Travel route generation device and travel route generation method

Abstract

To provide a travel route generation device and a travel route generation method with which it is possible to generate the travel route of a vehicle using a plurality of maps, irrespective of the current place of the vehicle between the plurality of maps.SOLUTION: The present invention identifies a first coordinate in a first map at which a vehicle is located, as a first current place which is the current place of the vehicle in the first map, on the basis of the travel history of the vehicle on the first map, acquires a second coordinate in a second map at which the vehicle is located, as a second current place which is the current place of the vehicle in the second map, acquires the set route of the vehicle including the second current place and having been set on the second map, performs coordinate conversion between the first and second coordinates, corrects a virtual route which is the set route disposed on the first map so as to generate the trave route of the vehicle in the first map, converts in coordinate conversion the second coordinate into a third coordinate which is the coordinate of the first map, identifies in travel route generation a node in the first map which is located in the vicinity of each node included in the virtual route, as a node included in the travel route, and corrects the virtual route so that the first and third coordinates agree in the first map.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving route generation device and a driving route generation method for generating a driving route for a vehicle. [Background technology]

[0002] A vehicle control system has been known in the past that uses vehicle control map data for a purpose different from the route search map data for a part or all of a route searched for using route search map data to control a moving object (see Patent Document 1). This vehicle control system includes a table storage means, a route search means, and a determination means. The table storage means stores a presence / absence management table containing position information representing intersection areas, which are polygonal areas including intersections in the vehicle control map data, and presence / absence information representing the presence or absence of vehicle control map data at positions corresponding to the intersections. The route search means uses the route search map data to identify position information for multiple nodes corresponding to intersections on the route and link data connecting the nodes. The determination means searches for specific intersections on the route whose positions are determined to be within the intersection areas based on a comparison between the position information of the nodes on the route and the position information representing the intersection areas, and determines the presence or absence of vehicle control map data at positions corresponding to the specific intersections based on the presence / absence information, thereby determining sections of the route where vehicle control map data exists. [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, in the above vehicle control system, if the current location of the vehicle on the map data for route search does not correspond to the current location of the vehicle on the map data for vehicle control, the current location of the vehicle will differ between the multiple maps, making it difficult to generate a driving route for the vehicle using the multiple maps.

[0005] The problem to be solved by the present invention is to provide a driving route generation device and a driving route generation method that can generate a vehicle driving route using multiple maps regardless of the current location of the vehicle among the multiple maps. [Means for solving the problem]

[0006] The present invention identifies first coordinates where the vehicle is located on the first map as a first current location, which is the current location of the vehicle on the first map, based on the vehicle's driving history on the first map; acquires second coordinates where the vehicle is located on the second map as a second current location, which is the current location of the vehicle on a second map different from the first map; acquires a set route for the vehicle that is set on the second map and includes the second current location; performs coordinate conversion between the first map and the second map; corrects a virtual route, which is the set route placed on the first map, to generate a driving route on the first map; in the coordinate conversion, converts the second coordinates into third coordinates, which are coordinates of the first map; and in generating the driving route, identifies nodes on the first map located near each node included in the virtual route as nodes included in the driving route. If the first current location and the current location included in the virtual route are different on the first map, the first current location and the current location included in the virtual route are adjusted so as to match on the first map. The above problem is solved by correcting the virtual route. [Effects of the Invention]

[0007] According to the present invention, a driving route for a vehicle can be generated using a plurality of maps regardless of the current location of the vehicle among the plurality of maps. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of a vehicle control system including a driving route generation device according to this embodiment. [Figure 2]FIG. 2 is an example of a functional block of the controller according to this embodiment. [Figure 3] FIG. 3 is an explanatory diagram for explaining the processing content of the driving route generation device according to this embodiment. [Figure 4] FIG. 4 is an explanatory diagram for explaining the processing content of the driving route generation device according to this embodiment. [Figure 5] FIG. 5 is an explanatory diagram for explaining the processing content of the driving route generation device according to this embodiment. [Figure 6] FIG. 6 is an explanatory diagram for explaining the correspondence between the nodes and links of the car navigation map and the nodes and links of the general-purpose map. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a driving route generation device and a driving route generation method according to the present invention will be described below with reference to the accompanying drawings. The driving route generation device according to this embodiment is implemented as part of a vehicle control system 1, as shown in FIG. 1. FIG. 1 is a block diagram illustrating an example of the vehicle control system 1 according to this embodiment. The vehicle control system 1 is a system for controlling vehicle driving. The vehicle control system 1 performs automatic driving control, which automatically drives a vehicle without the driver's involvement in driving, or driving assistance control, which assists the driver in driving the vehicle. In addition to the devices and systems shown in FIG. 1, the vehicle control system 1 may also include sensors (including cameras, millimeter-wave radar, and LiDAR) that detect the vehicle's surrounding environment, sensors (including vehicle speed sensors, acceleration sensors, and gyro sensors) that detect the vehicle's driving state, a vehicle position detection device (including GPS, gyro sensors, and vehicle speed sensors) that detects the vehicle's current location, and various actuators that control the vehicle's drive mechanism, braking mechanism, and steering mechanism. Detailed description of the devices not shown will be omitted. The vehicle control system 1 may be configured to use sensors, vehicle position detection devices, and various actuators known at the time of filing of this application.

