Route search device, control method, program, and storage medium

Abstract

To provide a route searching device with which it is possible to suitably notify a point for which periphery information needed for automatic driving, etc., cannot sufficiently be obtained.SOLUTION: A sophisticated map information processing unit 14 of a driving assist device 1 acquires peripheral information around the vehicle needed for automatic driving from a determination unit 13 and acquires environment information around a route from a server device 2 along which automatic driving is exercised. The sophisticated map information processing unit 14 extracts, on the basis of the acquired environment information, a position where the acquisition accuracy of a sensor unit 12 is predicted as not satisfying a criterion for acquiring the peripheral information needed for automatic driving, as an automatic driving difficult point Pn. Meanwhile, a notification unit 18 notifies a user about the extracted automatic driving difficult point Pn.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to the technology of autonomous driving.

Background Art

[0002] Conventionally, an autonomous driving that automates the driving of a vehicle using sensors such as a camera and a radar has been known. And in Patent Document 1, a technique for notifying that the autonomous driving cannot be executed and guiding to a safe location when it is detected that the conditions for performing the autonomous driving are not satisfied during the autonomous driving is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When approaching a point where autonomous driving cannot be performed, such as a point where a sensor necessary for autonomous driving does not function, it is necessary to switch from autonomous driving to manual driving. In this case, if a notification or the like is made when the conditions for performing the autonomous driving are not satisfied as in Patent Document 1, the driver may not have enough margin to respond to manual driving.

[0005] The present invention has been made to solve the above problems, and a main object thereof is to provide a route search device capable of preferably notifying a point where peripheral information necessary for autonomous driving or the like cannot be sufficiently acquired.

Means for Solving the Problems

[0006] The invention described in the claims is a path search device comprising: an acquisition unit for acquiring information about the surroundings of a moving body; a path search unit for searching for or estimating a first movement path on which the moving body travels; a determination unit for determining whether the first movement path includes a position where the acquisition accuracy of the acquisition unit is predicted to not meet a predetermined standard; and, if the position is not included in the first movement path, a control unit for starting the movement of the moving body based on the first movement path, repeatedly determining whether a position that is predicted to not meet the predetermined standard occurs on the first movement path as time progresses, searching for a second movement path for the moving body that avoids the position, and receiving input to select either the first movement path or the second movement path.

[0007] Furthermore, the invention described in the claim is a control method performed by a path search device, comprising: an acquisition step of acquiring surrounding information of a moving body; a path search step of searching for or estimating a first movement path on which the moving body moves; a determination step of determining whether the first movement path includes a position on which the acquisition accuracy in the acquisition step is predicted not to meet a predetermined standard; and, if the position is not included, starting the movement of the moving body based on the first movement path, repeatedly determining whether a position on the first movement path that is predicted not to meet the predetermined standard occurs over time, and, if the position is included, searching for a second movement path of the moving body that avoids the position, and receiving an input to select either the first movement path or the second movement path.

[0008] Furthermore, the invention described in the claims is a program executed by a computer, characterized in that it includes an acquisition unit for acquiring information about the surroundings of a moving object, a path search unit for searching for or estimating a first movement path on which the moving object moves, a determination unit for determining whether the first movement path includes a position where the acquisition accuracy of the acquisition unit is predicted to not meet a predetermined standard, and if the position is not included in the first movement path, the computer starts moving the moving object based on the first movement path, repeatedly determines whether a position where the predetermined standard is predicted to not be met occurs on the first movement path as time progresses, and if the position is included in the first movement path, searches for a second movement path for the moving object that avoids the position, and the computer functions as a control unit that accepts input to select either the first movement path or the second movement path. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic configuration of the autonomous driving system. [Figure 2] This shows the block configuration of the driver assistance system. [Figure 3] This is a flowchart showing the processing steps when setting up a route. [Figure 4] This flowchart shows the processing procedures during autonomous driving. [Figure 5] This is an example of a display showing alternative routes. [Figure 6] This is an example of a display that appears when approaching a location where autonomous driving becomes difficult. [Modes for carrying out the invention]

[0010] According to a preferred embodiment of the present invention, the path search device comprises: an acquisition unit for acquiring information about the surroundings of a moving object; a path search unit for searching for or estimating a path along which the moving object will travel; an environment acquisition unit for acquiring environmental information about the area surrounding the path searched for or estimated by the path search unit; an extraction unit for extracting locations along the path searched for or estimated by the path search unit where the acquisition accuracy of the acquisition unit is predicted to not meet a predetermined standard, based on the environmental information acquired by the environment acquisition unit; and a notification unit for notifying the user of the locations extracted by the extraction unit.

