Route setting method and route setting device

Abstract

To provide a route setting method and a route setting device that enable automatic driving even when map data for route search is not adaptive to part of route information representing a course requested as a course of the automatic driving.SOLUTION: A route setting method comprises: when there is a part which cannot be identified with a first map (SD map 3) in route information, detecting the part as an absent course; acquiring information on the absent course from a second map (HD map 4) that is a map for automatic driving control different from the first map (SD map 3) and represents a travel course (links 41 and nodes 42) where a vehicle can execute automatic driving; correcting the first map (SD map 3) based upon the acquired information on the absent course; and setting a travel course corresponding to the route information on the first map (SD map 3) after the correction.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a route setting method and a route setting device. [Background technology]

[0002] Patent Document 1 discloses a technology for performing automatic driving using map data for route search and map data for vehicle control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 190025 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when route information representing the requested route for automated driving is obtained from an external source and the route information is displayed in map data for route search, there may be cases where the map data does not correspond to part of the route information, resulting in a route for which automated driving cannot be set.

[0005] The present invention aims to provide a route setting method and a route setting device that enable automated driving even when map data for route search does not correspond to part of the route information representing the route requested as the route for automated driving. [Means for solving the problem]

[0006] According to the route setting method of the present invention, route information is acquired that represents the route a vehicle will take from its current location to its destination as a coordinate group, and a driving route corresponding to the route information is set in a first map that identifies the vehicle's driving route. This route setting method detects any portion of the route information that cannot be identified by the first map as an absent route, acquires information about the absent route from a second map that is a map for automatic driving control different from the first map and indicates driving routes along which the vehicle can perform automatic driving, corrects the first map based on the acquired information about the absent route, and sets a driving route corresponding to the route information in the corrected first map. Then, route information is generated based on input information input by a user on a third map different from the first map and the second map, and projected onto the first map, and a portion of the route information projected onto the first map that cannot be identified by the first map is detected as an absent route. . [Effects of the Invention]

[0007] According to the present invention, when route information representing a route requested as a route for automated driving is projected onto a first map, if there is a driving route in the first map that does not exist as a driving route corresponding to the route information, the first map is corrected in such a manner that the driving route is acquired from a second map and transplanted onto the first map. As a result, the route information can be projected onto the corrected first map to generate a guidance route for automated driving, making automated driving possible. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of an automatic driving device including a route setting device according to this embodiment. [Figure 2] FIG. 2 shows the control flow of the route setting device of this embodiment. [Figure 3] Figure 3 is a diagram showing the relationship between the general-purpose map, SD map, and HD map, and illustrates a case where a route drawn on the general-purpose map is projected onto the SD map to form a driving route, but some of the links to form the driving route do not exist, and links corresponding to those links exist on the HD map. [Figure 4] FIG. 4 is a diagram showing the relationship between the general-purpose map, the SD map, and the HD map, and shows a case where a link that does not exist in the SD map is extracted from the HD map and added. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [Basic configuration of this embodiment] FIG. 1 is a block diagram of an automated driving device 100 including a route setting device 1 according to this embodiment.

[0011] The route setting device 1 of this embodiment projects a route set by a driver using a general-purpose map 2 onto a map for navigation (SD map 3). The route setting device 1 includes a route acquisition unit 11, a non-existent route detection unit 12, a non-existent route acquisition unit 13, a route setting unit 14, and a route generation unit 15.

[0012] The automatic driving device 100 acquires a map for automatic driving (HD map 4) according to the route projected on the SD map 3, and performs automatic driving of the host vehicle (vehicle) according to the HD map 4. The automatic driving device 100 includes a map information generation unit 101, an automatic driving control unit 102, and a locator 103 in addition to the route setting device 1 of this embodiment.

[0013] The vehicle is equipped with an image display device 201 and an input device 202. The image display device 201 displays a general-purpose map 2, a route set by the driver, a pointer indicating the position of the vehicle, etc. The input device 202 is, for example, a touch panel incorporated in the image display device 201.

[0014] Here, the image display device 201 and the input device 202 can be a high-function mobile phone (smartphone (registered trademark)) carried by the driver, and the high-function mobile phone and the automatic driving device 100 (route setting device 1) can be configured to communicate bidirectionally via wired or wireless communication.

[0015] Here, the general-purpose map 2 is, for example, a map (e.g., Google (registered trademark) Maps) that the driver downloads from the Internet and uses, and is downloaded by, for example, the image display device 201. Furthermore, in the general-purpose map 2, positions on the map are associated with position coordinates that indicate actual positions, and these position coordinates are also applied to the SD map 3 and the HD map 4. The general-purpose map 2 is updated very frequently (almost every day).