[0010] As shown in FIG. 1, the vehicle control system 1 includes a driving route generation device 10, an in-vehicle communication device 20, an in-vehicle navigation system 30, a storage device 40, and a vehicle control device 50. These devices and systems are mounted on a vehicle and connected to each other via an in-vehicle network 2, such as a controller area network (CAN) or a local interconnect network (LIN). In this embodiment, the vehicle control system 1 also uses a geographic information system 60 provided outside the vehicle. The geographic information system 60 is capable of exchanging information with each device and system connected to the in-vehicle network 2 via the in-vehicle communication device 20. In this embodiment, of the multiple functions realized by the vehicle control system 1, a function of generating a vehicle driving route by the driving route generation device 10 will be described. The vehicle driving route is a route (path) used in vehicle control executed by the vehicle control device 50, and is a route for guiding the vehicle to a destination. However, the driving route generated by the driving route generation device 10 is different from the lane-based route generated by the vehicle control device 50, which is used for the vehicle to travel in the center of the lane.

[0011] The in-vehicle communication device 20 has a wireless communication function for wirelessly transmitting and receiving data to and from the outside of the vehicle. The in-vehicle communication device 20 connects to the Internet using the wireless communication function and transmits and receives various data to and from the geographic information system 60.

[0012] The in-vehicle navigation system 30 guides the vehicle occupants by displaying a route from the current location of the vehicle to a destination on a display based on vehicle position information detected by a vehicle position detection device (not shown). The in-vehicle navigation system 30 has vehicle map information 31. The in-vehicle navigation system 30 may store the vehicle map information 31 as a map database, or may be provided with a storage device that stores the vehicle map information 31. Note that the in-vehicle navigation system 30 is not limited to a configuration in which it has the vehicle map information 31; for example, the vehicle map information 31 may be stored in a server provided outside the vehicle. In this case, the in-vehicle navigation system 30 receives the vehicle map information 31 from the server outside the vehicle via the in-vehicle communication device 20.

[0013] The vehicle map information 31 includes a map for car navigation (hereinafter referred to as a car navigation map) for guiding the occupant along the planned driving route of the vehicle. The planned driving route of the vehicle is the route from the current location of the vehicle to the destination. The car navigation map includes road network information that indicates the road network and feature information that indicates various features around or on the road.

[0014] Road network information is information about a road network represented by a combination of nodes and links. Nodes are set at specific points on roads on a car navigation map, such as intersections or link junctions. Nodes have location information represented by coordinates (latitude and longitude) on the car navigation map. Links are formed on the car navigation map by connecting adjacent nodes so as to correspond to the actual road shapes. Links also have attribute information such as the road type (expressway, toll road, national highway, prefectural road, etc.), link length, link shape, etc. Each node and link is assigned a unique number. The in-vehicle navigation system 30 can identify each road network represented on the car navigation map from the unique number or the location information of the node. This allows the in-vehicle navigation system 30 to search for a route from the vehicle's current location to a destination on the car navigation map.

[0015] The feature information is information about features associated with nodes and / or links in the road network information. Examples of features in the vehicle map information 31 include structures such as bridges, overpasses, tunnels, railroad crossings, pedestrian bridges, and toll booths, as well as traffic lights, road signs, and road markings (including dividing lines and pedestrian crossings).

[0016] An example of a navigation function of the in-vehicle navigation system 30 will be described. The in-vehicle navigation system 30 has, for example, a map matching function, a search function, a guide function, and the like. When a destination is set by a vehicle occupant via an in-vehicle user interface (in-vehicle input device) such as a touch panel, the in-vehicle navigation system 30 uses the map matching function to estimate the current location of the vehicle on a car navigation map based on information about the current location of the vehicle detected by a vehicle position detection device. The in-vehicle navigation system 30 also uses the search function to search for one or more routes from the current location of the vehicle to the destination. When multiple routes are obtained as search results, the in-vehicle navigation system 30 displays each route on an in-vehicle display. When a route from the multiple routes is selected by the vehicle occupant, the in-vehicle navigation system 30 sets the selected route as a guide route. The in-vehicle navigation system 30 has a guide function that displays a guide route on an in-vehicle display and outputs information about the guide route by voice via an in-vehicle output device such as a speaker. Note that in this embodiment, the function of the in-vehicle navigation system 30 is not particularly limited, and any navigation function known at the time of filing of this application can be applied to the in-vehicle navigation system 30.

[0017] The storage device 40 stores a driving history 41 and high-precision map information 42. In response to a command from the driving route generation device 10, the storage device 40 outputs the driving history 41 to the driving route generation device 10. In addition, in response to a command from the vehicle control device 50, the storage device 40 outputs the high-precision map information 42 to the vehicle control device 50.

[0018] The driving history 41 is information on the driving history of the vehicle, that is, information on the driving history of the vehicle on a car navigation map. The driving history 41 is information based on the position information of the vehicle detected by a vehicle position detection device. There are no particular limitations on the format in which the driving history 41 is stored in the storage device 40, and the driving history 41 may be, for example, a data format in which the coordinates of points on the car navigation map where the vehicle has traveled are arranged in chronological order, or a driving trajectory on the car navigation map that shows the path of the vehicle.

[0019] The high-precision map information 42 includes a high-precision map used for driving a vehicle under automatic driving control or driving assistance control. A high-precision map is a map that includes static information such as guardrails and lane boundaries, and dynamic information such as traffic regulation information and congestion information, which is a so-called dynamic map. A high-precision map is generated based on three-dimensional coordinate information and continuous image information acquired by, for example, a mobile mapping system.

[0020] The vehicle control device 50 is a computer that executes various processes for performing automatic driving control or driving assistance control based on the driving route input from the driving route generation device 10. An example of the vehicle control device 50 is an ECU (Electronic Control Unit). The driving route generated by the driving route generation device 10 is input to the vehicle control device 50. Note that in this embodiment, the processing content of the vehicle control device 50 using the driving route is not particularly limited. For example, the vehicle control device 50 executes a center route generation process for the vehicle to travel in the center of the lane based on the driving route and the high-precision map information 42.