[0011] The above-described route search device comprises an acquisition unit, a route search unit, an environment acquisition unit, an extraction unit, and a notification unit. The acquisition unit acquires information about the surroundings of a moving object. The route search unit searches for or estimates the route the moving object will take. The environment acquisition unit acquires environmental information about the area surrounding the route searched or estimated by the route search unit. The extraction unit extracts locations along the route where the acquisition accuracy of the acquisition unit is predicted to fall short of a predetermined standard, based on the environmental information acquired by the environment acquisition unit. The notification unit notifies the user of the locations extracted by the extraction unit. According to this embodiment, the route search device can notify the user in advance of the existence of locations where surrounding information necessary for autonomous driving, etc., cannot be acquired with sufficient accuracy.

[0012] In one embodiment of the above-described route search device, the route search device further comprises an automatic driving control unit that performs automatic driving of the vehicle based on the surrounding information acquired by the acquisition unit, and the predetermined criteria are criteria for determining whether or not the acquisition accuracy of the acquisition unit required for the execution of the automatic driving is met. In this embodiment, the route search device can suitably predict and notify the user of points where surrounding information cannot be obtained with the accuracy required for automatic driving.

[0013] In another embodiment of the above-described route search device, the notification unit outputs a warning that automatic driving can no longer be continued if the moving object approaches within a predetermined distance of the position extracted by the extraction unit. In this embodiment, the route search device can effectively prevent automatic driving from suddenly becoming impossible and the driver from having no time to react before switching to manual driving.

[0014] In another embodiment of the above-described route search device, if the automatic driving is not deactivated even after a notification prompting the user to deactivate the automatic driving, the device guides the mobile vehicle to a location where it can stop before it enters the position extracted by the extraction unit. This allows the route search device to have the user wait at a safe location before switching from automatic driving to manual driving.

[0015] In another embodiment of the above-described route search device, the route search device further includes a safety location search unit that searches for a parking location when the extraction unit extracts a location where the acquisition accuracy of the acquisition unit is predicted not to meet a predetermined standard. This allows the route search device to smoothly guide the vehicle to a predetermined safe location.

[0016] In another embodiment of the above-described pathfinding device, if the location extracted by the extraction unit is included in the path, the pathfinding unit searches for a path for the moving body that does not include the location extracted by the extraction unit. In this embodiment, the pathfinding device can suitably avoid traveling through sections where the acquisition accuracy of the acquisition unit does not meet a predetermined standard.

[0017] In another embodiment of the above-described pathfinding device, the pathfinding device further includes a communication unit that communicates with a server device that receives and stores information generated by multiple moving bodies based on the output of their sensors, and the environment acquisition unit acquires from the server device information generated by moving bodies that have passed around the travel path based on the output of their sensors as the environment information. In this embodiment, the pathfinding device can suitably acquire environment information around the travel path and accurately extract locations where the acquisition accuracy of the acquisition unit is predicted not to meet a predetermined standard.

[0018] In another embodiment of the above-described route search device, the extraction unit transmits information regarding the extracted location to the server device.

[0019] According to another preferred embodiment of the present invention, there is provided a control method executed by a route search device, the method comprising: an acquisition step of acquiring surrounding information of a moving object; a route search step of searching or estimating a moving route along which the moving object moves; an environment acquisition step of acquiring environment information around the moving route searched or estimated in the route search step; an extraction step of extracting, based on the environment information acquired in the environment acquisition step, positions on the moving route searched or estimated in the route search step where the acquisition accuracy of the acquisition unit is predicted not to meet a predetermined standard; and a notification step of notifying a user of the positions extracted in the extraction step. By executing this control method, the route search device can extract points where surrounding information necessary for automatic driving or the like cannot be acquired with sufficient accuracy and notify the user of the existence thereof in advance.

[0020] According to another preferred embodiment of the present invention, there is provided a program executed by a computer, the program causing the computer to function as: an acquisition unit that acquires surrounding information of a moving object; a route search unit that searches or estimates a moving route along which the moving object moves; an environment acquisition unit that acquires environment information around the moving route searched or estimated by the route search unit; an extraction unit that extracts, based on the environment information acquired by the environment acquisition unit, positions on the moving route searched or estimated by the route search unit where the acquisition accuracy of the acquisition unit is predicted not to meet a predetermined standard; and a notification unit that notifies a user of the positions extracted by the extraction unit. By executing this program, the computer can extract points where surrounding information necessary for automatic driving or the like cannot be acquired with sufficient accuracy and notify the user of the existence thereof in advance. Preferably, the above program is stored in a storage medium.

