Travel Route Generation Method and Travel Route Generation Device

Abstract

In this invention, a controller (7) determines whether or not a subject vehicle passes through a target intersection on a non-priority side, on which the movement of other mobile objects is prioritized over the travel of the subject vehicle, and enters a connecting lane included in a connecting road connecting to a destination or a passing point, and if the subject vehicle is to pass through the target intersection on the non-priority side and enter the connecting lane, generates a target travel path for the subject vehicle to pass through the target intersection on a priority side, on which the subject vehicle is allowed to travel with priority over the movement of other mobile objects, and enter the connecting lane.

Description

Travel route generation method and travel route generation device

[0001] The present invention relates to a driving route generation method and a driving route generation device.

[0002] A technology is known that extracts empirical information from a database that records empirical information reflecting the results of executing multiple functions when a vehicle is driving autonomously, and calculates a control route that includes roads with high function achievement values, which indicate the degree of achievement of each of the multiple functions, based on the empirical information.

[0003] Patent No. 6914229

[0004] However, since the driving route of the vehicle to the destination or via point includes an intersection that must be passed in order to enter a connecting road that connects to the destination or via point, Patent Document 1 has the following problem: In Patent Document 1, when a driving route is calculated in which the vehicle turns right or left at the intersection to enter the connecting road, and a driving route is generated in which the vehicle passes through the intersection on a non-priority side relative to other moving bodies, there is a problem in that when the vehicle travels along the driving route in autonomous driving mode, the vehicle cannot smoothly travel through the intersection.

[0005] The problem that the present invention aims to solve is to provide a driving route generation method and a driving route generation device that allow a vehicle to travel smoothly at intersections that the vehicle must pass through in order to enter roads that connect to the vehicle's destination or intermediate destination.

[0006] The present invention solves the above problem by determining whether the vehicle will pass through a target intersection on the non-priority side, which gives priority to the movement of other moving bodies over the vehicle's own driving, and enter a connecting lane included in a connecting road that connects to the destination or intermediate destination; if the vehicle passes through the target intersection on the non-priority side and enters the connecting lane, generating a target driving route for the vehicle to pass through the target intersection on the priority side, which allows the vehicle to drive preferentially over the movement of other moving bodies, and enter the connecting lane; and the target intersection is an intersection that is connected to the destination or intermediate destination by a connecting lane and is located on the near side of the connecting lane in the direction of travel.

[0007] According to the present invention, the vehicle can travel smoothly through an intersection that the vehicle must pass through in order to enter a road that connects to the vehicle's destination or a stopover point.

[0008] FIG. 1 is a block diagram showing an embodiment of a driving route generation device according to the present embodiment. FIG. 2 is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment. FIG. 3 is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment. FIG. 4 is a diagram showing an example of a scene in which a driving route is generated by the driving route generation method according to the present embodiment. FIG. 5 is a flowchart showing an example of a control procedure for the driving route generation method according to the present embodiment. FIG. 6 is a flowchart showing an example of a control procedure for the driving route generation method according to the present embodiment.

[0009] An embodiment of a driving route generation device according to the present invention will be described with reference to the drawings. The following description is based on the premise that vehicles drive on the left side of the road in countries that have laws stipulating left-hand traffic. In countries that have laws stipulating right-hand traffic, vehicles drive on the right side of the road, so the terms right and left in the following description should be interpreted as symmetrical.

[0010] FIG. 1 is a block diagram showing an embodiment of a driving route generation device according to the present invention. In FIG. 1, the driving route generation device is applied to a driving control system. The driving control system 10 is a system that controls vehicle driving using autonomous driving control. As shown in FIG. 1, the driving control system 10 includes a detection device 1, a map DB 2, a host vehicle information detection device 3, a navigation device 4, a vehicle control device 5, and a driving route generation device 6. The detection device 1 includes an imaging device 11 and a distance measurement device 12. The host vehicle information detection device 3 includes a vehicle speed detection device 31, a steering angle detection device 32, and a host vehicle position detection device 33. The vehicle control device 5 includes a vehicle speed control device 51 and a steering control device 52. The devices included in the driving control system 10 are connected via a CAN or other in-vehicle LAN and can exchange information with each other.

[0011] The detection device 1 is a sensor for detecting objects around the vehicle. Examples of objects include automobiles (other vehicles) other than the vehicle, motorcycles, bicycles, pedestrians, road lane boundaries, zebra strips, center lines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, crosswalks, construction sites, accident sites, and traffic restrictions. The detection device 1 acquires the position, attitude (orientation), and speed of the moving object.

[0012] The detection device 1 detects an object using, for example, an imaging device 11 and / or a distance measuring device 12. The driving path generation device 6 acquires the detection results of the detection device 1 at predetermined time intervals. The imaging device 11 is a device that recognizes objects around the vehicle using images, such as a camera. A single vehicle may be provided with multiple imaging devices 11. The distance measuring device 12 is a device that calculates the relative distance and relative speed between the vehicle and the object, such as a laser radar. A single vehicle may be provided with multiple distance measuring devices 12.

[0013] The map DB2 is a memory (storage medium) that stores high-precision map information, including location information of various facilities and specific points, and is accessible from the driving route generation device 6. The high-precision map information stored in the map DB2 is three-dimensional map data based on road shapes detected when a data acquisition vehicle travels on actual roads. The high-precision map information is used for autonomous driving control and includes more detailed information than map information for navigation. The high-precision map information associates road information, lane boundary information, road attribute information, lane incline / decline information, lane identification information, destination lane information, facility information, and their attribute information as three-dimensional information. The road information includes information such as road width, curvature radius, road shoulder structures, road traffic regulations (speed limits, whether lane changes are permitted), road merging points, branching points, and locations where the number of lanes increases or decreases. The map DB2 may be provided in the driving route generation device 6.

