to whether the first path information is information indicating a road attribute, information indicating a path branch, or information indicating a vehicle position.

[0133] This makes it possible to detect whether the path information (road information, branch information, and vehicle position information of the target path) obtained for the path on the map data is legitimate information. In particular, based on the second path information stored in the database, it is determined whether the first path information is legitimate in different ways according to the type of the first path information. As a result, a non-contradictory road network can be constructed based on the obtained path information.

[0134] Also, even if the path information obtained from the navigation device turns out to be illegitimate information, the illegitimate path information can be removed, and a non-contradictory road network can be constructed based on the other legitimate path information. Furthermore, for example, it becomes possible to extract a driving route corresponding to the configured target road network from the high-precision map data. And the range for performing hands-off driving of the vehicle can be expanded.

[0135] In addition, in the information processing method and information processing apparatus according to the present embodiment, when the first path information indicates a road attribute or a branch at a first point on the first path, and the second path information indicates a road attribute or a branch at a second point on the second path, if the first point is behind the second point along the traveling direction of the vehicle, it may be determined that the first path information is not legitimate.

[0136] As a result, the path information can be stored so as to extend the end of the path. As a result, the possibility that the path information already stored in the database will be destroyed can be reduced. Furthermore, the inconsistency in the order of the path information is removed, and a non-contradictory road network can be constructed based on the obtained path information.

[0137] Furthermore, when the first path information indicates a branch to a first branch destination path at a first point on the first path, and the second path information indicates a branch to a second branch destination path at a second point on the second path, in a predetermined case, it may be determined that the first path information is not valid. The predetermined case may be a case where the first path and the second path are different and the first branch destination path and the second branch destination path match. Or, the predetermined case may be a case where the first path and the second path match, the first branch destination path and the second branch destination path match, and the first point and the second point are different.

[0138] As a result, when a path branches, it is possible to detect an inconsistency in branch information caused by a plurality of paths branching into the same path. Furthermore, it is possible to detect an inconsistency in branch information caused by branching into the same path from a plurality of different locations on a specific path. As a result, it is possible to reduce the possibility that the path information already stored in the database will be destroyed. Furthermore, the inconsistency in the branch information is removed, and a road network without contradictions can be configured based on the acquired path information.

[0139] In addition, when the first path information indicates that a vehicle is located at a first point on the first path, and the second path information indicates that the vehicle is located at a second point on the second path, in a predetermined case, it may be determined that the first path information is not valid. The predetermined case may be a case where the first point is behind the second point along the traveling direction of the vehicle. Or, the first point may be ahead of the second point by a predetermined distance or more along the traveling direction.

[0140] As a result, it is possible to detect a case where there is a problem with the accuracy of the vehicle's position information. As a result, it is possible to reduce the possibility that the path information already stored in the database will be destroyed. Furthermore, the inconsistency in the position information is removed, and a road network without contradictions can be configured based on the acquired path information.

[0141] Furthermore, when it is determined that the first path information is not valid, the information processing method and the information processing apparatus according to the present embodiment may delete the second path information from the database. As a result, when there is a problem with the path information acquired from the navigation device, the second path information that caused the determination that the first path information is not valid is deleted from the database. As a result, a non-contradictory road network can be configured based on the second path information stored in the database.

[0142] Also, when it is not determined that the first path information is not valid, the information processing method and the information processing apparatus according to the present embodiment may store the first path information in the database. As a result, only valid first path information is stored in the database, and it is guaranteed that a non-contradictory road network can be configured based on the path information stored in the database.

[0143] Furthermore, in the information processing method and the information processing apparatus according to the present embodiment, the road network may be set by a navigation device, and the first path information and the second path information may be transmitted by the navigation device. As a result, by generating a driving route based on low-precision map data, the calculation load during route selection and re-routing can be reduced. In addition, it is possible to realize the generation of an efficient driving route on high-precision map data having a higher precision than the precision of the map data, while reducing the calculation load during route selection and re-routing.

[0144] Also, the first path information and the second path information may be acquired by communication based on a protocol defined in the Advanced Driver Assistance System Interface Specification (ADASIS). As a result, standardized specifications can be used, and as a result, the design cost and procurement cost of the components constituting the system can be reduced.

[0145] Furthermore, the information processing method and information processing apparatus according to the present embodiment may generate a driving route of a vehicle on map data having higher accuracy than the map data, based on the first path information determined to be legitimate and the second path information stored in the database. Thereby, it is possible to start the control of the vehicle based on the highly accurate driving route on the highly accurate map data. Furthermore, it is possible to expand the range in which the vehicle can be driven hands-off.

[0146] Also, the information processing method and information processing apparatus according to the present embodiment may transmit the generated driving route to a control unit that automatically controls the running of the vehicle. Thereby, it is possible to start the control of the vehicle based on the highly accurate driving route on the highly accurate map data. Furthermore, it is possible to expand the range in which the vehicle can be driven hands-off.