[0021] The geographic information system 60 is a system that generates, stores, uses, manages, displays, and searches geographic information and additional information on a computer. The geographic information system 60 can edit data and perform simulations in real time based on data obtained from satellites and the like. Functions of the geographic information system 60 include, for example, a map display function, a search function, and a spatial analysis function. Examples of the geographic information system 60 include Google (registered trademark) Maps and Yahoo (registered trademark) Maps. The geographic information system 60 is used by users via communication devices that can connect to the Internet. The geographic information system 60 has general-purpose map information 61 that is used in the various functions listed above.

[0022] The general-purpose map information 61 includes a highly versatile map (hereinafter referred to as a general-purpose map) that is used for map display, search, and spatial analysis by the geographic information system 60. The general-purpose map includes road network information that indicates the road network and feature information that indicates various features around or on the road. In the geographic information system 60, the road network information and feature information are also referred to as vector data. Note that the information included in the general-purpose map is not limited to road network information and feature information, and the general-purpose map also includes, for example, graphic information such as aerial photographs and satellite images, and meta information such as a geodetic system, projection method, scale, and accuracy.

[0023] Road network information is information about a road network represented by a combination of nodes and links. Nodes are set on a general-purpose map at specific points on the road, such as intersections or link junctions. Nodes have location information represented by coordinates (latitude and longitude) on the general-purpose map. Links are formed on the general-purpose map by connecting adjacent nodes so as to correspond to the actual road shapes. Links also have attribute information such as the road type (expressway, toll road, national highway, prefectural road, etc.), link length, and link shape. Each node and link is assigned a unique number. The geographic information system 60 can identify each road network represented on the general-purpose map from the assigned unique number or the location information of the node. This allows the geographic information system 60 to search for routes between points specified by the user on the general-purpose map. The points specified by the user include the user's current location.

[0024] The feature information is information about features associated with nodes and / or links in the road network information. The number of feature types in the general-purpose map information 61 is greater than the number of feature types in the vehicle-based map information 31. In addition to the examples of features in the vehicle-based map information 31 described above, examples of features in the general-purpose map information 61 include road surface heading direction indicators, vehicle stop lines, guardrails, utility poles, and signs. Furthermore, the features in the general-purpose map information 61 are not limited to road-related features, but also include city blocks, buildings, rivers, trees, and mountains.

[0025] An example of a navigation function of the geographic information system 60 will be described. Similar to the in-vehicle navigation system 30, the geographic information system 60 has a map matching function, a search function, a guide function, and the like. When a user specifies a destination via a mobile device such as a smartphone or a mobile phone, the geographic information system 60 uses the map matching function to estimate the current location of the mobile device on a general-purpose map based on information about the mobile device's current location detected by a device location detection device such as a GPS. The geographic information system 60 also uses the search function to search for the destination on the general-purpose map. The geographic information system 60 also uses the search function to search for one or more routes from the mobile device's current location to the destination. For example, the geographic information system 60 searches for routes according to the user's mode of transportation, such as a route on the general-purpose map when the user is traveling by car, a route on the general-purpose map when the user is traveling on foot, or a route on the general-purpose map when the user is traveling by train. If multiple routes are obtained as search results, the geographic information system 60 displays each route on the display of the mobile device. When a user selects one of the multiple routes according to the mode of transportation, the geographic information system 60 sets the selected route as a guide route. The geographic information system 60 uses a guide function to display the guide route on a mobile display or output information about the guide route by voice via a mobile output device such as a speaker. Note that in this embodiment, the function of the geographic information system 60 is not particularly limited, and any navigation function known at the time of filing of this application can be applied to the geographic information system 60. Also, in this embodiment, a case where a user carrying a mobile terminal travels by vehicle is taken as an example, and the geographic information system 60 searches for a route for the user traveling by vehicle, i.e., a route consisting of roads that the vehicle can travel on. Furthermore, in the above example, a case where a user uses the geographic information system 60 via a mobile terminal is taken as an example, but the method of using the navigation function of the geographic information system 60 is not limited to a method using a mobile terminal.For example, if a vehicle is equipped with a user interface for the geographic information system 60 having functions equivalent to those of a mobile terminal, the vehicle occupants can use the geographic information system 60 via the in-vehicle interface in the same manner as operating a mobile terminal.

[0026] As explained above, although the in-vehicle navigation system 30 and the geographic information system 60 each have a navigation function, they differ from each other in the maps they use, the method for estimating the current location, the algorithms for searching routes, etc. Furthermore, in this embodiment, there is no function for sharing information or algorithms between the in-vehicle navigation system 30 and the geographic information system 60, and the in-vehicle navigation system 30 and the geographic information system 60 perform navigation processing independently.

[0027] Here, we will explain the differences between the car navigation map in the vehicle map information 31 and the general-purpose map in the general-purpose map information 61. The car navigation map is a map intended for use in navigation by the in-vehicle navigation system 30 (so-called car navigation), whereas the general-purpose map is a map intended for use not only in navigation by the geographic information system 60 but also in managing geographic information such as land and urban planning. Therefore, the information accuracy of the car navigation map is generally lower than that of the general-purpose map. Furthermore, the amount of information required for the car navigation map is less than that required for the general-purpose map, so the amount of information for the car navigation map is generally less than that of the general-purpose map. Furthermore, the car navigation map and the general-purpose map differ in the map generation method and the method of defining nodes and links, and the information format of the map information (also called map format or data format) is generally different between the car navigation map and the general-purpose map. Furthermore, car navigation maps are updated at relatively long intervals, such as once every six months, whereas general-purpose maps are updated on an ongoing basis based on probe information transmitted from satellites and vehicles. Therefore, the update frequency of car navigation maps is generally slower than that of general-purpose maps.