[0014] In this embodiment, the road information is described by a node set for each lane and links separated by the nodes. A node is a reference point on a lane reference line (for example, the center line within a lane). Node information includes the node's identification number, position coordinates, the number of connected lane links, and the identification numbers of the connected lane links. Furthermore, since the high-precision map includes node and link information for each lane, it is possible to identify the lane in which the vehicle is traveling on the travel route. The high-precision map has coordinates that can express the position in the lane extension direction and lane width direction.

[0015] In this embodiment, the map DB 2 also includes, as road information, information about traffic lights installed on roads. For example, the traffic light information includes information about the types of traffic lights at intersections and the display times of each traffic light. Types of traffic lights include, for example, traffic lights that display arrow signals and pedestrian-vehicle split traffic lights. These traffic lights indicate which connecting lane a vehicle entering the intersection from can have priority to pass through the intersection and enter the connecting lane. For example, an arrow signal is a signal that encourages vehicles to proceed only in the direction indicated by the arrow. Furthermore, a pedestrian-vehicle split traffic light is a traffic light that indicates whether pedestrians or vehicles have priority to pass through the intersection.

[0016] The host vehicle information detection device 3 is a device that detects information regarding the state of the host vehicle. The state of the host vehicle includes the traveling speed, acceleration, steering angle, position, attitude, etc. of the host vehicle. The vehicle speed detection device 31 detects the traveling speed and acceleration. The steering angle detection device 32 detects the steering angle. The current position is calculated based on information acquired from the host vehicle position detection device 33. The host vehicle position detection device 33 is, for example, a positioning system including a GPS unit. The attitude is detected using an inertial measurement unit. The host vehicle information detection device 3 may also acquire the traveling speed and steering angle of the host vehicle from the vehicle control device 5. The driving route generation device 6 acquires the detection results of these devices via the in-vehicle LAN as necessary.

[0017] The navigation device 4 is a device that presents a driving route to the driver by displaying on a display the driving route from the current position of the vehicle to a destination and / or intermediate points set by the driver. In this embodiment, the navigation device 4 acquires the driving route generated by the driving route generation device 6 and presents it to the driver.

[0018] The vehicle control device 5 is an on-board computer such as an electronic control unit (ECU), and electronically controls on-board devices that govern the driving of the vehicle. The vehicle control device 5 includes a vehicle speed control device 51 that controls the driving speed of the host vehicle, and a steering control device 52 that controls the steering operation of the host vehicle. The vehicle control device 5 acquires a driving route from the driving route generation device 6, and controls the driving of the host vehicle along the driving route. The vehicle control device 5 generates a control signal for controlling the driving of the host vehicle along the driving route, and outputs the control signal to the vehicle speed control device 51 and / or the steering control device 52.

[0019] The vehicle speed control device 51 controls drive devices such as an electric motor and / or an internal combustion engine, an automatic transmission, etc., which are driving sources for traveling. The vehicle speed control device 51 autonomously controls the traveling speed of the vehicle based on a control signal input from the vehicle control device 5. The steering control device 52 controls the steering device. Based on the control signal input from the vehicle control device, the steering control device 52 controls the operation of the steering device so that the host vehicle travels while maintaining a predetermined lateral position (position of the vehicle in the left-right direction) with respect to the traveling route, using at least one of the detection result of the detection device 1, the map DB 2, and the host vehicle information acquired by the host vehicle information detection device 3.

[0020] The driving route generation device 6 generates a target driving route from the current position of the host vehicle detected by the host vehicle position detection device 33 of the host vehicle information detection device 3 to a destination set by the driver. When a destination and / or an intermediate point is set by the driver, the driving route generation device 6 acquires the current position of the host vehicle and generates a target driving route from the current position of the host vehicle to the destination by referring to the map DB 2. The target driving route is a linear diagram that identifies the road, direction (uphill / downhill), and lane on which the host vehicle will travel. The target driving route includes information on the driving lane on which the host vehicle will travel. In this embodiment, the driving route generation device 6 generates the target driving route using the controller 7. In the following description, an example is given in which a driving route to a destination set by the driver is generated. However, the driving route generation method according to this embodiment may be applied not only to the destination but also to intermediate points. Note that, for example, when the destination set on the map is not on a road (e.g., a building or a site), the controller 7 generates a target driving route that allows the driver to enter the destination from a connecting lane, which is a road adjacent to the destination, without crossing an oncoming lane. Furthermore, if the destination is on a road, the controller 7 generates a target driving route according to the traveling direction (uphill / downhill) defined on the lane on which the destination is set. The waypoint is, for example, an arbitrary point set on the way of the target driving route to the destination. The controller 7 generates a target driving route according to the traveling direction (uphill / downhill) defined on the lane on which the waypoint is set.

[0021] Here, an example of a situation in which a driving route is generated by the driving route generation method according to this embodiment will be described with reference to FIG. 2 . FIG. 2 is a diagram illustrating an example of a situation in which a driving route is generated by the driving route generation method according to this embodiment. In this embodiment, the controller 7 generates a first driving route P1 from the current position of the host vehicle V1 to a destination D as a target driving route. The controller 7 identifies, on the first driving route P1, an intersection that connects to a destination-side connecting lane L1 included in a connecting road R1 that connects to the destination D on the near side in the traveling direction as a target intersection I. The target intersection I is an intersection that is connected to the destination D by the connecting lane L1 and is located on the near side in the traveling direction of the connecting lane L1. The connecting road R1 is a road that the host vehicle V1 will travel on immediately before arriving at the destination D.

[0022] Then, when the host vehicle V1 travels along the first travel path P1 and passes through the target intersection I on the non-priority side to enter the connecting lane L1 on the destination side, the controller 7 generates a second travel path as a target travel path for the host vehicle V1 to pass through the target intersection I on the priority side to enter the connecting lane L1 on the destination side, and updates the target travel path from the first travel path to the second travel path. The priority side is a situation in which the host vehicle can travel with priority over the movement of other moving objects. When the host vehicle travels straight through the target intersection and enters the connecting lane on the destination side, the host vehicle can travel with priority over pedestrians crossing the crosswalk at the target intersection and other vehicles turning right or left at the target intersection to enter the connecting lane on the destination side.

