Travel route generation device

Abstract

The purpose of the present invention is to generate a safe travel path where hands-off driving can be implemented along a laneless section. A travel path generation device 10 comprises: a map storage unit 12 in which map information is stored; a section discernment unit 13 that, on the basis of the map information, discerns between a laneless section where a plurality of lanes L are not demarcated and a laned section where a plurality of lanes L are demarcated; and a path generation unit 11 that generates a travel path of a vehicle 1. The section discernment unit 13 discerns between one laned section, a laneless section located in front of the one laned section in the advancing direction of the vehicle 1, and another laned section located in front of the laneless section in the advancing direction of the vehicle 1. The path generation unit 11 calculates the number of crossings with other lane links at each of a plurality of lane links connecting each lane L in the one laned section with each lane L in the other laned section. The path generation unit 11 generates a travel path 70 on the laneless section on the basis of the calculated number of crossings.

Description

[Technical Field]

[0001] The present invention relates to a driving route generation device. [Background technology]

[0002] Toll booths and other facilities on toll roads have laneless sections, which are road sections with no division into multiple lanes where vehicles travel in the same direction. Because laneless sections are not marked with dividing lines, vehicle control systems that recognize dividing lines and provide driving assistance or automated driving, often disable hands-off driving in laneless sections. However, being able to continue hands-off driving safely in laneless sections, just as in laneless sections, would lead to improved passenger comfort.

[0003] An example of prior art in this field is Patent Document 1. The automated driving assistance device disclosed in Patent Document 1, when there is a toll gate ahead of the vehicle in the direction of travel while automated driving assistance related to lane-keeping driving is being performed, identifies a lane marking disappearance point, where one of the lane markings disappears, and a road widening point, where the width of the lane on which the vehicle is traveling widens, on the side before the toll gate. The automated driving assistance device disclosed in Patent Document 1 then sets either the lane marking disappearance point or the road widening point as a change point where the control content of the automated driving assistance related to lane-keeping driving is changed, or an end point where the control is terminated. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-159723 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the automatic driving assistance device disclosed in Patent Document 1 can only provide automatic driving assistance up to the point where the road widens or the dividing line disappears, and cannot provide automatic driving assistance for the entire toll gate section, including the laneless section.

[0006] The present invention has been made in view of the above, and aims to generate a safe driving route that enables hands-off driving in laneless sections. [Means for solving the problem]

[0007] In order to solve the above problem, the driving route generation device of the present invention comprises a map memory unit that stores map information that distinguishes between multiple lanes in the same vehicle travel direction, a section discrimination unit that discriminates between laneless sections, which are road sections in which the multiple lanes are not divided, and lane sections, which are road sections in which the multiple lanes are divided, based on the map information, and a route generation unit that generates a driving route for the vehicle, wherein the section discrimination unit discriminates between one of the laneless sections, the laneless section located ahead of the one laneless section in the direction of travel, and the other laneless section located ahead of the laneless section in the direction of travel, and the route generation unit calculates the number of intersections with other lane links for each of multiple lane links connecting each lane of one of the laneless sections with each lane of the other laneless section, and generates the driving route in the laneless section based on the calculated number of intersections. [Effects of the Invention]

[0008] According to the present invention, it is possible to generate a safe driving route that enables hands-off driving in laneless sections. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing the configuration of a vehicle equipped with a driving route generation device according to an embodiment of the present invention; [Figure 2]5A and 5B are diagrams illustrating an example of the operation of a route generating unit and a section determining unit. [Figure 3] 10A and 10B are diagrams illustrating another example of the operation of the route generating unit and the section determining unit. [Figure 4] 10 is a flowchart showing a process for generating a driving route in a laneless section. [Figure 5] 10A and 10B are diagrams illustrating an example of the operation of a route generation unit and a section determination unit when generating a travel route taking into account an automated gate. [Figure 6] 6 is a diagram for explaining an example of the operation of the route generating unit and the section determining unit performed subsequent to FIG. 5. [Figure 7] 10 is a flowchart showing a process for storing position information of an automated gate. [Figure 8] 10 is a flowchart showing a process for correcting a travel route when a travel route is generated taking into account an automated gate. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that components with the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise specified, and description thereof will be omitted.