[0028] Thus, car navigation maps specialized for car navigation and general-purpose maps that can be used for purposes other than car navigation differ in information accuracy, amount of information, information format, and update frequency. Furthermore, general-purpose maps are considered superior to car navigation maps in terms of information accuracy, amount of information, and update frequency. For vehicle route guidance, users prefer general-purpose maps over car navigation maps from the perspective of convenience. However, because the information format of general-purpose maps differs from that of car navigation maps, it is difficult to use general-purpose maps as they are for vehicle control, including autonomous driving control and driver assistance control. To address these issues arising from the difference between user needs and information format, the driving route generation device 10 according to this embodiment generates a vehicle driving route based on a route on a general-purpose map on a car navigation map, thereby satisfying user needs and resolving the issues arising from the difference in information format.

[0029] Next, the driving route generation device 10 will be described. As shown in Fig. 1, the driving route generation device 10 includes a controller 11. The controller 11 is configured by a computer equipped with hardware and software, and includes a memory that stores programs, a CPU that executes the programs stored in the memory, and the like. Note that, instead of or in addition to the CPU, an MPU, DSP, ASIC, FPGA, or the like can be used as the operating circuit.

[0030] Fig. 2 shows an example of functional blocks included in the controller 11. As shown in Fig. 2, the controller 11 has, as functional blocks, a map information acquisition unit 12, a driving history acquisition unit 13, a current location identification unit 14, a set route acquisition unit 15, a format conversion unit 16, a route generation unit 17, and a route output unit 18. The controller 11 realizes the functions of the functional blocks using software stored in the memory.

[0031] The map information acquisition unit 12 acquires a car navigation map included in the vehicle map information 31 from the in-vehicle navigation system 30, and also acquires a general-purpose map included in the general-purpose map information 61 from the geographic information system 60. For example, when the ignition switch of the vehicle is turned on by the occupant and a signal indicating that the ignition is turned on is detected, the map information acquisition unit 12 acquires the car navigation map from the in-vehicle navigation system 30. The map information acquisition unit 12 also acquires the general-purpose map from the geographic information system 60 via the in-vehicle communication device 20. Note that the acquisition timing of each map is an example and is not limited to this. The map information acquisition unit 12 may acquire two maps at the same time or at different times. The map information acquisition unit 12 outputs the acquired car navigation map and general-purpose map to the current location identification unit 14, the format conversion unit 16, and the route generation unit 17.

[0032] Next, the traveling history acquisition unit 13, the current location identification unit 14, the set route acquisition unit 15, the format conversion unit 16, and the route generation unit 17 will be described with reference to Figures 3 to 5 as appropriate. Figures 3 to 5 are explanatory diagrams for explaining the processing contents of the traveling history acquisition unit 13, the current location identification unit 14, the set route acquisition unit 15, the format conversion unit 16, and the route generation unit 17.

[0033] The driving history acquisition unit 13 acquires the driving history 41 from the storage device 40. For example, similar to the map information acquisition unit 12, the driving history acquisition unit 13 acquires the driving history 41 from the storage device 40 when it detects a signal indicating that the ignition is turned on. The driving history acquisition unit 13 also acquires the driving history 41 from the storage device 40 at a predetermined period. For example, while the vehicle is traveling, the driving history acquisition unit 13 sequentially acquires the driving history 41 from the storage device 40. Note that the acquisition timing of the driving history 41 is an example and is not intended to be limiting. The driving history acquisition unit 13 outputs the acquired driving history 41 to the current location identification unit 14.

[0034] As shown in the example of Fig. 3, the vehicle's travel history acquired by the travel history acquisition unit 13 is represented by a travel locus TP on a car navigation map M1, with the axis located on the left side of Fig. 3 as viewed from the front being the time axis. The travel locus TP is made up of nodes and links connecting the nodes on the car navigation map M1, and is represented by the nodes and links on the car navigation map M1. Note that in Figs. 3 to 5, on the car navigation map M1 or the general-purpose map M2, circular shapes represent nodes, and line segments connecting nodes represent links.

[0035] Returning to FIG. 2, the current location identification unit 14 identifies the current location of the vehicle on the car navigation map based on the vehicle's driving history on the car navigation map. For example, the current location identification unit 14 estimates the current location of the vehicle on the car navigation map based on vehicle position information detected by a vehicle position detection device. Of multiple nodes existing around the estimated location, the current location identification unit 14 identifies the node that is the shortest distance from the estimated location as the current location of the vehicle on the car navigation map. The current location of the vehicle on the car navigation map is represented by a node on the car navigation map.

[0036] 3, the current location P1 of the vehicle identified by the current location identification unit 14 is represented by node N10 on the car navigation map M1. Node N10 is the node that is the shortest distance from the estimated point on the car navigation map M1 estimated by the current location identification unit 14 compared to other nodes. The coordinates of node N10 are represented by latitude and longitude on the car navigation map M1.

[0037] Returning to FIG. 2, the set route acquisition unit 15 acquires a set route for the vehicle that is set on the general-purpose map and that includes the current location of the vehicle on the general-purpose map from the geographic information system 60. For example, when a vehicle occupant operates a mobile terminal inside the vehicle and the geographic information system 60 searches for a route to the destination of the vehicle, the set route acquisition unit 15 acquires the set route that is set on the general-purpose map by the geographic information system 60 via the in-vehicle communication device 20. The set route is acquired by the geographic information system 60 through the in-vehicle communication device 20. This is a route from the current location of the vehicle (current location of the mobile device) to the destination. The current location of the vehicle included in the set route is represented by a node on a general-purpose map identified by the geographic information system 60. For example, the geographic information system 60 estimates the current location of the mobile device on the general-purpose map based on the location information of the mobile device. Of multiple nodes existing around the estimated location, the geographic information system 60 identifies the node with the shortest distance from the estimated location as the current location of the vehicle on the general-purpose map.