[0023] The non-priority side refers to a situation in which the host vehicle must prioritize the movement of other moving objects over its own movement. For example, when the host vehicle turns left at a target intersection and enters a connecting lane on the destination side, the host vehicle must give priority to pedestrians walking on the crosswalk beyond the left turn. When the host vehicle turns right at a target intersection and enters a connecting lane on the destination side, the host vehicle must give priority to oncoming vehicles traveling in the oncoming lane passing through the target intersection. When the host vehicle temporarily stops and then turns right or left at the target intersection and enters a connecting lane, the host vehicle must give priority to the movement of other moving objects over its own movement. Thus, in this embodiment, when the host vehicle cannot smoothly pass through the target intersection on the non-priority side, a driving route is generated that allows the host vehicle to pass through the target intersection on the priority side, and the host vehicle is controlled to smoothly pass through the target intersection.

[0024] As shown in FIG. 2 , in order for the host vehicle V1 to turn left at the target intersection I and enter the connecting lane L1 on the destination side on the first travel path P1, the host vehicle V1 must give priority to a pedestrian Pe walking on the crosswalk C to cross the connecting road R1, and therefore the host vehicle V1 passes through the target intersection I on the non-priority side. In this case, in this embodiment, a second travel path P2 is generated. On the second travel path P2, the host vehicle V1 travels straight through the target intersection I and enters the connecting lane L1 on the destination side. When the traffic light on the road on which the host vehicle V1 is traveling is displaying a signal indicating permission to pass, the traffic light on the crosswalk C is displaying a signal indicating no passage, so the host vehicle V1 can travel through the target intersection I with priority over the pedestrian Pe. In other words, by passing through the target intersection I on the priority side, the host vehicle V1 can travel smoothly through the target intersection.

[0025] 2, but is not limited to this. Even if a first driving route is generated in which the host vehicle V1 turns right at the target intersection I and enters the connecting lane L1 on the destination side, the target driving route is updated from the first driving route to a second driving route in which the host vehicle V1 passes through the target intersection I on the priority side and enters the connecting lane L1 on the destination side. This allows the host vehicle to travel smoothly through the target intersection.

[0026] The controller 7 is a computer including a ROM 72 storing a program, a CPU 71 which is an operating circuit for functioning as the driving route generation device 6 by executing the program stored in the ROM 72, and a RAM 73 which functions as an accessible storage device. The controller 7 according to this embodiment executes each function through cooperation between software for realizing the above functions and the above-mentioned hardware.

[0027] The controller 7 includes, as functional blocks, a vehicle position estimation unit 100, a driving route generation unit 101, a road structure identification unit 102, and a determination unit 103. In this embodiment, the functions of the controller 7 are divided into four blocks and the functions of each functional block are explained, but the functions of the controller 7 do not necessarily have to be divided into four blocks as long as each function can be realized.

[0028] The vehicle position estimation unit 100 estimates the position and orientation of the vehicle on a map. The vehicle position estimation unit 100 estimates the current position and orientation of the vehicle on a map based on the map information acquired from the map DB 2 and the position and orientation acquired from the vehicle information detection device 3.

[0029] The driving route generation unit 101 generates a target driving route for the vehicle from the current position of the vehicle to the destination. When the driver of the vehicle inputs a destination, the driving route generation unit 101 identifies the position of the destination on a map acquired from the map DB 2. Then, the driving route generation unit 101 generates the target driving route based on the current position of the vehicle estimated by the vehicle position estimation unit 100 and the identified position of the destination.

[0030] For example, the driving route generation unit 101 acquires multiple driving routes from the current position of the vehicle to the destination and calculates the cost of each of the multiple driving routes.The driving route generation unit 101 then generates the driving route with the smallest cost from among the multiple acquired driving routes as the target driving route.The cost may be, for example, a required time.

[0031] In addition, when the vehicle passes through the target intersection on the non-priority side and enters the connecting lane, the driving route generation unit 101 generates a target driving route for the vehicle to pass through the target intersection on the priority side and enter the connecting lane.

[0032] For example, the driving route generation unit 101 first generates a first driving route from the current position of the host vehicle to the destination as a target driving route. Then, the driving route generation unit 101 determines whether the host vehicle will pass through a target intersection on the non-priority side on the first driving route and enter a connecting lane. When the host vehicle passes through a target intersection on the non-priority side on the first driving route and enters a connecting lane, the driving route generation unit 101 changes the target driving route from the first driving route to a second driving route in which the host vehicle passes through the target intersection on the priority side and enters a connecting lane. In this embodiment, the target driving route is updated from the first driving route to the second driving route when the host vehicle passes through a target intersection on the non-priority side on the first driving route and enters a connecting lane. However, the present invention is not limited to this. During the driving route generation, a target driving route in which the host vehicle passes through a target intersection that connects to the connecting lane just before the host vehicle's direction of travel on the priority side and enters a connecting lane may be directly generated.

[0033] Here, an example of a method for generating a driving route according to this embodiment will be described. When the host vehicle passes through a target intersection on the non-priority side and enters a connecting lane, the driving route generation unit 101 acquires, from among driving routes from the current position of the host vehicle to a destination, a non-priority driving route in which the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, and a priority driving route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane. For example, the non-priority driving route is a driving route in which the host vehicle turns right or left at the target intersection and enters the connecting lane. The priority driving route includes at least the connecting lane, the target intersection, and, among the entry lanes for entering the target intersection, a lane in which the host vehicle should travel before entering the target intersection in order to pass through the target intersection on the priority side. For example, the priority driving route is a driving route in which the host vehicle travels straight through the target intersection and enters the connecting lane. Then, the driving route generation unit 101 calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route. The travel route generation unit 101 compares the cost of the non-priority travel route with the cost of the priority travel route, and generates a target travel route that includes the priority travel route with a lower cost.