[0011] Fig. 1 is a diagram showing the configuration of a vehicle 1 equipped with a driving route generation device 10 according to this embodiment. Fig. 2 is a diagram illustrating an example of the operation of the route generation unit 11 and the section determination unit 13.

[0012] The vehicle 1 includes, as a vehicle control system, a driving route generation device 10, a camera 20, and an autonomous driving ECU 30. The driving route generation device 10, the camera 20, and the autonomous driving ECU 30 are connected to each other via an in-vehicle network of the vehicle 1 so as to be able to communicate with each other.

[0013] The driving route generation device 10 generates a driving route for the vehicle 1 and transmits it to the autonomous driving ECU 30. The driving route generation device 10 is configured by, for example, an MPU (Map Positioning Unit). The driving route generation device 10 has a route generation unit 11, a map storage unit 12, a section determination unit 13, a gate position storage unit 14, and a route transmission unit 15.

[0014] The map storage unit 12 stores map information that distinguishes between multiple lanes in which the vehicle travels in the same direction. The map information stored in the map storage unit 12 may be high-precision three-dimensional map information that stores lane-level road network data. The map storage unit 12 transmits appropriate map information in response to a request for transmission of map information from the route generation unit 11 or the section determination unit 13.

[0015] The section discrimination unit 13 discriminates laneless sections and lane sections included in the map information transmitted from the map storage unit 12, and transmits the discrimination results to the route generation unit 11. A laneless section is a road section that is not divided into multiple lanes L in the same traveling direction of the vehicle 1. A lane section is a road section that is divided into multiple lanes L in the same traveling direction of the vehicle 1. In particular, the section discrimination unit 13 discriminates between the lane section in which the vehicle 1 is traveling, or one lane section that is the closest lane section ahead of the vehicle 1 in the traveling direction, the laneless section located ahead of the one lane section in the traveling direction of the vehicle 1, and the other lane section located ahead of the laneless section in the traveling direction of the vehicle 1.

[0016] Figure 2 shows a road section near toll gate T of a toll road. The direction of travel of vehicle 1 in Figure 2 is from the bottom to the top of the page. Toll gate T often has multiple gates G installed. The multiple gates G are a lane section divided into multiple lanes L. At toll gate T, the area in front of gate G (the rear side of gate G in the direction of travel of vehicle 1) and the area on the other side of gate G (the front side of gate G in the direction of travel of vehicle 1) are often laneless sections. The main lanes M1 and M2 on the front and back sides of toll gate T are often lane sections divided into multiple lanes L in which vehicle 1 travels in the same direction.

[0017] As shown in FIG. 2 , when multiple laneless sections and multiple lane sections are alternately arranged in the traveling direction of the vehicle 1, the section discrimination unit 13 discriminates between laneless sections and lane sections as follows. That is, the section discrimination unit 13 discriminates the lane section in which the vehicle 1 is traveling or the closest lane section ahead in the traveling direction of the vehicle 1 as the first laneless section 41. The section discrimination unit 13 discriminates the laneless section located ahead in the traveling direction of the vehicle 1 relative to the first laneless section 41 as the first laneless section 51. The section discrimination unit 13 discriminates the lane section located ahead in the traveling direction of the vehicle 1 relative to the first laneless section 51 as the second laneless section 42. The section discrimination unit 13 discriminates the laneless section located ahead in the traveling direction of the vehicle 1 relative to the second laneless section 42 as the second laneless section 52. The section discrimination unit 13 discriminates a lane section located ahead of the second laneless section 52 in the traveling direction of the vehicle 1 as a third lane section 43.

[0018] In the example of Figure 2, the section discrimination unit 13 can discriminate the main road M1 on the side of the toll gate T as the first lane section 41, and the laneless section on the side of the gate G as the first laneless section 51. Furthermore, the section discrimination unit 13 can discriminate the gate G as the second lane section 42, the laneless section on the other side of the gate G as the second laneless section 52, and the main road M2 on the other side of the toll gate T as the third lane section 43.