[0038] Furthermore, the set route acquisition unit 15 acquires the set route from the geographic information system 60 at a predetermined interval in order to respond to updates (rerouting) of the set route by the geographic information system 60. Situations in which the geographic information system 60 updates the set route may be caused by the geographic information system 60, such as when the vehicle deviates from the set route and the geographic information system 60 searches for and sets a new set route to the destination, or when the geographic information system 60 searches for and sets a new set route to the destination based on road traffic information such as congestion or an accident. In addition, other possible causes may be caused by the vehicle occupant, such as when the vehicle occupant inputs waypoints to the destination into a mobile device, or when the occupant inputs a destination into a mobile device that is different from the original destination.

[0039] As shown in the example of FIG. 3, the planned route R2 acquired by the planned route acquisition unit 15 is composed of nodes N20 to N22 on a general-purpose map M2 and links L21 and L22 connecting the nodes, and is represented by the nodes and links of the general-purpose map M2. Links L21 and L22 contain information on the type of road on the general-purpose map (e.g., expressway, national highway, etc.) as attribute information. The planned route R2 also includes node N20 as the vehicle's current location P2. The coordinates of node N20 are represented by latitude and longitude on the general-purpose map M2. The planned route R2 shown in FIG. 3 is an example of a route set by the geographic information system 60.

[0040] Returning to FIG. 2 , the format conversion unit 16 converts coordinates on the general-purpose map into coordinates on the car navigation map. The format conversion unit 16 performs coordinate conversion processing on the set route on the general-purpose map acquired by the set route acquisition unit 15, from the coordinates on the general-purpose map to the coordinates on the car navigation map. As described above, the car navigation map and the general-purpose map have different information formats, so the set route on the general-purpose map cannot be placed directly on the car navigation map. To represent the set route expressed in coordinates on the general-purpose map using coordinates on the car navigation map, the format conversion unit 16 performs coordinate conversion processing on the set route. For example, the format conversion unit 16 converts the coordinates on the general-purpose map for the vehicle's current location on the general-purpose map into the coordinates on the car navigation map. Similarly, the format conversion unit 16 converts the coordinates on the general-purpose map for each node that constitutes the set route on the general-purpose map into the coordinates on the car navigation map. This allows the set route set on the general-purpose map to be represented using the coordinates on the car navigation map, so the format conversion unit 16 can place the set route on the car navigation map. The set route laid out on the car navigation map is not necessarily a route that actually exists, and therefore, in the following description, the set route laid out on the car navigation map will be referred to as a virtual route.

[0041] As shown in the example of FIG. 4, the set route R2 shown in FIG. 3 is coordinate-converted by the format conversion unit 16 to form a virtual route R2-1 arranged on the car-navigation map M1. The virtual route R2-1 is composed of nodes N13 to N15 on the car-navigation map M1 and links L13 and L14 connecting the nodes. The virtual route R2-1 includes a current location P2-1 on the car-navigation map M1, which is different from the current location P1 identified by the current location identification unit 14. The nodes and links constituting the virtual route R2-1 correspond to the nodes and links constituting the set route R2 shown in FIG. 3. For example, node N13 of the current location P2-1 corresponds to node N20 of the current location P2 on the general-purpose map shown in FIG. 3. For example, the links L13 and L14 constituting the virtual route R2-1 inherit attribute information from links L21 and L22 shown in FIG. 3, and the attribute information includes information on the road type on the general-purpose map. The shape of the virtual route R2-1 shown in FIG. 4 is the same as the shape of the set route R2 shown in FIG.

[0042] Returning to FIG. 2 , the route generation unit 17 generates a driving route for the vehicle on the car navigation map by correcting the virtual route so that the current location of the vehicle on the general-purpose map corresponds to the current location of the vehicle on the car navigation map. For example, when the current location of the vehicle based on the driving history 41 and the current location of the vehicle included in the virtual route are at different coordinates (different nodes) on the car navigation map, the route generation unit 17 corrects the virtual route to generate a driving route so that the coordinates of the two current locations match on the car navigation map. The current location of the vehicle based on the driving history 41 is the coordinate on the car navigation map identified by the current location identification unit 14. The current location of the vehicle included in the virtual route is the coordinate on the car navigation map obtained by coordinate conversion of the current location on the general-purpose map by the format conversion unit 16. The route generation unit 17 corrects the virtual route on the car navigation map so that the current location included in the virtual route matches the current location identified by the current location identification unit 14. In other words, the route generation unit 17 corrects the virtual route so as to maintain continuity with the vehicle's travel path.

[0043] Furthermore, when a new set route is acquired by the set route acquisition unit 15, the route generation unit 17 generates a set route on the car navigation map. For an example of when the set route acquisition unit 15 acquires a new set route, the description of the set route acquisition unit 15 is cited. That is, for example, when a vehicle occupant operates a mobile terminal inside the vehicle and the geographic information system 60 searches for a route to the vehicle's destination, the set route acquisition unit 15 acquires a new set route, and the route generation unit 17 generates a set route. Also, for example, when the geographic information system 60 updates the set route, the set route acquisition unit 15 acquires the new set route, and the route generation unit 17 generates a set route.