[0034] In addition, in this embodiment, the priority travel route may include a priority left-turn route in which the host vehicle turns left at the target intersection on the priority side and enters a connecting lane, a priority straight-on route in which the host vehicle travels straight at the target intersection on the priority side and enters a connecting lane, and a priority right-turn route in which the host vehicle turns right at the target intersection on the priority side and enters a connecting lane.Even if the host vehicle turns right or left at the target intersection and enters a connecting lane, if a traffic light installed at the target intersection displays a signal that gives priority to right and left turns, the host vehicle can turn right or left at the target intersection on the priority side, and such a travel route becomes one of the priority travel routes.

[0035] The left-turn priority route is, for example, a route that a vehicle can take to turn left at a target intersection and enter a connecting lane when a traffic light displaying a left-turn priority signal is installed at the target intersection. Left-turn priority means that a vehicle can turn left at the target intersection on the priority side and enter a connecting lane. Such traffic lights include, for example, traffic lights that display a left-turn arrow signal or pedestrian-vehicle separated traffic lights.

[0036] The right-turn priority route is, for example, a route that a vehicle can take to turn right at a target intersection and enter a connecting lane when a traffic light indicating right-turn priority is set at the target intersection. Right-turn priority means that a vehicle can turn right at the target intersection on the priority side and enter a connecting lane. Such traffic lights include, for example, traffic lights that display a right-turn arrow signal or pedestrian-vehicle separated traffic lights.

[0037] The driving route generation unit 101 acquires a priority left-turn route, a priority straight route, and a priority right-turn route as priority driving routes. For example, the driving route generation unit 101 identifies the type of traffic light installed at a target intersection based on map information acquired from a map DB, and identifies a priority left-turn route, a priority straight route, and a priority right-turn route from among multiple driving routes that pass through the target intersection and enter a connecting lane. Then, the driving route generation unit 101 calculates the cost of the priority right-turn route to be greater than the costs of the priority left-turn route and the priority straight route. The driving route generation unit 101 compares the costs of the priority left-turn route, the priority straight route, and the priority right-turn route, and generates a target driving route that includes the priority left-turn route or the priority straight route with the smaller cost.

[0038] In addition, the driving route generation unit 101 generates a target driving route so that the vehicle will travel in the priority entry lane identified by the lane identification control after executing lane identification control a predetermined number of times using the road structure identification unit 102 described below.

[0039] Furthermore, when there is a possibility that the host vehicle will not be able to travel smoothly if it travels through the target intersection on the non-priority side, the travel route generation unit 101 generates a target travel route for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane. Examples of situations in which the host vehicle will not be able to travel smoothly if it travels through the target intersection on the non-priority side include when the crosswalk on the connecting road side of the target intersection is congested with pedestrians, when there is a large difference in vehicle speed between the host vehicle turning left at the target intersection and entering the connecting lane and an oncoming vehicle turning right at the target intersection and entering the connecting lane, when the host vehicle enters a lane other than the lane closest to the host vehicle after passing through the target intersection, when the destination or intermediate point is located within a predetermined distance from the target intersection, or when there is or may be an obstacle that obstructs the host vehicle's travel in the connecting lane between the destination or intermediate point and the target intersection. In this embodiment, when the determination unit 103 described below determines that the vehicle may not be able to travel smoothly if it travels through the target intersection on the non-priority side, the driving route generation unit 101 generates a target driving route for the vehicle to pass through the target intersection on the priority side and enter the connecting lane.

[0040] Here, a situation in which the host vehicle enters a lane other than the lane closest to the host vehicle after passing through a target intersection will be described with reference to FIG. 3 . FIG. 3 is a diagram illustrating an example of a situation in which the host vehicle enters a lane other than the lane closest to the host vehicle after passing through the target intersection. In FIG. 3 , the connecting lane L1 is composed of two lanes, including a connecting lane L1a on the destination side and an adjacent lane L1b adjacent to the lane L1a. Generally, the host vehicle V1 that turns left at the target intersection I and enters the connecting lane L1 travels in the lane L1a closest to the host vehicle V1 after passing through the target intersection I. However, for example, as shown in FIG. 3 , if there is an obstacle such as a parked vehicle V3 in the lane L1a, the host vehicle V1 travels in the adjacent lane L1b, which is a lane other than the lane L1a, after passing through the target intersection I. The obstacle is not limited to a parked vehicle, but may also be a construction site or the like. On the other hand, an oncoming vehicle V2 turning right at the target intersection I and entering the connecting lane L1 will normally determine that the host vehicle V1 is traveling in the connecting lane L1a and will increase its speed to travel in the adjacent lane L1b, which increases the possibility that the host vehicle V1 and the oncoming vehicle V2 will come close to each other.

[0041] Next, a situation in which a destination is located within a predetermined distance from a target intersection will be described with reference to FIG. 4 . FIG. 4 is a diagram illustrating an example of a situation in which a destination is located within a predetermined distance from a target intersection. As shown in FIG. 4 , when the distance S between the destination D and the target intersection I is short, that is, when the destination D is close to the target intersection I, the host vehicle V1 will stop immediately after passing through the target intersection I, and therefore will not accelerate. On the other hand, an oncoming vehicle V2 that turns right at the target intersection I and enters the connecting lane L1 will accelerate after passing through the target intersection I, and therefore the host vehicle V1 and the oncoming vehicle V2 are likely to come close to each other.