[0019] Note that even if a laneless section exists either in front of or on the other side of gate G, the section discrimination unit 13 can distinguish between a laneless section and a lane section. For example, if a laneless section exists only on the other side of gate G, the section discrimination unit 13 can discriminate the main line M1 on the near side of gate G and gate G as one lane section, and the main line M2 on the other side of gate G as the other lane section. For example, if a laneless section exists only on the near side of gate G, the section discrimination unit 13 can discriminate the main line M1 on the near side of gate G as one lane section, and the gate G and the main line M2 on the other side of gate G as the other lane section.

[0020] The route generation unit 11 generates a travel route 70 for the vehicle 1 based on the map information transmitted from the map storage unit 12 and the discrimination result of the section discrimination unit 13. In particular, the route generation unit 11 generates the travel route 70 in a laneless section. Specifically, the route generation unit 11 calculates a plurality of lane links connecting each lane L in one lane section with each lane L in the other lane section. The plurality of lane links connecting each lane L in one lane section with each lane L in the other lane section may be a plurality of line segments linearly connecting each lane L in one lane section with each lane L in the other lane section in a round-robin manner. The plurality of lane links connecting each lane L in one lane section with each lane L in the other lane section may be virtual lane candidates that could be part of the travel route 70 for the vehicle 1 in a laneless section located between one lane section and the other lane section. The route generation unit 11 calculates the number of intersections with other lane links for each of the calculated lane links. Then, based on the calculated number of intersections, the route generation unit 11 generates a driving route 70 in a laneless section located between one lane section and another lane section. In particular, the route generation unit 11 identifies the lane link with the smallest calculated number of intersections, and generates a driving route 70 in the laneless section according to the identified lane link.

[0021] In the example of FIG. 2 , the route generation unit 11 calculates the number of intersections between each of the multiple first lane links 61 connecting the lanes L of the first lane section 41 and the lanes L of the second lane section 42 (multiple gates G) and other first lane links 61. The route generation unit 11 then generates a travel route 70 in the first laneless section 51 in accordance with the first lane link 61 that has the smallest calculated number of intersections. Similarly, the route generation unit 11 calculates the number of intersections between each of the multiple second lane links 62 connecting the lanes L of the second lane section 42 (multiple gates G) and the lanes L of the third lane section 43 and other second lane links 62. The route generation unit 11 then generates a travel route 70 in the second laneless section 52 in accordance with the second lane link 62 that has the smallest calculated number of intersections. In this way, the route generation unit 11 can generate a travel route 70 in the laneless section. The route generation unit 11 transmits the generated travel route 70 to the route transmission unit 15.

[0022] The lane link with the fewest number of intersections tends to be the lane link located at the left or right end of the laneless section. Therefore, the route generation unit 11 may generate a driving route 70 that passes through the left end of the laneless section when the road including the laneless section is a left-hand traffic road, and may generate a driving route 70 that passes through the right end of the laneless section when the road including the laneless section is a right-hand traffic road.

[0023] Furthermore, among the multiple gates G installed at the toll booth T, there are at least two types of gates G: automated gates Ga (ETC gates) in which toll payment and gate G opening / closing operations are automated, and non-automated gates Gb (general gates) in which toll payment and gate G opening / closing operations are not automated. The route generation unit 11 can generate a travel route 70 in a laneless section based on the lane link with the fewest number of intersections and the position information of the automated gate Ga closest to the lane link. Details of a method for generating a travel route 70 taking into account the automated gates Ga will be described later using Figures 5 to 8.

[0024] The gate position memory unit 14 stores position information of the automated gates Ga installed at the toll gates T. The position information of the automated gates Ga is acquired by the gate detection unit 21 of the camera 20. The gate detection unit 21 identifies the type of gate G (automated gate Ga or non-automated gate Gb) from the image of the area around the vehicle 1 acquired by the camera 20, and detects the positions of the automated gates Ga and non-automated gates Gb. In this case, the gate detection unit 21 detects the position of the automated gate Ga closest to the lane link with the fewest number of intersections. The gate detection unit 21 transmits the position information of the automated gate Ga closest to the lane link with the fewest number of intersections to the driving route generation device 10. The gate position memory unit 14 stores the position information of the automated gates Ga transmitted from the camera 20 in association with the map information transmitted from the map memory unit 12. The gate position memory unit 14 transmits the position information of the automated gates Ga linked to the map information to the route generation unit 11.