[0016] The SD map 3 is stored in an external server. The SD map 3 is a map for identifying various driving routes that the host vehicle can travel, and is modeled using links 31 (FIGS. 3 and 4) that represent driving routes (shortest driving routes connecting adjacent intersections) and nodes 32 (FIGS. 3 and 4) that represent intersections. The links 31 and nodes 32 are associated with actual positions using position coordinates, and have a position accuracy equivalent to the resolution of a GPS, for example. The SD map 3 is downloaded by, for example, the route setting unit 14. The SD map 3 is generally updated infrequently (for example, about once every six months).

[0017] The HD map 4, like the SD map 3, is stored on an external server. The HD map 4 is a map for autonomous driving control that models the driving routes covered by the SD map 3 with higher resolution (position accuracy). Similarly to the SD map 3, the HD map 4 includes links 41 (FIGS. 3 and 4) representing driving routes (shortest driving routes connecting adjacent intersections) and nodes 42 (FIGS. 3 and 4) representing intersections, as well as a model (not shown) of the driving lanes on the driving route. The HD map 4 is downloaded by, for example, the nonexistent route acquisition unit 13 and the map information generation unit 101. The HD map 4 is updated more frequently (for example, approximately once every three months) than the SD map 3. Therefore, even if a new link 41 (and node 42) is added to the HD map 4 through an update, the corresponding link 31 (and node 32) may not yet be reflected in the SD map 3.

[0018] When the driver specifies a destination location on the general-purpose map 2 displayed on the image display device 201, the input device 202 generates route information connecting the current location of the vehicle and the destination using the position coordinates provided on the general-purpose map 2. Here, the route information is a group of position coordinates (latitude, longitude) that are an aggregate of position coordinates, and is an arrangement of position coordinates from the current location of the vehicle to the destination. The number of position coordinates is based on the position resolution of the general-purpose map 2.

[0019] The route acquisition unit 11 acquires route information generated by the input device 202 and transmits it to the non-existent route detection unit 12, the route setting unit 14, and the route generation unit 15.

[0020] The route generation unit 15 generates line map information showing a route from the current location to the destination on roads that appear on the general-purpose map 2 based on the route information, and outputs the information to the image display device 201. Note that if the general-purpose map 2 has a function to display the route information as a line map, the route generation unit 15 can be omitted.

[0021] The non-existent route detection unit 12 refers to the SD map 3 downloaded by the route setting unit 14 and projects the route information onto the SD map 3, and if it detects a part of the route information that the SD map 3 cannot identify (a part that does not exist in the SD map 3), it transmits that part to the non-existent route acquisition unit 13 as information on the non-existent route.

[0022] The non-existent route acquisition unit 13 downloads links 41 (and nodes 42) in the HD map 4 that have the same position coordinates as the non-existent route information, and transmits them to the route setting unit 14. Note that the non-existent route acquisition unit 13 does not download information on driving lanes in the HD map 4.

[0023] The route setting unit 14 downloads the SD map 3 from the server and stores it. When route information is input, the route setting unit 14 extracts links 31 (and nodes 32) corresponding to the route information in the SD map 3 and transmits this to the map information generation unit 101 as information on the guide route.

[0024] In addition, when a complementary link 41 (and node 42) is input from the non-existent route acquisition unit 13, the route setting unit 14 modifies the SD map 3 in such a manner that it adds the complementary link 41 (and node 32) to the SD map 3, and generates information about the guided route based on the modified SD map 3 and the route information.

[0025] Locator 103 detects the position of the vehicle by capturing, for example, a GPS signal, generates position information indicating the position of the vehicle based on the position coordinates, and transmits the information to image display device 201 and map information generation unit 101. Image display device 201 displays the position of the vehicle by, for example, pointer 22 (FIGS. 3 and 4).

[0026] Based on the information on the guidance route and the location information input from the locator 103, the map information generation unit 101 downloads information on the portion of the HD map 4 that corresponds to the guidance route, covering a range up to a predetermined distance (e.g., 10 km) from the vehicle's position, and generates map information based on this and transmits it to the automatic driving control unit 102.

[0027] The automatic driving control unit 102 executes automatic driving control of the vehicle based on map information. Details of automatic driving are omitted here as they are conventional technology, but automatic control is released when the driver operates the steering wheel, accelerator, brake, etc.

[0028] [Control Flow] 2 shows a control flow of the route setting device 1 of this embodiment. Here, the control flow of the route setting device 1 when the route information includes a travel route that does not exist in the SD map 3 will be described.

[0029] In step S101, the route setting device 1 (route acquisition unit 11) acquires route information from the input device 202 and transmits the route information to the non-existent route detection unit 12.

[0030] In step S102, the route setting device 1 (non-existent route detection unit 12) projects the route information onto the SD map 3, and transmits the parts of the route information that the SD map 3 cannot identify (non-existent parts) to the non-existent route acquisition unit 13 as information on the non-existent route.