[0042] Next, using FIG. 5 , a case where there is an obstacle or a possibility of an obstacle impeding the travel of the host vehicle in the section of the connecting lane between the destination and the target intersection will be described. FIG. 5 is a diagram showing an example of a situation where there is an obstacle impeding the travel of the host vehicle in the section of the connecting lane between the destination and the target intersection. As shown in FIG. 5 , if there is an obstacle such as a parked vehicle V3 in the section of the connecting lane L1 between the destination D and the target intersection I, the host vehicle V1 determines whether it can overtake the parked vehicle V3 after passing the target intersection I. While making this determination, the host vehicle stops in front of the parked vehicle V3 or slows down, without accelerating. Meanwhile, an oncoming vehicle V2 turning right at the target intersection I and entering the connecting lane L1 determines that the host vehicle V1 will increase its speed and travel on the connecting lane L1, and increases its speed accordingly to enter the connecting lane. This increases the possibility that the host vehicle V1 and the oncoming vehicle V2 will come close to each other.

[0043] The road structure identification unit 102 identifies a target intersection on the first driving route that connects to a connecting lane on the destination side among the connecting lanes on the front side in the direction of travel. For example, the road structure identification unit 102 acquires information on nodes and links on the first driving route from map information stored in a map DB. The road structure identification unit 102 identifies a connecting lane that connects to the destination based on the information on the nodes and links on the first driving route, and identifies an intersection that connects to the connecting lane on the front side in the direction of travel as the target intersection. In other words, the road structure identification unit 102 identifies an intersection that the host vehicle must pass through to enter the connecting lane that connects to the destination.

[0044] The road structure identification unit 102 may also identify a lane on the destination or route side as the connecting lane, and identify an intersection that connects to the lane on the destination or route side on the near side in the direction of travel as the target intersection. The connecting lane on a connecting road includes the lane on the destination or route side and an oncoming lane that faces the lane on the destination or route side. The lane on the destination or route side is a lane among the connecting lanes that is closest to the destination or route. If the vehicle moves from the oncoming lane across the lane on the destination or route side to the destination or route, it may interfere with the travel of other vehicles traveling in the lane on the destination or route side. Therefore, in this embodiment, the lane on the destination or route side is identified as the connecting lane.

[0045] Furthermore, in this embodiment, when a target intersection is located on the first driving route, the road structure identification unit 102 identifies, among the approach lanes for entering the target intersection, a priority approach lane in which the host vehicle should travel before entering the target intersection so that the host vehicle can pass through the target intersection on the priority side. The priority approach lane is a lane included in the priority driving route. For example, in the scene shown in FIG. 2 , in order to travel straight through the target intersection I and enter the connecting lane L1, the host vehicle V1 needs to travel in the approach lane L2 among the approach lanes to the target intersection I before entering the target intersection. Therefore, the road structure identification unit 102 identifies the approach lane L2 as the priority approach lane.

[0046] After identifying the priority entry lane, the road structure identification unit 102 identifies an intersection that connects to the priority entry lane ahead in the direction of travel. In the scene shown in Figure 2, the intersection that connects to the entry lane L2, which is the priority entry lane, ahead in the direction of travel is intersection I'. Therefore, the road structure identification unit 102 identifies intersection I' as the intersection that connects to the priority entry lane ahead in the direction of travel.

[0047] Then, the road structure identification unit 102 identifies a priority approach lane corresponding to the identified intersection. In this way, the road structure identification unit 102 repeatedly identifies priority approach lanes and intersections that connect to the priority approach lane on the front side in the traveling direction, starting from a target intersection that connects to a connecting lane. That is, the road structure identification unit 102 repeatedly executes intersection identification control to identify an intersection that connects to the identified priority approach lane on the front side in the traveling direction, and lane identification control to identify a priority approach lane among the approach lanes entering the identified intersection each time an intersection is identified by the intersection identification control. This makes it possible to generate a driving route that passes through each intersection that the host vehicle will pass through on the priority side.

[0048] In this manner, in this embodiment, a driving route is generated by alternately identifying intersections through which the host vehicle will pass and the approach lane through which the host vehicle will enter the intersections so that the host vehicle passes through each intersection on the driving route on the priority side. However, if a driving route is generated so that the host vehicle passes through all intersections on the driving route from the current position of the host vehicle to the destination on the priority side, the driving route may end up being a detour. Therefore, the road structure identification unit 102 repeatedly executes the intersection identification control and the lane identification control until the number of executions of the lane identification control reaches a predetermined number. In this way, by limiting the number of executions, a driving route can be generated that allows the host vehicle to pass through intersections on the driving route on the priority side and does not take a detour.

[0049] The determination unit 103 determines whether the host vehicle will pass through the target intersection on the non-priority side and enter a connecting lane. The connecting lane is, for example, a lane on the destination or intermediate point side that connects to the destination. For example, when the host vehicle is traveling on the first driving route and turns left at the target intersection on the non-priority side and enters the connecting lane, or when the host vehicle is traveling on the first driving route and turns right at the target intersection on the non-priority side and enters the connecting lane, the determination unit 103 determines that the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane.

[0050] Furthermore, for example, the determination unit 103 may determine whether the host vehicle traveling on the first driving route will turn right or left at the target intersection and enter the connecting lane, in addition to determining whether the traffic light is not a traffic light that displays a signal indicating right and left turn priority, thereby determining whether the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane. The determination unit 103 identifies the type of traffic light installed at the target intersection based on map information acquired from the map DB, and determines that the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane if the traffic light is not a traffic light that displays a signal indicating right and left turn priority and if the host vehicle would turn right or left at the target intersection and enter the connecting lane if traveling on the first driving route.

[0051] The determination unit 103 also determines whether there is a possibility that the host vehicle will not be able to travel smoothly if it travels through the target intersection on the non-priority side. For example, the determination unit 103 determines whether a crosswalk on the connecting road side at the target intersection is congested with pedestrians. The determination unit 103 acquires driving environment information for the crosswalk on the connecting road side at the target intersection. The driving environment information is, for example, information indicating the driving environment of the target intersection acquired by a road sensor installed near the target intersection or a sensor of another vehicle traveling through the target intersection. The driving environment information may also be external event information or an estimated result of the congestion level of the crosswalk based on past driving history.