[0025] The route transmission unit 15 transmits the driving route 70 transmitted from the route generation unit 11 to the autonomous driving ECU 30. The autonomous driving ECU 30 controls the vehicle 1 so that the vehicle 1 drives autonomously according to the driving route 70 transmitted from the driving route generation device 10.

[0026] FIG. 3 is a diagram illustrating another example of the operation of the route generating unit 11 and the section determining unit 13. In FIG.

[0027] In some cases, the target lane in which the vehicle 1 should travel in the other lane section is determined in advance depending on the destination of the vehicle 1. In this case, the route generation unit 11 generates the travel route 70 in the laneless section depending on the lane link with the fewest number of intersections among the multiple lane links connecting each lane in one lane section with the target lane.

[0028] FIG. 3 shows a road section where the main lane M2 on the other side of the toll gate T branches into lanes L1 and L2. It is assumed that the target lane along which the vehicle 1 should travel in the third lane section 43 is predetermined to be lane L1. In this case, in the example of FIG. 3 , the route generation unit 11 generates a travel route 70 in the second laneless section 52 based on the second lane link 62 with the fewest number of intersections among the multiple second lane links 62 connecting each lane L in the second lane section 42 at gate G and the target lane L1. The travel route 70 in the second laneless section 52 is generated based on the second lane link 62 connecting the target lane, lane L1, and gate G1. Furthermore, the route generation unit 11 generates the travel route 70 in the first laneless section 51 based on the first lane link 61 with the fewest number of intersections among the multiple first lane links 61 connecting each lane L in the first lane section 41 and the target lane, gate G1.

[0029] Also, assume that the target lane along which the vehicle 1 should travel in the third lane section 43 is determined in advance to be lane L2. In this case, in the example of FIG. 3 , the route generation unit 11 generates a travel route 70 in the second laneless section 52 based on the second lane link 62 with the fewest number of intersections among the multiple second lane links 62 connecting each lane L in the second lane section 42 at gate G and the target lane L2. The travel route 70 in the second laneless section 52 is generated based on the second lane link 62 connecting the target lane, lane L2, and gate G2. Furthermore, the route generation unit 11 generates the travel route 70 in the first laneless section 51 based on the first lane link 61 with the fewest number of intersections among the multiple first lane links 61 connecting each lane L in the first lane section 41 and the target lane, gate G2.

[0030] FIG. 4 is a flowchart showing the process of generating a travel route 70 in a laneless section.

[0031] In step S101 , the route generation unit 11 and the section determination unit 13 acquire map information from the map storage unit 12 .

[0032] In step S102, the section discrimination unit 13 discriminates lane-free sections and lane-containing sections included in the map information.

[0033] In step S103, the section discrimination unit 13 determines whether or not a lane-free section exists. If a lane-free section exists, the section discrimination unit 13 proceeds to step S104. If a lane-free section does not exist, the section discrimination unit 13 proceeds to step S101.

[0034] In step S104, the route generation unit 11 calculates a plurality of lane links in the laneless section. Specifically, the route generation unit 11 calculates a plurality of lane links connecting each lane L in one lane section located behind the laneless section in the traveling direction of the vehicle 1 with each lane L in the other lane section located ahead of the laneless section in the traveling direction of the vehicle 1.

[0035] In step S105, the route generating unit 11 calculates the number of intersections with other lane links for each of the calculated lane links, and identifies the lane link with the smallest calculated number of intersections.

[0036] In step S106, the route generation unit 11 generates a travel route 70 in the laneless section according to the lane link with the smallest number of intersections. The generated travel route 70 is transmitted from the route transmission unit 15 to the autonomous driving ECU 30. Thereafter, the processing shown in FIG. 4 ends.

[0037] Fig. 5 is a diagram illustrating an example of the operation of the route generation unit 11 and the section determination unit 13 when generating a travel route 70 taking into consideration the automated gate Ga. Fig. 6 is a diagram illustrating an example of the operation of the route generation unit 11 and the section determination unit 13 performed subsequent to Fig. 5.