Example

[0021] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0022] [Overview of Automatic Driving System] Figure 1 shows a schematic configuration of the automated driving system according to this embodiment. The automated driving system comprises a driver assistance device 1 that moves with each vehicle, and a server device 2 that communicates with each driver assistance device 1 via a network 9. The automated driving system then updates the advanced map database 21 held by the server device 2 based on the information measured by each driver assistance device 1, thereby accumulating information necessary to determine whether or not automated driving is possible.

[0023] The driver assistance device 1 is, for example, a stationary navigation device or a mobile terminal such as a smartphone, and acquires detailed map information (also called "advanced map information D1") containing information necessary for autonomous driving from the server device 2. Based on the received advanced map information D1, the driver assistance device 1 provides driver assistance such as route guidance and autonomous driving. The driver assistance device 1 also transmits output information from a sensor unit 12 such as a camera, or information recognized based on said output information (also called "sensor information D2"), to the server device 2. The sensor information D2 includes time information and location information indicating the time and place where the driver assistance device 1 generated the sensor information D2. Preferably, if there is a point where autonomous driving could not be performed due to the absence of road markings such as white lines necessary for autonomous driving, or because the accuracy of the sensor unit 12 does not meet the accuracy required for autonomous driving, the driver assistance device 1 transmits information indicating that point to the server device 2 as autonomous driving performance information.

[0024] Furthermore, in this embodiment, the driver assistance device 1 predicts points or sections on the set route where automated driving is difficult (also referred to as "points where automated driving is difficult Pn") based on the received advanced map information D1, etc. The driver assistance device 1 is an example of a "route search device" in the present invention.

[0025] Server device 2 stores the advanced map DB21 and updates it by receiving sensor information D2, etc., from each driver assistance device 1. The advanced map DB21 includes road data, which is map information about the location and shape of roads, lanes, intersections, signs, and buildings; traffic information, which shows traffic conditions such as road congestion; surrounding condition information, which shows the surrounding conditions of each road, such as lane closures due to accidents or construction; and weather information, which shows the current or forecast weather on each road. Then, in response to a request from the driver assistance device 1, server device 2 extracts data from the advanced map DB21 corresponding to the area where the driver assistance device 1 is located or the area around the route set by the driver assistance device 1, and transmits it to the driver assistance device 1 as advanced map information D1.

[0026] [Block structure] Figure 2 shows a block diagram representing the functional configuration of the driver assistance device 1. As shown in Figure 2, the driver assistance device 1 mainly comprises a communication unit 11, a sensor unit 12, a determination unit 13, an advanced map information processing unit 14, a route setting unit 15, a user interface (also referred to as "user I / F") 16, an automatic driving control unit 17, and a notification unit 18.

[0027] The communication unit 11 communicates with the server device 2 and performs tasks such as receiving advanced map information D1 and transmitting sensor information D2. The communication unit 11 may also perform vehicle-to-vehicle communication with the driver assistance devices 1 of other vehicles to exchange location information and other data.

[0028] The sensor unit 12 has an external sensor 20 and an internal sensor 30, and generates information about the vehicle (own vehicle) moving together with the driving support device 1. The external sensor 20 is a sensor for acquiring information about the surroundings of the own vehicle, and includes a camera 22, a laser sensor 23 such as a Lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging), a radar 24, and a sonar 25. The internal sensor 30 is a sensor for detecting the state of the own vehicle, and includes a satellite positioning sensor 31 such as a GPS receiver, a gyro sensor 32, a vehicle speed sensor 33, and a vehicle control signal sensor 34 for acquiring various information from the vehicle, such as the state of the turn signals. The output signals from the external sensor 20 and the internal sensor 30 are supplied to the determination unit 13 and the route setting unit 15. The sensor unit 12 is an example of an "acquisition unit" in the present invention.

[0029] The determination unit 13 determines the vehicle's position, its status, and the surrounding conditions based on the output signals from the sensor unit 12. For example, to estimate the highly accurate vehicle position required for autonomous driving, the determination unit 13 estimates the vehicle's position by recognizing the position of the lane markings and signs ahead of the vehicle based on the output of external sensors 20 such as the camera 22, in addition to the output of the satellite positioning sensor 31. The determination unit 13 also recognizes the vehicle's driving status and operating status, such as its speed and direction of travel, based on the output of internal sensors 30 such as the vehicle speed sensor 33 and the vehicle control signal sensor 34. Furthermore, the determination unit 13 recognizes the surrounding conditions of the road being driven, such as accident locations, blocked lanes, and newly constructed lanes, based on the output of the external sensors 20. Finally, the determination unit 13 supplies the information recognized based on the output of the sensor unit 12 to the advanced map information processing unit 14. Furthermore, the determination unit 13 supplies the output information from the sensor unit 12 or the information recognized based on that information to the communication unit 11 as sensor information D2.