[0052] The determination unit 103 calculates the pedestrian congestion level at the crosswalk based on the driving environment information, and determines that the crosswalk is congested with pedestrians if the pedestrian congestion level at the crosswalk is equal to or greater than a predetermined congestion level. Also, the determination unit 103 determines that the crosswalk is not congested with pedestrians if the pedestrian congestion level at the crosswalk is less than the predetermined congestion level. The congestion level is calculated, for example, from the number of pedestrians walking on the crosswalk and the area of ​​the crosswalk.

[0053] Furthermore, when the host vehicle turns left at the target intersection and enters the connecting lane, the determination unit 103 determines whether the vehicle speed difference between the host vehicle's speed and the vehicle speed of an oncoming vehicle that turns right at the target intersection and enters the connecting lane will become large. A situation in which the vehicle speed difference between the host vehicle's speed and the vehicle speed of an oncoming vehicle becomes large is, for example, a situation in which the oncoming vehicle is likely to turn right at the target intersection and enter the connecting lane while accelerating. In this embodiment, the determination unit 103 acquires road information about the target intersection, and determines, based on the road information about the target intersection, that the vehicle speed difference will become large when a traffic light indicating that the oncoming vehicle has priority to turn right at the target intersection and enter the connecting lane is not installed in the oncoming lane in which the oncoming vehicle is traveling.

[0054] In addition, the determination unit 103 determines that the difference in vehicle speed between the host vehicle and the oncoming vehicle will be large when the time period during which a traffic light installed in the oncoming lane indicates that oncoming vehicles have priority to turn right at the target intersection and enter the connecting lane is short. For example, the determination unit 103 acquires traffic light information at the target intersection, including the display time of each traffic light, from the map DB 2, and determines that the difference in vehicle speed between the host vehicle and the oncoming vehicle will be large when the display time during which oncoming vehicles have priority to pass is shorter than a predetermined time. When an oncoming vehicle turns right at the target intersection on the non-priority side and enters the connecting lane, it needs to complete the right turn at the target intersection in the short time before the traffic light changes to a signal indicating no passage after giving priority to a vehicle turning left at the target intersection, which makes the oncoming vehicle more likely to accelerate. Therefore, if there is no traffic light indicating that oncoming vehicles have priority to pass, or if the display time is short, oncoming vehicles are likely to accelerate and pass through the target intersection, resulting in a large difference in speed between the vehicle's own speed and the oncoming vehicle's speed.

[0055] Furthermore, the determination unit 103 may determine that the difference in vehicle speed between the host vehicle and the oncoming vehicle will be large if the target intersection has a road structure in which there is no dedicated right-turn lane and vehicles waiting to turn right obstruct the travel of following vehicles, or if the target intersection has a road structure in which congestion is caused by vehicles waiting to turn right. In such cases, the driver of the oncoming vehicle will tend to accelerate the oncoming vehicle, thinking that it is necessary to turn right at the target intersection quickly.

[0056] Furthermore, the determination unit 103 determines whether the destination is located within a predetermined distance from the target intersection based on the location of the destination and the location of the target intersection. The determination unit 103 calculates the distance of the section between the location of the destination and the location of the target intersection, and determines that the destination is located within the predetermined distance from the target intersection if the calculated distance is within the predetermined distance. Furthermore, the determination unit 103 determines that the destination is not located within the predetermined distance from the target intersection if the calculated distance is longer than the predetermined distance.

[0057] The determination unit 103 also determines whether there is an obstacle, or whether there is a possibility of an obstacle, that obstructs travel of the vehicle in the section of the connecting lane between the destination and the target intersection. Examples of obstacles include parked vehicles and construction sites. The determination unit 103 acquires driving environment information for the section of the connecting lane between the destination and the target intersection. The driving environment information is information indicating the driving environment of the target intersection that is acquired by a road sensor installed near the target intersection or a sensor of another vehicle traveling through the target intersection. The driving environment information may also be construction information stored in the map DB 2. The determination unit 103 determines whether there is an obstacle in the section of the connecting lane between the destination and the target intersection based on the driving environment information.

[0058] In addition, the determination unit 103 estimates the presence or absence of an obstacle based on past driving history, and based on the result of the estimation of the presence or absence of an obstacle, determines whether or not there is a possibility of an obstacle in the section of the connecting lane between the destination and the target intersection.

[0059] Furthermore, when the connecting road is a road with two or more lanes in each direction, the determination unit 103 determines whether the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection. For example, when there is an obstacle on the lane closest to the host vehicle, the determination unit 103 determines that the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection. Obstacles include parked vehicles and construction sites. For example, when the host vehicle needs to turn right or left after traveling on the connecting road, the determination unit 103 determines that the host vehicle will enter a lane other than the lane closest to the host vehicle in accordance with the turn. For example, when the entrance to the expressway is on a lane other than the lane closest to the host vehicle, the determination unit 103 determines that the host vehicle will enter a lane other than the lane closest to the host vehicle.

[0060] In this embodiment, when the controller 7 generates a driving route, it outputs information about the driving route to the vehicle control device 5. However, this is not limiting, and the controller 7 may have a function of controlling the driving of the vehicle. For example, the controller 7 calculates a target vehicle speed and a target steering angle so that the host vehicle travels along the driving route. The controller 7 generates control signals including the calculated target vehicle speed and target steering angle, and outputs them to the vehicle speed control device 51 and the steering control device 52.

[0061] Next, the procedure of the driving route generation method according to this embodiment will be described with reference to the flowchart of Fig. 6. Fig. 6 is a flowchart showing an example of the control procedure of the driving route generation method according to this embodiment. In this embodiment, when a destination is input by the driver of the vehicle, the controller 7 starts the control flow from step S1.