[0038] As described above, when gates G include automated gates Ga and non-automated gates Gb, the travel route 70 generated according to the lane link with the smallest number of intersections does not necessarily pass through the automated gate Ga. The route generation unit 11 can correct the travel route 70 generated according to the lane link with the smallest number of intersections so that the travel route 70 passes through the automated gate Ga.

[0039] Specifically, first, the route generation unit 11 determines whether or not an automated gate Ga exists on the travel route 70 generated according to the lane link with the smallest number of intersections, based on the position information of the automated gate Ga stored in the gate position storage unit 14. If the automated gate Ga exists on the travel route 70 generated according to the lane link with the smallest number of intersections, there is no need to modify the travel route 70.

[0040] 5, if an automated gate Ga does not exist on the travel route 70 generated according to the lane link with the smallest number of intersections, the route generation unit 11 identifies the automated gate Ga closest to the lane link with the smallest number of intersections. Then, the route generation unit 11 identifies the lane 80 of the automated gate Ga closest to the lane link with the smallest number of intersections.

[0041] Next, the path generation unit 11 calculates a line segment 81 by extending the identified lane 80 to the near side of the automated gate Ga, and a line segment 82 by extending the identified lane 80 to the far side of the automated gate Ga. For example, the path generation unit 11 calculates a line segment connecting a start coordinate located on the near side of the automated gate Ga, among the multiple coordinates constituting the identified lane 80, with a start-point adjacent coordinate adjacent to the start coordinate and located ahead of the direction of travel of the vehicle 1. Then, the path generation unit 11 can calculate the line segment 81 by extending the calculated line segment to the near side of the automated gate Ga. Similarly, for example, the path generation unit 11 calculates a line segment connecting an end coordinate located on the far side of the automated gate Ga, among the multiple coordinates constituting the identified lane 80, with an end-point adjacent coordinate adjacent to the end coordinate and located behind the direction of travel of the vehicle 1. Then, the route generating unit 11 can calculate the line segment 82 by extending the calculated line segment beyond the automated gate Ga.

[0042] In this embodiment, the lane 80 of the automated gate Ga closest to the lane link with the fewest number of intersections, as well as the line segments 81 and 82 used to calculate the lane 80, are collectively referred to as the line segments 80-82 passing through the automated gate Ga closest to the lane link with the fewest number of intersections.

[0043] Next, the route generation unit 11 calculates a first intersection 91 and a second intersection 92, which are the intersections between the travel route 70 generated according to the lane link with the fewest number of intersections and the line segments 80-82 that pass through the automated gate Ga that is closest to the lane link with the fewest number of intersections. For example, the route generation unit 11 calculates, as the first intersection 91, the intersection between the travel route 701 in the first laneless section 51 generated according to the first lane link 61 with the fewest number of intersections and the line segments 80-82 that pass through the automated gate Ga that is closest to the first lane link 61. Then, the route generation unit 11 calculates, as the second intersection 92, the intersection between the travel route 702 in the second laneless section 52 generated according to the second lane link 62 with the fewest number of intersections and the line segments 80-82.

[0044] Next, as shown in FIG. 6 , the route generation unit 11 modifies the travel route 70 in the first laneless section 51 and the travel route 70 in the second laneless section 52 so that the travel route 70 passes through the automated gate Ga closest to the first lane link 61, the first intersection 91, and the second intersection 92. For example, the route generation unit 11 traces the coordinates of a route 701, which is a portion of the travel route 70 in the first laneless section 51 located on the near side of the first intersection 91. The route generation unit 11 traces the coordinates of a route 702, which is a portion of the travel route 70 in the second laneless section 52 located on the far side of the second intersection 92. The route generation unit 11 traces the coordinates of line segments 80 to 82 connecting the first intersection 91 and the second intersection 92. The route generation unit 11 deletes the coordinates of a route 703, which is a portion of the travel route 70 located between the first intersection 91 and the second intersection 92 and passes through the non-automated gate Gb. Then, the route generation unit 11 regenerates the travel route 75 that passes through the coordinates of the traced routes 701, 702, and the line segments 80 to 82. This allows the route generation unit 11 to generate a travel route 75 that is corrected to pass through the automated gate Ga, the first intersection 91, and the second intersection 92 that are closest to the first lane link 61.