[0030] The advanced map information processing unit 14 performs predetermined processing based on advanced map information D1 received from the server device 2 and information received from the determination unit 13, and includes a road data storage unit 41, a surrounding conditions storage unit 42, a traffic information storage unit 43, a weather information storage unit 44, an automated driving difficulty location prediction unit 45, and a safe location search unit 46. The advanced map information processing unit 14 is an example of an "environment acquisition unit" in the present invention.

[0031] The road data storage unit 41 stores road data, facility information, etc., that have been pre-stored as map information. The road data storage unit 41 may update the stored road data, etc., as appropriate based on the advanced map information D1.

[0032] The surrounding conditions storage unit 42 stores information indicating the surrounding conditions of the road based on the information received from the advanced map information D1 or the determination unit 13. In addition, if the advanced map information D1 includes information indicating whether or not automated driving is possible on roads where other vehicles have traveled, the surrounding conditions storage unit 42 stores that information. Furthermore, if the advanced map information D1 includes information regarding whether or not landmarks that the sensor unit 12 needs to recognize when performing automated driving, such as white lines or signs, exist along the road, the surrounding conditions storage unit 42 also stores that information.

[0033] The traffic information storage unit 43 stores traffic information such as congestion and traffic restrictions included in the advanced map information D1. The traffic information storage unit 43 may also receive and store traffic information such as congestion and traffic restrictions distributed from the VICS (registered trademark, Vehicle Information Communication System) center. The weather information storage unit 44 stores weather information included in the advanced map information D1, or weather information for the area around the vehicle's position received by the communication unit 11 from a server (not shown) that manages weather information in various locations.

[0034] The autonomous driving difficulty location prediction unit 45 predicts autonomous driving difficulty locations Pn on the route set by the route setting unit 15 (described later) based on the information stored in the road data storage unit 41, surrounding conditions storage unit 42, traffic information storage unit 43, and weather information storage unit 44 (collectively referred to as "environmental information"). In this case, the autonomous driving difficulty location prediction unit 45 recognizes as autonomous driving difficulty locations Pn sections around the set route where the detection accuracy of road markings such as white lines recognized based on the output of the sensor unit 12, and obstacles such as vehicles ahead and pedestrians (also referred to as "sensor accuracy") is estimated not to reach the accuracy required for autonomous driving (also referred to as "reference accuracy"). The above-mentioned reference accuracy is an example of a "predetermined standard" in the present invention.

[0035] In this case, in one example, the autonomous driving difficulty location prediction unit 45, based on the information stored in the surrounding conditions memory unit 42 and the weather information memory unit 44, determines that the sensor accuracy does not meet the standard accuracy in sections where there is rainfall or snowfall exceeding a standard value, or where road surface freezing or dense fog occurs, and recognizes such sections as autonomous driving difficulty locations Pn. In this case, the autonomous driving difficulty location prediction unit 45 may also calculate the estimated arrival time of the vehicle at each point on the route and determine whether each point is an autonomous driving difficulty location Pn based on the weather forecast at the calculated estimated arrival time. In another example, if the autonomous driving difficulty location prediction unit 45 detects a section where landmarks such as white lines, signs, and other structures that the sensors need to recognize when performing autonomous driving cannot be detected, based on environmental information, it determines that the sensor accuracy does not meet the standard accuracy in that section and recognizes such sections as autonomous driving difficulty locations Pn. In yet another example, the autonomous driving difficulty prediction unit 45, based on environmental information, detects a section where autonomous driving was not possible when another vehicle drove through it. In that section, it determines that the sensor accuracy does not meet the standard accuracy and recognizes that section as an autonomous driving difficulty point Pn.

[0036] Preferably, when the autonomous driving difficulty location prediction unit 45 detects an autonomous driving difficulty location Pn, it transmits information about the detected autonomous driving difficulty location Pn to the server device 2 via the communication unit 11. In this case, the server device 2 should store (update) the transmitted information about the autonomous driving difficulty location Pn in the advanced map DB. The autonomous driving difficulty location prediction unit 45 is an example of an "extraction unit" in the present invention.