[0062] In step S1, the controller 7 estimates the current position of the host vehicle on a map. In step S2, the controller 7 identifies the destination of the host vehicle on the map. In step S3, the controller 7 generates a first driving route from the current position of the host vehicle to the destination. For example, the controller 7 generates, as the first driving route, a driving route with the smallest cost among multiple driving routes from the current position of the host vehicle to the destination. In step S4, the controller 7 identifies, as a target intersection, an intersection on the first driving route that connects to a connecting lane included in a connecting road that connects to the destination on the near side in the direction of travel.

[0063] In step S5, the controller 7 determines whether the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane. If it is determined that the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S6. If it is determined that the host vehicle will not pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S9.

[0064] In step S6, the controller 7 calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route. The controller 7 acquires the non-priority driving route and the priority driving route as driving routes for the host vehicle to pass through the target intersection identified in step S4 and enter the connecting lane, and calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route. In step S7, the controller 7 generates a second driving route as a target driving route, which includes the priority driving route with a lower cost. In step S8, the controller 7 controls the driving of the host vehicle using the second driving route as the target driving route. In step S9, the controller 7 controls the driving of the host vehicle using the first driving route as the target driving route.

[0065] Next, a procedure for generating a driving route according to this embodiment will be described using the flowchart of FIG. 7. FIG. 7 is a flowchart showing an example of a control procedure for a driving route generation method according to this embodiment. Steps S11 to S15 and S22 to S25 in FIG. 7 are similar to steps S1 to S5 and steps S6 to S9 in FIG. 6, and therefore description thereof will be omitted. As shown in FIG. 7, if it is determined in step S15 that the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S16. Also, if it is determined in step S15 that the host vehicle will not pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S25.

[0066] In step S16, the controller 7 determines whether the crosswalk at the target intersection is congested with pedestrians. If the controller 7 determines that the crosswalk at the target intersection is congested with pedestrians, the process proceeds to step S22. If the controller 7 determines that the crosswalk at the target intersection is not congested with pedestrians, the process proceeds to step S17. In step S17, the controller 7 determines whether the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection. If the controller 7 determines that the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection, the controller 7 proceeds to step S22. If the controller 7 determines that the host vehicle will not enter a lane other than the lane closest to the host vehicle after passing through the target intersection, the controller 7 proceeds to step S18.

[0067] In step S18, the controller 7 determines, based on the first travel route, whether or not the host vehicle will turn left at the target intersection on the first travel route and enter the connecting lane. If it is determined that the host vehicle will turn left at the target intersection and enter the connecting lane, the controller 7 proceeds to step S19. If it is determined that the host vehicle will not turn left at the target intersection and enter the connecting lane, the controller 7 proceeds to step S25. In step S19, the controller 7 determines whether or not the vehicle speed difference between the host vehicle and the oncoming vehicle will increase. If it is determined that the vehicle speed difference between the host vehicle and the oncoming vehicle will increase, the controller 7 proceeds to step S22. If it is determined that the vehicle speed difference between the host vehicle and the oncoming vehicle will not increase, the controller 7 proceeds to step S20.

[0068] In step S20, the controller 7 determines whether or not the destination is within a predetermined distance from the target intersection. If it is determined that the destination is within the predetermined distance from the target intersection, the controller 7 proceeds to step S22. If it is determined that the destination is not within the predetermined distance from the target intersection, the controller 7 proceeds to step S21. In step S21, the controller 7 determines whether or not there is an obstacle in the connecting lane on the destination side. If it is determined that there is an obstacle in the connecting lane on the destination side, the controller 7 proceeds to step S22. If it is determined that there is no obstacle in the connecting lane on the destination side, the controller 7 proceeds to step S25. Note that in this embodiment, all of the determinations in steps S16 to S21 are executed, but this is not limiting, and at least one of the determinations in steps S16 to S21 may be executed.

[0069] Next, the procedure of the driving route generation method according to this embodiment will be described using the flowchart of FIG. 8. FIG. 8 is a flowchart showing an example of the control procedure of the driving route generation method according to this embodiment. Steps S31 to S35 in FIG. 8 are similar to steps S1 to S5 in FIG. 6, and therefore description thereof will be omitted. As shown in FIG. 8, if it is determined in step S35 that the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S36. Also, if it is determined in step S35 that the host vehicle will not pass through the target intersection on the non-priority side and enter the connecting lane, the controller 7 proceeds to step S42.

[0070] In step S36, the controller 7 calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route. In step S37, the controller 7 generates, as the target driving route, a second driving route that includes the priority driving route with a lower cost. In step S38, the controller 7 executes lane identification control to identify, among the entry lanes for entering the identified target intersection, a priority entry lane in which the host vehicle should travel before entering the target intersection so that the host vehicle will pass through the target intersection on the priority side. In step S39, the controller 7 determines whether the lane identification control has been executed a predetermined number of times. If it is determined that the lane identification control has not been executed the predetermined number of times, the controller 7 proceeds to step S40. If it is determined that the lane identification control has been executed the predetermined number of times, the controller 7 proceeds to step S41.

[0071] In step S40, the controller 7 identifies an intersection that connects to the priority entry lane identified in step S38 on the near side in the direction of travel. After identifying the intersection, the controller 7 returns to step S35 and repeats the following flow for the intersection identified in step S40. That is, in step S35, the controller 7 determines whether the host vehicle will pass through the target intersection on the non-priority side and enter the connecting lane. In step S41, the controller 7 controls the traveling of the host vehicle using a second traveling route that includes the priority entry lane identified by the lane identification control that has been executed a predetermined number of times as the target traveling route. In step S42, the controller 7 controls the traveling of the host vehicle using the first traveling route as the target traveling route.

[0072] As described above, in this embodiment, the controller determines whether the host vehicle will pass through the target intersection on the non-priority side, which gives priority to the movement of other moving objects over the host vehicle's own driving, and enter a connecting lane included in a connecting road that connects to the destination or via point. If the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, the controller generates a target driving route for the host vehicle to pass through the target intersection on the priority side, which gives priority to the movement of other moving objects, and enter the connecting lane. This allows the host vehicle to travel smoothly through intersections that must be passed through in order to enter a road that connects to the host vehicle's destination or via point.