[0044] Next, an example of correcting the virtual route R2-1 when the current location P1 identified by the current location identification unit 14 and the current location P2 included in the virtual route R2-1 differ on the car navigation map M1, as in the example of FIG. 4, will be described.

[0045] For example, the route generation unit 17 identifies nodes located near nodes N13 to N15 included in the virtual route R2-1 as nodes included in the travel route. "Near" means located within a predetermined range from the coordinates of the node. In the example of FIG. 4, if node N11 is located near node N13, node N12 is located near node N14, and node N13 is located near node N15, the route generation unit 17 identifies nodes N11 to N13 as nodes included in the travel route. As a result, even if the current position P2-1 and the current position P1 included in the virtual route R2-1 indicate different coordinates on the car navigation map M1 as in the example of FIG. 4 due to differences in the information format and node definition method between the car navigation map M1 and the general-purpose map M2, it is possible to identify nodes N11 to N13 that maintain continuity from the travel locus TP.

[0046] Furthermore, for example, the route generation unit 17 identifies links having attribute information corresponding to links L13 and L14 included in the virtual route R2-1 as links included in the travel route. In the example of Fig. 4, if the attribute information of links L13 and L14 is "expressway" and the attribute information of links L11 and L12 is "expressway," the route generation unit 17 identifies L11 and L12, whose attribute information is "expressway," as links included in the travel route. This makes it possible to prevent a route on a road with different attribute information (for example, a national highway) from being generated as the travel route even though the vehicle is traveling on an expressway.

[0047] Fig. 5 shows an example of a vehicle travel route R1 generated by the route generation unit 17. The travel route R1 is composed of nodes N11 and N12 and links L11 and L12 connecting the nodes on a car navigation map M1, and is represented by the nodes and links of the car navigation map M1. The shape of the travel route R1 is the same as the shape of the set route R2 shown in Fig. 3 and the shape of the virtual route R2-1 shown in Fig. 4. Furthermore, the attribute information of the links L11 and L12 corresponds to the attribute information of the links L21 and L22 shown in Fig. 3, and also corresponds to the attribute information of the links included in the travel locus TP.

[0048] 2, the route output unit 18 outputs the driving route on the car navigation map generated by the route generation unit 17 to the vehicle control device 50. Note that the output destination of the route output unit 18 is not limited to the vehicle control device 50, and the route output unit 18 may output to other devices or systems that perform processing using the driving route on the car navigation map.

[0049] As described above, the driving route generation device 10 according to this embodiment generates a driving route for a vehicle using a car navigation map and a general-purpose map. The driving route generation device 10 includes a current location determination unit 14 that determines the coordinates of the vehicle's location on the car navigation map as the vehicle's current location on the car navigation map based on the vehicle's driving history 41 on the car navigation map; a set route acquisition unit 15 that acquires the coordinates of the vehicle's location on the general-purpose map as the vehicle's current location on the general-purpose map and acquires a set route for the vehicle that is set on the general-purpose map and includes the vehicle's current location on the general-purpose map; a format conversion unit 16 that converts coordinates between the car navigation map and the general-purpose map; and a route generation unit 17 that generates a driving route on the car navigation map by correcting a virtual route, which is a set route placed on the car navigation map. The car navigation map and the general-purpose map each include multiple nodes and multiple links connecting the nodes. The format conversion unit 16 converts the coordinates of the vehicle's location on the general-purpose map into coordinates on the car navigation map. The route generation unit 17 identifies nodes on the car navigation map located near each node included in the virtual route as nodes included in the driving route, and corrects the virtual route so that the coordinates of the current location on the car navigation map identified by the current location identification unit 14 and the coordinates of the current location on the car navigation map converted by the format conversion unit 16 match on the car navigation map.

[0050] As shown in the example of FIG. 4, even if the current location P1 based on the driving history 41 on the car navigation map does not correspond to the current location P2-1 reflected on the general-purpose map, a driving route R1 such as that shown in the example of FIG. 5 can be generated. That is, a vehicle driving route can be generated using multiple maps regardless of the vehicle's current location on the multiple maps. Furthermore, since a driving route can be generated using the geographic information system 60, high compatibility with the geographic information system 60 can be achieved, and problems with the information format between the car navigation map and the general-purpose map can be resolved while satisfying the needs of users who wish to use the geographic information system 60. Furthermore, as shown in the example of FIG. 5, a driving route R1 can be generated as a route that maintains continuity from the vehicle's current location P1. Furthermore, even if the current location of the vehicle on the car navigation map does not correspond to the current location of the vehicle on the general-purpose map, and even if the information formats of the car navigation map and the general-purpose map are different, a driving route that maintains continuity from the vehicle's current location can be generated on the car navigation map.

[0051] In this embodiment, the car navigation map and the general-purpose map each include road attribute information in their links, and the route generation unit 17 identifies, as links included in the driving route, links on the car navigation map whose road attribute information corresponds to each link included in the virtual route. This makes it possible to prevent the generation of a driving route that includes links with attribute information different from the attribute information of the road on which the vehicle has traveled. For example, it is possible to prevent the generation of a driving route that includes roads other than expressways even when the vehicle is traveling on an expressway.

[0052] In this embodiment, the route generation unit 17 generates a driving route when a new set route is acquired by the set route acquisition unit 15. This allows the driving route to be generated in accordance with, for example, changes in traffic conditions on the road on which the vehicle is traveling or updates to the set route by the geographic information system 60, and therefore the driving route can be updated in accordance with changes in the situation.

[0053] Furthermore, in this embodiment, when the set route is updated by the geographic information system 60, the set route acquisition unit 15 acquires a new set route. This allows the set route processed by the travel route generation device 10 to be updated in accordance with updates to the set route by the geographic information system 60, so that the travel route can be updated in accordance with changes in the situation.