[0031] In step S103, the route setting device 1 (non-existent route acquisition unit 13) acquires the link 41 (and node 42) of the HD map 4, which is a part whose position coordinates are common to the information of the non-existent route, as the complementary link 31 (and node 32) of the SD map 3, and transmits it to the route setting unit 14.

[0032] In step S104, when the complementary link 31 (and node 32) is input, the route setting device 1 (route setting unit 14) modifies the SD map 3 in a manner that transplants (adds) the information to the SD map 3 that it holds, and generates information about the guided route based on the modified SD map 3 and the route information.

[0033] In step S101a accompanying step S101, the route setting device 1 (route generating unit 15) generates information on a route to be displayed on the general-purpose map 2 from the route information, and transmits the information to the image display device 201.

[0034] In step S101b, the image display device 201 displays the route related to the route information superimposed on the displayed general-purpose map 2, and displays the position of the vehicle based on the location information transmitted from the locator 103 superimposed on the general-purpose map 2 using the pointer 22 (Figures 3 and 4).

[0035] In step S104a accompanying step S104, the automatic driving control device (map information generation unit 101) downloads HD map 4 based on the guidance route information input from the route setting unit 14 and the location information input from the locator 103, and generates map information.

[0036] In step S104b, the automatic driving control device (automatic driving control unit 102) executes automatic driving control of the host vehicle based on the map information.

[0037] [2 general maps, 3 SD maps, 4 HD maps] Figure 3 is a diagram showing the relationship between the generic map 2, SD map 3, and HD map 4, and illustrates a case where, when a route 21 drawn on the generic map 2 is projected onto the SD map 3 to form a driving route, some of the links 31 for forming the driving route do not exist, but a link 41 corresponding to the link 31 exists in the HD map 4. Figure 4 is a diagram showing the relationship between the generic map 2, SD map 3, and HD map 4, and illustrates a case where a link 31 that does not exist in the SD map 3 is extracted from the HD map 4 and added.

[0038] As shown in Figure 3, the general-purpose map 2 (displayed on the image display device 201) displays a pointer 22 indicating the current position of the vehicle, a pin 23 indicating the destination specified by the driver, and a route 21 represented by the route information, all superimposed on one another.

[0039] As described above, the general-purpose map 2 is frequently updated to reflect actual road conditions. Also, to reflect actual road conditions, the links 31 and nodes 32 are updated in the SD map 3, and the links 41 and nodes 42 are updated in the HD map 4.

[0040] However, as described above, the update frequency of the SD map 3 is lower than that of the HD map 4. Therefore, for example, as shown in Fig. 3, the SD map 3 cannot accommodate part of the route information, resulting in a section where a link 31 (and a node 32) is missing (a section that the SD map 3 cannot identify), and the HD map 4 has a link 41 (and a node 42) that corresponds to the link 31 (and node 32) that is missing in the SD map 3.

[0041] Therefore, in this embodiment, as shown in FIG. 4, link 41 (and node 42) corresponding to link 31 (and node 32) missing from SD map 3 is extracted from HD map 4, and this is corrected by adding link 31 (and node 32) to SD map 3, thereby enabling automatic driving from the current location to the destination.

[0042] [Effects of this embodiment] According to the route setting method of this embodiment, route information is obtained that represents the route a vehicle will take from its current location to its destination as a group of coordinates (a collection of location information), and a driving route (links 31, nodes 32) corresponding to the route information is set in a first map (SD map 3) that identifies the driving route the vehicle will take.If there is a part in the route information that cannot be identified by the first map (SD map 3), that part is detected as an absent route, and information about the absent route is obtained from a second map (HD map 4), which is a map for automatic driving control different from the first map (SD map 3) and shows driving routes (links 41, nodes 42) along which the vehicle can perform automatic driving.The first map (SD map 3) is corrected based on the obtained information about the absent route, and a driving route corresponding to the route information is set in the corrected first map (SD map 3).

[0043] When the above method projects route information representing a route requested as a route for automated driving onto the first map (SD map 3), if there is a driving route in the first map (SD map 3) that does not exist as a driving route (link 31, node 32) corresponding to the route information, the first map (SD map 3) is corrected in such a manner that the driving route is obtained from the second map (HD map 4) and transplanted onto the first map (SD map 3). As a result, the route information can be projected onto the corrected first map (SD map 3) to generate a guidance route for automated driving, making automated driving possible.

[0044] In this embodiment, a route related to the route information is displayed on a third map (general-purpose map 2) that is different from the first map (SD map 3) and the second map (HD map 4) based on a group of coordinates (a collection of location information). This allows the driving route to be displayed on the third map (general-purpose map 2), which is updated frequently, thereby improving convenience.