[0037] The safety point search unit 46 detects a location (also simply called a "safe location") where the vehicle can be safely stopped before it enters a location Pn where autonomous driving is difficult, if such a location exists along the set route. Here, a safe location is a location where parking is possible, such as a parking lot, an empty lot, or a facility where parking is permitted. The safety point search unit 46 searches for a location near the location Pn where autonomous driving is difficult that is available at the time the vehicle is expected to arrive, for example, based on facility information stored in the road data storage unit 41. Preferably, when the safety point search unit 46 detects a safe location, it transmits the information of the detected safe location to the server device 2 via the communication unit 11.

[0038] The route setting unit 15 searches for a route to the destination entered by the user interface 16. In this embodiment, as will be described later, when a destination is set, the route setting unit 15 searches for a recommended route that takes into account conditions (e.g., time, distance, cost, etc.) excluding conditions related to the feasibility of autonomous driving. If there is a point Pn where autonomous driving is difficult on the route set by the route setting unit 15, the route setting unit 15 further searches for a route to the destination that avoids the point Pn where autonomous driving is difficult (also called an "avoidance route"). The route setting unit 15 is an example of a "route search unit" in the present invention.

[0039] User I / F16 is a user interface consisting of buttons, switches, touch panels, remote controllers, etc., for the user to input destinations, set or disable autonomous driving, etc.

[0040] When automatic driving is enabled, the automatic driving control unit 17 drives the vehicle automatically based on the route set by the route setting unit 15. During automatic driving, the automatic driving control unit 17 controls the vehicle by controlling the accelerator amount, brake amount, steering angle, etc., based on, for example, the surrounding conditions of the vehicle recognized by the determination unit 13.

[0041] The notification unit 18 displays predetermined information on the display or outputs predetermined audio using an audio output device, based on the control of the advanced map information processing unit 14. In this embodiment, for example, the notification unit 18 notifies the presence of a point Pn where automatic driving is difficult if such a point Pn exists in the set route, or presents an alternative route found by the route setting unit 15. Examples of displays by the notification unit 18 are described in detail in the [Display Examples] section.

[0042] The CPUs comprising the determination unit 13, the advanced map information processing unit 14, the route setting unit 15, the automatic driving control unit 17, and the notification unit 18 are examples of computers that execute the program in the present invention.

[0043] [Processing flow] Next, the processes performed by the driver assistance device 1 will be explained with reference to Figures 3 and 4.

[0044] (1) Pre-driving processes based on autonomous driving Figure 3 is a flowchart showing the processing procedure when setting a route before driving based on autonomous driving. The driver assistance device 1 executes the processing shown in the flowchart in Figure 3 when the destination is specified by the user I / F 16.

[0045] First, the route setting unit 15 of the driver assistance device 1 sets the driving route for automated driving by searching for a route to the destination specified by the user I / F 16 (step S101). In this case, the route setting unit 15 searches for a recommended route that takes into account conditions (e.g., time, distance, cost, etc.) excluding conditions related to whether automated driving is possible. Then, the determination unit 13 estimates the vehicle's position, the vehicle's state, and the surrounding conditions based on the output of the sensor unit 12 (step S102). The determination unit 13 also transmits the information indicating the estimation results or the output information of the sensor unit 12 as sensor information D2 to the server device 2 via the communication unit 11.

[0046] Next, the advanced map information processing unit 14 receives the advanced map information D1 from the server device 2 via the communication unit 11 (step S103). The advanced map information processing unit 14 then stores the received advanced map information D1 as environmental information in the road data storage unit 41, the surrounding conditions storage unit 42, the traffic information storage unit 43, and the weather information storage unit 44.

[0047] Then, the autonomous driving difficulty location prediction unit 45 of the advanced map information processing unit 14 predicts autonomous driving difficulty locations Pn around the route set in step S101 based on the environmental information that reflects the received advanced map information D1 (step S104). Preferably, when the autonomous driving difficulty location prediction unit 45 detects an autonomous driving difficulty location Pn, it transmits information about the detected autonomous driving difficulty location Pn to the server device 2.

[0048] Then, the automatic driving difficulty point prediction unit 45 determines whether or not an automatic driving difficulty point Pn exists on the driving route set in step S101 (step S105). If an automatic driving difficulty point Pn exists on the set driving route (step S105; Yes), the route setting unit 15 searches for an alternative route (step S106). On the other hand, if an automatic driving difficulty point Pn does not exist on the set driving route (step S105; No), the automatic driving control unit 17 starts driving the vehicle based on the route set in step S101 (step S111).