[0045] FIG. 7 is a flowchart showing the process of storing the position information of the automated gate Ga.

[0046] In step S201, the autonomous driving ECU 30 drives the vehicle along the driving route 70 generated in accordance with the lane link that minimizes the number of intersections.

[0047] In step S202, the gate detection unit 21 identifies the type of gate G from the image of the periphery of the vehicle 1 acquired by the camera 20.

[0048] In step S203, the gate detection unit 21 detects the position of the automated gate Ga that is closest to the lane link with the smallest number of intersections, and transmits the position information of the automated gate Ga to the driving route generation device 10.

[0049] In step S204, the gate position storage unit 14 associates the position information of the automated gate Ga that is closest to the lane link with the smallest number of intersections with the map information and stores it. After that, the process shown in FIG. 7 ends.

[0050] FIG. 8 is a flowchart showing the process of correcting the travel route 70 when the travel route 70 is generated taking into account the automated gate Ga.

[0051] In step S301, the route generation unit 11 identifies the lane 80 of the automated gate Ga from the position information of the automated gate Ga stored in the gate position storage unit 14.

[0052] In step S302, the route generation unit 11 extends the lane 80 of the automated gate Ga and calculates the first intersection 91 and the second intersection 92.

[0053] In step S303, the route generation unit 11 partially traces the coordinates of the driving route 70 generated according to the lane link with the smallest number of intersections. Specifically, the route generation unit 11 traces the coordinates of the route 701 located on the near side of the first intersection 91, the coordinates of the route 702 located on the far side of the second intersection 92, and the coordinates of the line segments 80 to 82 connecting the first intersection 91 and the second intersection 92.

[0054] In step S304, the route generation unit 11 regenerates the travel route 75 that passes through the coordinates of the traced routes 701, 702, and line segments 80 to 82. This allows the route generation unit 11 to correct the travel route 70 so that it passes through the automated gate Ga, the first intersection 91, and the second intersection 92 that are closest to the lane link with the fewest number of intersections. Thereafter, the processing shown in FIG. 8 ends.

[0055] As described above, the driving route generation device 10 of this embodiment includes a map storage unit 12 that stores map information that distinguishes between multiple lanes L in the same traveling direction of the vehicle 1; a section discrimination unit 13 that discriminates between laneless sections, which are road sections where multiple lanes L are not defined, and lane sections, which are road sections where multiple lanes L are defined, based on the map information; and a route generation unit 11 that generates a driving route for the vehicle 1. The section discrimination unit 13 discriminates between one lane section, a laneless section located ahead of the one lane section in the traveling direction of the vehicle 1, and another lane section located ahead of the laneless section in the traveling direction of the vehicle 1. The route generation unit 11 calculates the number of intersections with other lane links for each of multiple lane links connecting each lane L in one lane section with each lane L in the other lane section. The route generation unit 11 generates a driving route 70 in the laneless section based on the calculated number of intersections.

[0056] As a result, the driving route generation device 10 of this embodiment can uniformly generate driving routes in laneless sections where no dividing lines are marked, and which have a low possibility of coming into close contact with other vehicles. The driving route generation device 10 of this embodiment can cause a vehicle control system that recognizes dividing lines and performs driving assistance or autonomous driving to perform hands-off driving in laneless sections. Therefore, the driving route generation device 10 of this embodiment can generate a safe driving route that enables hands-off driving in laneless sections.

[0057] Furthermore, in the driving route generation device 10 of this embodiment, the route generation unit 11 generates a driving route 70 in a laneless section in accordance with the lane link that has the minimum calculated number of intersections.

[0058] As a result, the driving route generation device 10 of this embodiment can uniformly generate a driving route in a laneless section that has the lowest possibility of coming into contact with other vehicles. Therefore, the driving route generation device 10 of this embodiment can generate the safest driving route that enables hands-off driving in a laneless section.

[0059] Furthermore, in the driving route generation device 10 of this embodiment, when the target lane in which the vehicle 1 should travel in the other lane section is determined in advance according to the destination of the vehicle 1, the route generation unit 11 generates a driving route 70 in the laneless section according to the lane link with the fewest number of intersections among the multiple lane links connecting each lane L in one lane section with the target lane.