[0054] In this embodiment, the current location of the vehicle on the car navigation map and the current location of the vehicle on the general-purpose map are set independently of each other, which allows the generation of a driving route for the vehicle using the navigation function of the geographic information system 60.

[0055] In this embodiment, the vehicle travel route generated by the route generation unit 17 matches the shape of the set route set on the general-purpose map. This allows the vehicle to travel along the shape of the set route using automatic driving control or driving assistance control, for example, thereby achieving high compatibility with the navigation of the geographic information system 60.

[0056] In this embodiment, the car navigation map differs from the general-purpose map in terms of information accuracy, amount of information, information format, and update frequency, which allows the vehicle's driving route to be generated using multiple maps regardless of the vehicle's current location among multiple maps with different purposes or uses.

[0057] It should be noted that the above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, each element disclosed in the above-described embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

[0058] For example, in the above embodiment, as explained using Figure 4, an example was given of a configuration in which the route generation unit 17 identifies nodes N11 and N12 as nodes included in the driving route R1, identifies links L11 and L12 as links included in the driving route R1, and generates the driving route R1, but the route generation unit 17 may also generate the driving route R1 in other ways.

[0059] For example, the route generation unit 17 may generate a driving route by translating the virtual route so that the current location of the vehicle on the general-purpose map corresponds to the current location of the vehicle on the car navigation map. In the example of Fig. 4, the route generation unit 17 may translate the virtual route R2-1 so that the current location P2-1 corresponds to the current location P1, thereby generating the driving route R1 shown in Fig. 5. The route generation unit 17 can generate a driving route without undergoing node and link identification processing, thereby reducing the calculation load.

[0060] For example, the route generation unit 17 may identify the shape of a virtual route based on the nodes and links of a car navigation map and generate a driving route based on the identified shape of the virtual route. For example, the route generation unit 17 identifies the shape of a set route from the nodes and links that constitute a set route set on a general-purpose map. In the coordinate conversion by the format conversion unit 16, if the shape of the set route is maintained on the car navigation map, the route generation unit 17 identifies the shape of a virtual route on the car navigation map from the shape of the set route. The route generation unit 17 determines whether a route corresponding to the shape of the virtual route exists based on the nodes and links of the car navigation map. If a route corresponding to the shape of the virtual route exists, the route generation unit 17 generates a route corresponding to the shape of the virtual route as a driving route. Note that, regarding the determination of the correspondence between the current location of the vehicle based on the driving history 41 and the current location of the vehicle included in the virtual route, the route generation unit 17 may determine the correspondence of the current location before determining whether a route corresponding to the shape of the virtual route exists, or may determine the correspondence of the current location when determining whether a route corresponding to the shape of the virtual route exists.

[0061] Figure 6 is an explanatory diagram illustrating the correspondence between nodes and links on a car navigation map and nodes and links on a general-purpose map. Figure 6(A) is an example of a case where nodes and links correspond between a car navigation map and a general-purpose map, Figure 6(B) is an example of a case where nodes and links partially correspond between a car navigation map and a general-purpose map, and Figure 6(C) is an example of a case where nodes and links do not correspond between a car navigation map and a general-purpose map. In Figure 6, M1 indicates a car navigation map, M2 indicates a general-purpose map, circular shapes in each map indicate nodes, and line segments connecting nodes indicate links.

[0062] 6(A), the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the set route set on the general-purpose map M2. The route generation unit 17 determines that a route corresponding to the shape of the set route (shape of the virtual route) exists on the car navigation map M1, and generates a driving route on the car navigation map M1 that has the same shape as the set route on the general-purpose map M2.

[0063] In the example of FIG. 6(B), the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that the car-navigation map M1 does not contain a node corresponding to node DN2 on the general-purpose map M2, and determines that the car-navigation map M1 contains a route that partially corresponds to the shape of the set route (the shape of the virtual route). The route generation unit 17 generates a driving route on the car-navigation map M1 that partially has the same shape as the set route on the general-purpose map M2. Note that because the car-navigation map M1 does not contain a node corresponding to node DN2 on the general-purpose map M2, the route generation unit 17 does not generate a corresponding driving route for node DN2 and the links connected to node DN2. In this case, the route generation unit 17 may notify the vehicle occupants via an in-vehicle output device that the car-navigation map M1 does not contain some nodes corresponding to the general-purpose map M2 or that part of the driving route is missing.

[0064] In the example of FIG. 6(C), the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that a node corresponding to node DN2 on the general-purpose map M2 does not exist on the car navigation map M1, and determines that no route corresponding to the shape of the set route (the shape of the virtual route) exists on the car navigation map M1. The route generation unit 17 does not generate a driving route on the car navigation map M1 based on the set route on the general-purpose map M2. In this case, the route generation unit 17 may notify the vehicle occupants via an in-vehicle output device that the car navigation map M1 does not have a node corresponding to the general-purpose map M2 or that a driving route cannot be generated.

[0065] In this way, by specifying the shape of the virtual route and generating a driving route based on the specified shape of the virtual route, a driving route that matches or is similar to the set route can be generated on the car navigation map, making it possible to generate a highly accurate driving route that corresponds to the set route. Furthermore, even if a route that corresponds to the shape of the virtual route does not exist on the car navigation map due to differences in update frequency or information format, it is possible to generate a driving route that includes nodes and links that partially correspond to the set route and has a shape that is partially the same as the set route.