[0049] After searching for an alternative route in step S106, the notification unit 18 displays the driving route from step S101, which clearly indicates the point Pn where autonomous driving is difficult, and the alternative route, allowing the user to choose between them (step S107). This allows the notification unit 18 to make the user aware of the location of the point Pn where autonomous driving is difficult, and to allow the user to choose whether to drive based on the driving route from step S101 or the alternative route. An example of the display in step S107 will be described later.

[0050] Then, if an alternative route is selected (step S108; Yes), the automatic driving control unit 17 starts driving the vehicle based on the alternative route (step S109). This allows the driving support device 1 to suitably start automatic driving based on a route that does not require switching to manual driving.

[0051] On the other hand, if no alternative route is selected (step S108; No), that is, if the driving route in step S101 is selected, the safety point search unit 46 searches for a safe point that can be visited before entering the point Pn where automatic driving is difficult (step S110). As will be described later, the safe point found in step S110 is used as a destination to guide the vehicle when it approaches the point Pn where automatic driving is difficult. The safety point search unit 46 also transmits the information of the found safe point to the server device 2. Then, the automatic driving control unit 17 starts driving the vehicle based on the route set in step S101 (step S111).

[0052] (2) Processing during autonomous driving Figure 4 is a flowchart showing the processing steps performed by the driver assistance system 1 during autonomous driving. The driver assistance system 1 performs the processing shown in the flowchart in Figure 4 when autonomous driving begins.

[0053] First, the automatic driving control unit 17 performs automatic driving based on the set driving route (step S201). Then, the determination unit 13 estimates the vehicle's position, state, and surrounding conditions based on the output of the sensor unit 12 (step S202). The determination unit 13 also transmits the information indicating the estimation results or the output information of the sensor unit 12 as sensor information D2 to the server device 2 via the communication unit 11.

[0054] Next, the advanced map information processing unit 14 receives the advanced map information D1 from the server device 2 via the communication unit 11 (step S203). The advanced map information processing unit 14 then stores the received advanced map information D1 as environmental information in the road data storage unit 41, the surrounding conditions storage unit 42, the traffic information storage unit 43, and the weather information storage unit 44.

[0055] Then, the automated driving difficulty location prediction unit 45 of the advanced map information processing unit 14 predicts automated driving difficulty locations Pn around the set route based on environmental information that reflects the received advanced map information D1 (step S204). Preferably, if the automated driving difficulty location prediction unit 45 detects an automated driving difficulty location Pn, it transmits information about the detected automated driving difficulty location Pn to the server device 2.

[0056] The automatic driving difficulty point prediction unit 45 then determines whether or not an automatic driving difficulty point Pn exists on the set route (step S205). If an automatic driving difficulty point Pn exists on the route (step S205; Yes), the automatic driving difficulty point prediction unit 45 then determines whether or not the vehicle has approached the automatic driving difficulty point Pn within a predetermined distance (step S206). The predetermined distance is set taking into account the time required to switch to manual driving and the time required for the driver to switch to manual driving and prepare to operate manually. On the other hand, if there is no automatic driving difficulty point Pn on the route (step S205; No), the driving support device 1 executes steps S201 to S205 again to determine whether an automatic driving difficulty point Pn has occurred on the route as time has passed.

[0057] Then, if the vehicle approaches a point Pn where automatic driving is difficult within a predetermined distance (step S206; Yes), the notification unit 18 provides a notification by voice or display prompting the user to switch to manual driving (step S207). The driver assistance device 1 then determines whether or not it has detected an operation to switch to manual driving via the user I / F 16 (step S208). If the driver assistance device 1 detects an operation to switch to manual driving within a predetermined time after the notification in step S208 (step S208; Yes), it terminates automatic driving and ends the flowchart processing.

[0058] On the other hand, if the driver assistance device 1 does not detect an operation to switch to manual driving within a predetermined time after notification in step S207 (step S208; No), it starts guiding the vehicle to a safe point (step S209). In this case, the driver assistance device 1 preferably guides the vehicle to the safe point detected in step S110 in Figure 3.

[0059] [Example Display] Figure 5 shows an example of the screen displayed by the notification unit 18 in step S107 of Figure 3 when setting a route. In Figure 5, mark 50 indicates the vehicle's current position, and position 51 indicates the destination position.