[0060] As a result, the driving route generation device 10 of this embodiment can uniformly generate an efficient driving route that minimizes the possibility of approaching other vehicles and is suited to the destination of the vehicle 1. Therefore, the driving route generation device 10 of this embodiment can generate a safe and efficient driving route that enables hands-off driving in laneless sections.

[0061] Furthermore, the driving route generation device 10 of this embodiment further includes a gate position memory unit 14 that stores position information of automated gates Ga, among the multiple gates G installed at the toll booth T, for which toll payment and gate opening / closing operations are automated. The section discrimination unit 13 discriminates the multiple gates G as one lane section or the other lane section. The route generation unit 11 generates a driving route 70 in a laneless section based on the lane link with the fewest number of intersections and the position information of the automated gate Ga closest to that lane link.

[0062] As a result, the driving route generation device 10 of this embodiment can uniformly generate driving routes that are least likely to come into contact with other vehicles and pass through automated gates Ga without the hassle of paying tolls, etc. Therefore, the driving route generation device 10 of this embodiment can generate safe and comfortable driving routes that enable hands-off driving in laneless sections.

[0063] Furthermore, in the driving route generation device 10 of this embodiment, the section discrimination unit 13 discriminates a first lane section 41, a first laneless section 51 located ahead of the first lane section 41 in the direction of travel of the vehicle 1, a second lane section 42 located ahead of the first laneless section 51 in the direction of travel of the vehicle 1, a second laneless section 52 located ahead of the second lane section 42 in the direction of travel of the vehicle 1, and a third lane section 43 located ahead of the second laneless section 52 in the direction of travel of the vehicle 1. The section discrimination unit 13 discriminates multiple gates G as the second lane sections 42. The route generation unit 11 generates a driving route 70 in the first laneless section 51 based on the first lane link 61 with the fewest number of intersections among multiple first lane links 61 connecting each lane L in the first lane section 41 to each of the multiple gates G. The route generation unit 11 generates a travel route 70 in the second laneless section 52 according to the second lane link 62 with the fewest number of intersections among the multiple second lane links 62 connecting each lane L in the third lane section 43 with each of the multiple gates G. The route generation unit 11 calculates, as a first intersection 91, an intersection between the travel route 70 in the first laneless section 51 generated according to the first lane link 61 with the fewest number of intersections and line segments 80 to 82 that pass through the automated gate Ga closest to the first lane link 61. The route generation unit 11 calculates, as a second intersection 92, an intersection between the travel route 70 in the second laneless section 52 generated according to the second lane link 62 with the fewest number of intersections and the line segments 80 to 82. The route generation unit 11 modifies the driving route 70 in the first laneless section 51 and the driving route 70 in the second laneless section 52 so as to pass through the automated gate Ga, the first intersection 91, and the second intersection 92 closest to the first lane link 61.

[0064] As a result, the driving route generation device 10 of this embodiment can uniformly generate, using a relatively simple algorithm, a driving route that is least likely to come into contact with other vehicles and passes through automated gates Ga without the hassle of paying tolls, etc. Therefore, the driving route generation device 10 of this embodiment can easily generate a safe and comfortable driving route that enables hands-off driving in laneless sections.

[0065] Furthermore, the driving route generation device 10 of this embodiment includes a map storage unit 12 that stores map information that distinguishes between multiple lanes L in the same traveling direction of the vehicle 1, a section discrimination unit 13 that discriminates, based on the map information, laneless sections that are road sections where multiple lanes L are not separated, and a route generation unit 11 that generates a driving route for the vehicle 1. The route generation unit 11 generates a driving route 70 in a laneless section so that the vehicle passes through the left end of the laneless section when the road including the laneless section is a left-hand traffic road, and passes through the right end of the laneless section when the road is a right-hand traffic road.

[0066] As a result, the driving route generation device 10 of this embodiment does not need to calculate lane links and the number of intersections in laneless sections. Therefore, the driving route generation device 10 of this embodiment can uniformly generate driving routes that are unlikely to come into close contact with other vehicles in a relatively short time. Therefore, the driving route generation device 10 of this embodiment can easily generate safe driving routes that enable hands-off driving in laneless sections.