[0045] In this embodiment, a route related to the route information is displayed on the third map (general-purpose map 2) based on information input by the user (driver). This allows the destination of the automated driving specified by the user and the route of the automated driving to be displayed simultaneously, improving convenience.

[0046] In this embodiment, the third map (general-purpose map 2) is displayed on the image display device 201 in a manner that is visible to the user (driver). This allows the user (driver) to immediately confirm the destination and route of the autonomous driving.

[0047] In this embodiment, the first map (SD map 3) includes nodes 32 and links 31 whose positions are defined by coordinates (position coordinates) that make up a coordinate group (a collection of position coordinates). This allows the first map (SD map 3) to be constructed with a simple configuration.

[0048] In this embodiment, the nodes 32 are models of intersections on a travel route, and the links 31 are models of travel routes connecting adjacent intersections. This makes it possible to easily build a model that reflects branching positions of travel routes.

[0049] According to the route setting device 1 of this embodiment, the route setting device 1 includes a route acquisition unit 11 that acquires route information in which the route a vehicle takes from its current location to its destination is expressed as a coordinate group (a collection of position coordinates), and a route setting unit 14 that sets a driving route (links 31, nodes 32) corresponding to the route information in a first map that identifies the driving route along which the vehicle will travel. The route setting device 1 further includes a non-existent route detection unit 12 that detects a portion of the route information that cannot be identified by the first map (SD map 3) as a non-existent route when the portion cannot be identified by the first map (SD map 3), and a non-existent route acquisition unit 13 that acquires information about the non-existent route from a second map (HD map 4), which is a map for automatic driving control different from the first map (SD map 3) and indicates a driving route along which the vehicle can perform automatic driving. The route setting unit 14 modifies the first map (SD map 3) based on the information about the non-existent route (links 41, nodes 42) acquired by the non-existent route acquisition unit 13, and sets a driving route corresponding to the route information in the modified first map (SD map 3).

[0050] With the above configuration, when route information representing a route requested as a route for autonomous driving is projected onto the first map (SD map 3), if there is a driving route in the first map (SD map 3) that does not exist as a driving route (link 31, node 32) corresponding to the route information, the first map (SD map 3) is corrected in such a manner that the driving route is obtained from the second map (HD map 4) and transplanted onto the first map (SD map 3). As a result, the route information can be projected onto the corrected first map (SD map 3) to generate a guidance route for autonomous driving, making autonomous driving possible.

[0051] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and the technical scope of the present invention is not intended to be limited to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate. [Explanation of symbols]

[0052] 1 Route setting device, 11 Route acquisition unit, 12 Non-existent route detection unit, 13 Non-existent route acquisition unit, 15 Route setting unit, 2 General-purpose map, 3 SD map, 4 HD map

Claims

1. Obtain route information that represents the route the vehicle will take from its current location to its destination as a set of coordinates; a route setting method for setting a driving route corresponding to the route information in a first map that identifies a driving route of the vehicle, If there is a portion in the route information that cannot be identified by the first map, the portion is detected as an absent route; The information on the non-existent route is obtained from a second map, which is a map for automatic driving control different from the first map and indicates a driving route on which the vehicle can perform automatic driving; correcting the first map based on the acquired information on the non-existent route, and setting a driving route corresponding to the route information in the corrected first map; generating the route information based on input information input by a user in a third map different from the first map and the second map, and projecting the route information onto the first map; A route setting method for detecting a portion of the route information projected onto the first map that cannot be identified by the first map as the non-existent route.

2. A route setting method as described in claim 1, which displays a route related to the route information on the third map based on the input information.

3. 3. The route planning method according to claim 2, wherein the third map is displayed on an image display device in a manner that is visible to the user.

4. 4. The route planning method according to claim 1, wherein the first map includes nodes and links whose positions are defined by coordinates that make up the coordinate group.

5. 5. The route planning method according to claim 4, wherein the nodes are models of intersections on a travel route, and the links are models of travel routes connecting adjacent intersections.

6. a route acquisition unit that acquires route information that represents a route of a vehicle from a current location to a destination as a group of coordinates; a route setting unit that sets a driving route corresponding to the route information in a first map that identifies a driving route of the vehicle, a non-existent route detection unit that detects a portion of the route information that cannot be identified by the first map as a non-existent route when the portion is not identified by the first map; a non-existent route acquisition unit that acquires the non-existent route information from a second map that is a map for automatic driving control different from the first map and indicates a driving route along which the vehicle can perform automatic driving; an input device that generates the route information based on input information input by a user on a third map that is different from the first map and the second map, the non-existent route detection unit projects the route information onto the first map, and detects a portion of the route information projected onto the first map that cannot be identified by the first map as the non-existent route; The route setting unit A route setting device that modifies the first map based on the information on the non-existent route acquired by the non-existent route acquisition unit, and sets a driving route corresponding to the route information on the modified first map.

Images