[0060] In the example shown in Figure 5, the notification unit 18 displays the set route 53, which was set in step S101, and the avoidance route 52 on a map (not shown). In addition, in the example shown in Figure 5, the notification unit 18 displays the set route 53 in a different manner (for example, different colors) for the section where autonomous driving is difficult Pn and the section outside of the section where autonomous driving is difficult Pn. This allows the notification unit 18 to effectively allow the user to recognize the location of the section where autonomous driving is difficult Pn.

[0061] Furthermore, the notification unit 18 displays a window 55 on the screen shown in Figure 5, which includes buttons 56 and 57 for selecting whether or not to set the avoidance route 52 as the driving route instead of the set route 53. When the automatic driving control unit 17 detects that the YES button 56 has been pressed, it starts automatic driving based on the avoidance route 52, and when it detects that the NO button 57 has been pressed, it starts automatic driving based on the set route 53.

[0062] Figure 6 shows an example of the screen displayed by the notification unit 18 in step S207 of Figure 4. In the example in Figure 6, the NO button 57 is selected in Figure 5, and the driver assistance device 1 is performing automatic driving based on the set route 53, which includes the point Pn where automatic driving is difficult.

[0063] In this case, the notification unit 18 displays a window 59 indicating that the vehicle has approached the point Pn where automatic driving is difficult within a predetermined distance, and prompts the driver to switch to manual driving based on step S207. Furthermore, the window 59 displays a warning that if the driver does not switch to manual driving within a predetermined time (1 minute in this case), the notification unit 18 will guide the driver to a safe location (in this case, "○○ Parking Lot") that was previously searched in step S110 of Figure 3. In addition, in the example of Figure 6, the notification unit 18 clearly indicates the location of the safe location "○○ Parking Lot" and the route to that location on the map. Also, in the example of Figure 6, similar to the example of Figure 5, the notification unit 18 displays the set route 53 in different ways for the section where automatic driving is difficult Pn and the section outside of the point Pn where automatic driving is difficult.

[0064] As described above, the advanced map information processing unit 14 of the driver assistance device 1 in this embodiment acquires vehicle surrounding information necessary for autonomous driving from the determination unit 13, and also acquires environmental information around the route to be driven by autonomous driving from the server device 2. Based on the acquired environmental information, the advanced map information processing unit 14 extracts locations where it is predicted that the acquisition accuracy of the sensor unit 12 will not meet the criteria for acquiring surrounding information necessary for autonomous driving, as autonomous driving difficult locations Pn. The notification unit 18 then notifies the user of the extracted autonomous driving difficult locations Pn. According to this embodiment, the driver assistance device 1 can extract autonomous driving difficult locations Pn where surrounding information necessary for autonomous driving cannot be acquired with sufficient accuracy based on environmental information, and notify the user of their existence in advance.

[0065] [Differentiation] Next, a suitable modification of the embodiment will be described. The following modifications may be applied to the above-described embodiment in any combination.

[0066] (Variation 1) The driver assistance system 1 searched for a route to the destination specified by the user interface 16 and performed autonomous driving. Alternatively, even if a destination is not specified, the driver assistance system 1 may estimate the route the vehicle will take by referring to the vehicle's past driving history and perform autonomous driving based on the estimated route. In this case, the driver assistance system 1 stores the road information transmitted by the vehicle as driving history and predicts the route to be taken based on known statistical methods by referring to the driving history. Then, for example, if the accuracy of the predicted route is above a predetermined value, the driver assistance system 1 performs autonomous driving based on the predicted route.

[0067] (Modification 2) The flowcharts in Figures 3 and 4 are examples, and the processing procedures to which the present invention can be applied are not limited thereto.

[0068] For example, in Figure 3, instead of searching for a safe location only when no alternative route is selected, the driver assistance device 1 may search for a safe location along with predicting a location Pn where automatic driving is difficult. In this case, the driver assistance device 1 searches for a safe location regardless of whether it has detected a location Pn where automatic driving is difficult. In another example, the driver assistance device 1 may continuously search for a safe location suitable for stopping at from the current location while driving automatically. In yet another example, the driver assistance device 1 may only search for a location Pn where automatic driving is difficult when setting a route, and may not search for a location Pn where automatic driving is difficult again during automatic driving. That is, in this case, the driver assistance device 1 does not perform the process in step S204 of Figure 4.

[0069] (Variation 3) The server device 2 may perform the prediction process for locations Pn where autonomous driving is difficult, which is performed by the autonomous driving difficulty location prediction unit 45.