[0067] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0068] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely realized by hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be realized by software, in which a processor interprets and executes a program that realizes each function. Information such as the program, tape, and file that realizes each function can be stored in a memory, a recording device such as a hard disk or solid state drive (SSD), or a recording medium such as an IC card, SD card, or DVD.

[0069] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0070] 1...vehicle, 10...traveling route generating device, 11...route generating unit, 12...map memory unit, 13...section discrimination unit, 14...gate position memory unit, 41...first lane section, 42...second lane section, 43...third lane section, 51...first laneless section, 52...second laneless section, 61...first lane link, 62...second lane link, 70...traveling route, 80-82...line segments passing through the nearest automated gate, 91...first intersection, 92...second intersection, T...toll booth, L...lane, G...gate, Ga...automated gate, Gb...non-automated gate

Claims

1. a map storage unit that stores map information that distinguishes between multiple lanes in which the vehicle travels in the same direction; a section discrimination unit that discriminates between a laneless section, which is a road section in which the plurality of lanes are not divided, and a lane section, which is a road section in which the plurality of lanes are divided, based on the map information; a route generation unit that generates a travel route for the vehicle; the section discrimination unit discriminates between one of the lane sections, the laneless section located ahead of the one lane section in the direction of travel, and the other lane section located ahead of the laneless section in the direction of travel; The path generation unit calculating the number of intersections with other lane links for each of a plurality of lane links connecting each lane in one lane section with each lane in the other lane section; The travel route in the laneless section is generated based on the calculated number of intersections. A driving route generation device characterized by:

2. The route generation unit generates the travel route in the laneless section according to the lane link that has the minimum number of intersections calculated. The driving route generation device according to claim 1 .

3. When a target lane on which the vehicle should travel in the other lane section is determined in advance according to the destination of the vehicle, the route generation unit generates the travel route in the laneless section according to the lane link with the smallest number of intersections among a plurality of lane links connecting each lane in one of the lane sections with the target lane.

3. The driving route generation device according to claim 2.

4. The toll gate further includes a gate position storage unit that stores position information of an automated gate in which toll payment and gate opening / closing operations are automated among a plurality of gates installed at the toll gate, the section discrimination unit discriminates the plurality of gates as one of the lane sections or the other of the lane sections, The route generation unit generates the driving route in the laneless section based on the lane link with the smallest number of intersections and position information of the automated gate closest to the lane link.

3. The driving route generation device according to claim 2.

5. The section determination unit distinguishing a first lane section, a first laneless section located ahead of the first lane section in the direction of travel, a second lane section located ahead of the first laneless section in the direction of travel, a second laneless section located ahead of the second lane section in the direction of travel, and a third lane section located ahead of the second laneless section in the direction of travel; The plurality of gates are identified as the second lane section, The path generation unit generating the travel route in the first laneless section in accordance with a first lane link that has the smallest number of intersections among a plurality of first lane links that connect each lane in the first lane section with each of the plurality of gates; generating the driving route in the second laneless section in accordance with a second lane link that has the smallest number of intersections among a plurality of second lane links that connect each lane in the third lane section with each of the plurality of gates; calculating an intersection between the driving route of the first no-lane section generated in accordance with the first lane link with the smallest number of intersections and a line segment passing through the automated gate closest to the first lane link as a first intersection; calculating an intersection between the line segment and the travel route in the second no-lane section generated according to the second lane link with the smallest number of intersections as a second intersection; correcting the driving route in the first laneless section and the driving route in the second laneless section so as to pass through the automated gate closest to the first lane link, the first intersection, and the second intersection; 5. The driving route generation device according to claim 4.

6. a map storage unit that stores map information that distinguishes between multiple lanes in which the vehicle travels in the same direction; a section discrimination unit that discriminates laneless sections, which are road sections in which the plurality of lanes are not divided, based on the map information; a route generation unit that generates a travel route for the vehicle; The route generation unit generates the driving route in the laneless section so that the vehicle passes through the left end of the laneless section when traffic is on the left side of a road including the laneless section, and passes through the right end of the laneless section when traffic is on the right side of the road. A driving route generation device characterized by:

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