[0066] In the above embodiment, the timing when the planned route acquisition unit 15 acquires a new planned route has been described as being when the planned route is updated by the geographic information system 60, but this is not limiting. The planned route acquisition unit 15 may acquire a planned route from the geographic information system 60 when at least one of the following conditions is met: when a signal indicating vehicle startup is detected; when the current location of the vehicle is detected by the vehicle position detection device; and when the planned route is updated by the geographic information system 60. For example, the planned route acquisition unit 15 acquires a new planned route from the geographic information system 60 when a signal indicating that the vehicle ignition has been turned on is detected. This allows a driving route to be generated from the start of driving. Furthermore, for example, the planned route acquisition unit 15 acquires a new planned route from the geographic information system 60 when the current location of the vehicle is detected by the vehicle position detection device. For example, a driving route can be generated when the vehicle enters a road registered in the car navigation map from a point where the vehicle position detection device cannot detect the current location of the vehicle (in a multi-story parking garage) or a point not registered in the car navigation map.

[0067] In addition, in the above-described embodiment, a car navigation map and a general-purpose map, which have different information accuracy, amount of information, information format, and update frequency, are used as examples. However, the driving route generation device according to the present invention can be applied to maps that have different information accuracy, amount of information, information format, and update frequency.

[0068] In the above embodiment, the driving route generated by the driving route generation device 10 is used by the vehicle control device 50, but the present invention is not limited to this. For example, the driving route on a car navigation map generated by the driving route generation device 10 may be displayed on a display to guide the vehicle occupants. To guide. [Explanation of symbols]

[0069] 1...Vehicle control system 2. In-vehicle network 10...Route generation device 11...Controller 12...Map information acquisition section 13...Driving history acquisition unit 14...Current location determination section 15...Setting route acquisition section 16...Format conversion section 17... Route generation section 18...Root output section 20...In-vehicle communication device 30...In-car navigation system 31...Vehicle map information 40…Storage device 41...Driving history 42...High-precision map information 50...Vehicle control device 60...Geographic Information Systems 61...General map information

Claims

1. 1. A driving route generation device that generates a driving route for a vehicle using a first map and a second map different from the first map, a current location identification unit that identifies first coordinates at which the vehicle is located on the first map as a first current location that is the current location of the vehicle on the first map based on a travel history of the vehicle on the first map; a set route acquisition unit that acquires second coordinates at which the vehicle is located on the second map as a second current position that is the current position of the vehicle on the second map, and acquires a set route for the vehicle that includes the second current position and is set on the second map; a format conversion unit that performs coordinate conversion between the first map and the second map; a route generation unit that generates the travel route on the first map by correcting a virtual route that is the set route arranged on the first map; the first map and the second map each include a plurality of nodes and a plurality of links connecting the nodes; the format conversion unit converts the second coordinates into third coordinates that are coordinates of the first map; The route generation unit Identifying the nodes of the first map located near each node included in the virtual route as the nodes included in the travel route; If the first current location and the current location included in the virtual route differ on the first map, correcting the virtual route so that the first current location and the current location included in the virtual route coincide on the first map; A driving route generation device wherein the current location included in the virtual route is the third coordinates obtained by coordinate conversion of the second current location on the second map by the format conversion unit.

2. The driving route generation device according to claim 1, the first map and the second map each include information on road attributes in the link; The route generation unit identifies the links of the first map whose attributes correspond to those of the links included in the virtual route as the links included in the traveling route.

3. 3. The driving route generation device according to claim 1, The route generation unit generates the travel route when the set route acquisition unit acquires a new set route.

4. The driving route generation device according to claim 3, the set route acquisition unit acquires the new set route when an acquisition condition is satisfied; The acquisition condition includes at least one of the following: when a signal indicating the start of the vehicle is detected; when the current location of the vehicle is detected by a device for detecting the current location of the vehicle; and when the set route is updated by a geographic information system.

5. The driving route generation device according to any one of claims 1 to 4, The route generation unit generates the driving route by translating the virtual route.

6. The driving route generation device according to any one of claims 1 to 5, A driving route generation device, wherein the first current location and the second current location are current locations of the vehicle that are set independently of each other.

7. The driving route generation device according to any one of claims 1 to 6, The route generation unit Identifying the shape of the virtual route; A driving route generation device that generates the driving route based on the specified shape of the virtual route.

8. The driving route generation device according to any one of claims 1 to 7, A driving route generation device in which the shape of at least a part of the driving route coincides with the shape of the set route.

9. The driving route generation device according to any one of claims 1 to 8, The first map is different from the second map in at least one of information accuracy, information amount, information format, and update frequency.

10. The driving route generation device according to any one of claims 1 to 9, the first map is a vehicle map used in an in-vehicle navigation system, The second map is a general-purpose map used in a geographic information system.

11. 1. A driving route generation method in which a controller generates a driving route for a vehicle using a first map including a plurality of nodes and a plurality of links connecting the nodes, and a second map different from the first map, Identifying first coordinates at which the vehicle is located on the first map as a first current location that is the current location of the vehicle on the first map based on a travel history of the vehicle on the first map; acquiring second coordinates at which the vehicle is located on the second map as a second current location that is the current location of the vehicle on the second map; acquiring a planned route for the vehicle that includes the second current location and is set on the second map; performing coordinate conversion between the first map and the second map; generating the driving route on the first map by correcting a virtual route that is the set route arranged on the first map; In the coordinate transformation, the second coordinates are transformed into third coordinates which are coordinates of the first map; In generating the travel route, the nodes of the first map located near each node included in the virtual route are identified as the nodes included in the travel route; If the first current location and the current location included in the virtual route differ on the first map, correcting the virtual route so that the first current location and the current location included in the virtual route coincide on the first map; A driving route generation method, wherein the current location included in the virtual route is the third coordinates obtained by coordinate transformation of the second current location on the second map.

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