[0070] In this case, the server device 2 refers to the advanced map DB 21 and detects points Pn where automated driving is difficult on each road registered in the advanced map DB 21, using the same method as the automated driving difficulty point prediction unit 45. The server device 2 then stores the information of the detected points Pn where automated driving is difficult as information indicating road conditions in the advanced map DB 21. The server device 2 then includes the information of points Pn where automated driving is difficult in the advanced map information D1 and transmits it to the driver assistance device 1. In this configuration as well, the driver assistance device 1 can suitably acquire points Pn where automated driving is difficult predicted based on environmental information and notify the user.

[0071] (Modification 4) The driver assistance system 1 may issue a warning to the driver if the vehicle approaches a designated location other than the point Pn where autonomous driving is difficult, when the vehicle is presumed to require attention. Examples of such designated locations include school zones, senior citizen zones, and residential areas.

[0072] (Variation 5) The processing performed by the server device 2 described in the embodiment may also be performed by a server system consisting of multiple server devices. In this case, each server device receives the information necessary to perform its pre-assigned processing from other servers as appropriate and executes the predetermined processing.

[0073] (Experimental variation 6) If weather information is not registered in the advanced map DB21 and the advanced map information D1 does not include weather information, the driver assistance device 1 may receive weather information from a server device other than the server device 2 that manages weather information and store it in the weather information storage unit 44. [Explanation of symbols]

[0074] 1. Driving assistance system 2 Server devices 9 Network 11 Communications Department 12 Sensor section 13 Judgment section 14 Advanced Map Information Processing Unit 15 Route setting section 16 User Interface 17. Automated Driving Control Unit 18 Hochi Department 21 Advanced Map Database

Claims

1. An acquisition unit that acquires surrounding information of a moving object, A path search unit that searches for or estimates a first movement path on which the moving body moves, A determination unit that determines whether the first movement path includes a position where the acquisition accuracy of the acquisition unit is not expected to meet a predetermined standard, If the aforementioned position is not included in the first movement path, the movement of the moving body based on the first movement path is started, and it is repeatedly determined whether any positions that are predicted not to meet the predetermined criteria occur on the first movement path as time progresses. If the aforementioned position is included in the first movement path, the control unit searches for a second movement path of the moving body that avoids the aforementioned position and receives an input to select either the first movement path or the second movement path. A pathfinding device characterized by comprising the following features.

2. The path search device according to claim 1, characterized in that the control unit, when the position is included in the first movement path before the movement of the moving body begins, searches for a second movement path of the moving body that avoids the position, and accepts an input to select either the first movement path or the second movement path.

3. The route search device according to claim 1 or 2, wherein the aforementioned location is a location where automatic driving is difficult and unsuitable for automatic driving by the moving body.

4. If the position is not included in the first movement path, the control unit starts automatic operation of the moving body based on the first movement path. The route search device according to claim 3, wherein if the aforementioned position is included in the first movement path, the automatic operation of the moving body is started based on the movement path selected from the first movement path and the second movement path.

5. The path search device according to any one of claims 1 to 4, wherein the control unit, when the first movement path is selected, searches for safe points where the moving body can stop before entering the position.

6. The route search device according to any one of claims 1 to 5, wherein the determination unit determines whether the position is included in the first travel path based on map information including environmental information around the first travel path.

7. A control method performed by a pathfinding device, The acquisition process involves obtaining information about the surroundings of a moving object, A path search step for searching for or estimating a first movement path on which the moving body moves, A determination step of determining whether the first movement path includes a position where the acquisition accuracy in the acquisition step is not expected to meet a predetermined standard, If the aforementioned position is not included, the movement of the moving body based on the first movement path is started, and it is repeatedly determined whether any position that is predicted not to meet the predetermined criteria occurs on the first movement path as time progresses. A control step that, if the aforementioned position is included, searches for a second movement path of the moving body that avoids the aforementioned position, and receives an input to select either the first movement path or the second movement path, A control method characterized by having the following features.

8. A program that is executed by a computer, An acquisition unit that acquires surrounding information of a moving object, A path search unit that searches for or estimates a first movement path on which the moving body moves, A determination unit that determines whether the first movement path includes a position where the acquisition accuracy of the acquisition unit is not expected to meet a predetermined standard, If the aforementioned position is not included in the first movement path, the movement of the moving body based on the first movement path is started, and it is repeatedly determined whether any positions that are predicted not to meet the predetermined criteria occur on the first movement path as time progresses. If the aforementioned position is included in the first movement path, the control unit searches for a second movement path for the moving body that avoids the aforementioned position and receives an input to select either the first movement path or the second movement path. A program characterized by causing the aforementioned computer to function as such.

9. A storage medium characterized by storing the program described in claim 8.

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