[0147] Each function shown in the above-described embodiment can be implemented by one or more processing circuits. The processing circuit includes a programmed processor, an electric circuit, etc., and further includes a device such as an application-specific integrated circuit (ASIC) and circuit components arranged to execute the described functions.

[0148] As described above, the content of the present invention has been described in accordance with the embodiment. However, it is obvious to those skilled in the art that the present invention is not limited to these descriptions, and various modifications and improvements are possible. It should not be understood that the discourse and drawings forming part of this disclosure limit the present invention. Various alternative embodiments, examples, and operation techniques will become apparent to those skilled in the art from this disclosure.

[0149] The present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention-specific matters according to the legitimate claims based on the above description.

Explanation of Reference Numerals

[0150] 200 Navigation device 210 Map database 220 Bicycle position calculation unit 230 Route generation unit 240 State determination unit 250 Output unit 300 Information processing device 310 Route database 320 Input unit 325 Data inspection unit 330 Route information management unit 340 Output unit 400 Vehicle control device

Claims

1. Obtain first path information regarding a first path included in a road network set on map data, An information processing method for determining whether the first path information is valid based on the first path information and second path information regarding a second path included in the road network, which is stored in a database, When the first path information indicates a road attribute or a branch at a first point on the first path, and the second path information indicates a road attribute or a branch at a second point on the second path, When the first point is behind the second point along the traveling direction of the vehicle, Determine that the first path information is not valid An information processing method characterized by the above.

2. Obtain first path information regarding a first path included in a road network set on map data, An information processing method for determining whether the first path information is valid based on the first path information and second path information regarding a second path included in the road network, which is stored in a database, When the first path information indicates a branch to a first branch destination path at a first point on the first path, and the second path information indicates a branch to a second branch destination path at a second point on the second path, When the first path and the second path are different and the first branch destination path and the second branch destination path match, or When the first path and the second path match, the first branch destination path and the second branch destination path match, and the first point and the second point are different, Determine that the first path information is not valid An information processing method characterized by the above.

3. Obtain first path information regarding a first path included in a road network set on map data, An information processing method for determining whether the first path information is valid based on the first path information and second path information regarding a second path included in the road network, which is stored in a database, When the first path information indicates that a vehicle is located at a first point on the first path, and the second path information indicates that the vehicle is located at a second point on the second path, When the first point is behind the second point along the traveling direction of the vehicle, or When the first point is ahead of the second point by a predetermined distance or more along the traveling direction, Determine that the first path information is not valid An information processing method characterized by the above.

4. The information processing method according to any one of claims 1 to 3, If the first path information is determined to be invalid, the second path information is deleted from the database. An information processing method comprising:

5. The information processing method according to any one of claims 1 to 4, If the first path information is not determined to be invalid, storing the first path information in the database. An information processing method comprising:

6. The information processing method according to any one of claims 1 to 5, the road network is set by a navigation device; The first path information is transmitted by the navigation device. An information processing method comprising:

7. The information processing method according to any one of claims 1 to 6, The first path information and the second path information are acquired through communication based on a protocol defined in the Advanced Driver Assistance System Interface Specification (ADASIS). An information processing method comprising:

8. The information processing method according to any one of claims 1 to 7, generating a driving route for the vehicle on map data having higher accuracy than the map data based on the first path information determined to be valid and the second path information stored in the database; An information processing method comprising:

9. 9. The information processing method according to claim 8, Transmitting the generated driving route to a control unit that automatically controls the driving of the vehicle. An information processing method comprising:

10. An information processing device comprising an input unit, a database, and a controller, First path information regarding a first path included in a road network set on map data is input to the input unit, the database stores second path information relating to a second path included in the road network; The controller When the first path information indicates a road attribute or a branch at a first point on the first path, and the second path information indicates a road attribute or a branch at a second point on the second path, When the first point is located behind the second point along the traveling direction of the vehicle, determining that the first path information is invalid; An information processing device characterized by:

11. An information processing device comprising an input unit, a database, and a controller, First path information regarding a first path included in a road network set on map data is input to the input unit, the database stores second path information relating to a second path included in the road network; The controller When the first path information indicates a branch to a first destination path at a first point on the first path and the second path information indicates a branch to a second destination path at a second point on the second path, The first path and the second path are different, and the first branch destination path and the second branch destination path are the same, or When the first path and the second path match, the first branch destination path and the second branch destination path match, and the first point and the second point are different, determining that the first path information is invalid; An information processing device characterized by:

12. An information processing device comprising an input unit, a database, and a controller, First path information regarding a first path included in a road network set on map data is input to the input unit, the database stores second path information relating to a second path included in the road network; The controller When the first path information indicates that a vehicle is located at a first point on the first path and the second path information indicates that the vehicle is located at a second point on the second path, The first point is located behind the second point along the direction of travel of the vehicle, or When the first point is located ahead of the second point along the traveling direction by a predetermined distance or more, determining that the first path information is invalid; An information processing device characterized by:

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