[0073] In this embodiment, the controller generates a first driving route from the current position of the vehicle to the destination and / or intermediate point as the target driving route, determines whether the vehicle will pass through a target intersection on the non-priority side on the first driving route and enter a connecting lane, and if the vehicle will pass through the target intersection on the non-priority side on the first driving route and enter the connecting lane, changes the target driving route from the first driving route to a second driving route in which the vehicle will pass through the target intersection on the priority side and enter the connecting lane. As a result, if the vehicle will pass through the target intersection on the non-priority side on the generated driving route and enter the connecting lane, the target driving route can be updated to one that allows the vehicle to travel smoothly through the intersection.

[0074] In this embodiment, the controller identifies an intersection that connects to the destination or intermediate lane on the near side of the connecting lanes as a target intersection, and determines whether the host vehicle will pass through the target intersection on the non-priority side and enter the destination or intermediate lane. This prevents the host vehicle from generating a driving route that crosses an oncoming lane on a connecting road to enter the destination or intermediate lane, and limits the intersections at which the host vehicle will travel.

[0075] In this embodiment, the controller acquires a non-priority driving route in which the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, and a priority driving route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane, calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route, and generates a target driving route that includes the priority driving route with a smaller cost. This allows the controller to generate a driving route that allows the host vehicle to pass through the intersection on the priority side, allowing the host vehicle to travel smoothly through the intersection.

[0076] In this embodiment, the controller acquires, as the preferred driving routes, a preferred left-turn route in which the host vehicle turns left at the target intersection on the priority side and enters the connecting lane, a preferred straight-on route in which the host vehicle travels straight at the target intersection on the priority side and enters the connecting lane, and a preferred right-turn route in which the host vehicle turns right at the target intersection on the priority side and enters the connecting lane, calculates the cost of the preferred right-turn route to be greater than the costs of the preferred left-turn route and the preferred straight-on route, and generates a target driving route that includes the preferred left-turn route or the preferred straight-on route with the smaller cost. This allows the host vehicle to travel through the intersection along a driving route in which the host vehicle travels straight at the intersection or a driving route in which the host vehicle turns left at the intersection, among driving routes in which the host vehicle passes through the intersection on the priority side.

[0077] In addition, in this embodiment, when the host vehicle passes through a target intersection on the non-priority side and enters a connecting lane, the controller identifies a priority approach lane among the approach lanes entering the target intersection that the host vehicle should travel in before entering the target intersection in order to pass through the target intersection on the priority side, and repeatedly executes intersection identification control to identify an intersection connecting to the identified priority approach lane on the near side in the direction of travel, and each time an intersection is identified by the intersection identification control, a lane identification control to identify a priority approach lane among the approach lanes entering the identified intersection, until the lane identification control is executed a predetermined number of times, and after executing the lane identification control a predetermined number of times, the controller generates a target driving route for the host vehicle to travel in the priority approach lane identified by the lane identification control. In this way, by repeatedly identifying an intersection through which the host vehicle must pass and identifying an approach lane among the approach lanes entering the intersection that the host vehicle should travel in before entering the intersection, a driving route can be generated that allows the host vehicle to pass through each intersection on the priority side. For example, even if the vehicle needs to turn right or left at any intersection on the route from the vehicle's current position to the destination or intermediate point, it is possible to identify an intersection where the vehicle can turn right or left on the priority side.

[0078] In this embodiment, the controller acquires driving environment information for the crosswalk on the connecting road side at the target intersection, determines whether the crosswalk is congested with pedestrians based on the driving environment information, and if the crosswalk is congested with pedestrians, generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane. This makes it possible to generate a driving route that allows the host vehicle to travel on the priority side at an intersection where the crosswalk is congested with pedestrians.

[0079] In addition, in this embodiment, when the host vehicle turns left at the target intersection on the non-priority side and enters the connecting lane, the controller predicts whether the speed difference between the host vehicle and the speed of an oncoming vehicle turning right at the target intersection and entering the connecting lane will be large, and if the controller predicts that the speed difference will be large, generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane. This makes it possible to prevent a situation where an oncoming vehicle turning right at the intersection approaches the host vehicle and suddenly decelerates while the host vehicle is turning left at the intersection.

[0080] In addition, in this embodiment, the controller predicts that the vehicle speed difference will be large when there is no traffic light in the oncoming lane in which the oncoming vehicle is traveling at the target intersection that indicates that the oncoming vehicle has priority to turn right at the target intersection and enter the connecting lane, or when the traffic light in the oncoming lane indicates that the oncoming vehicle has priority to turn right at the target intersection and enter the connecting lane for a short period of time. As a result, it is possible to predict that the vehicle speed difference between the host vehicle and the oncoming vehicle will be large when there is a high possibility that the oncoming vehicle will increase its speed and turn right at the intersection.

[0081] In this embodiment, the controller determines whether the destination or the route is located within a predetermined distance from the target intersection based on the location of the destination or the route and the location of the target intersection, and if it determines that the destination or the route is located within the predetermined distance from the target intersection, generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane. This prevents the host vehicle from suddenly decelerating due to an oncoming vehicle turning right at the intersection approaching the host vehicle if the host vehicle does not accelerate after passing the intersection.

[0082] In this embodiment, the controller acquires driving environment information for the section of the connecting lane between the destination or intermediate point and the target intersection, and determines, based on the driving environment information, whether there is an obstacle that will obstruct the driving of the vehicle in the section, or whether there is a possibility that there is an obstacle. If it determines that there is an obstacle, or if there is a possibility that there is an obstacle, the controller generates a target driving route for the vehicle to pass through the target intersection on the priority side and enter the connecting lane. This prevents an oncoming vehicle that has turned right at the intersection from approaching the vehicle and causing it to suddenly decelerate, if the vehicle does not accelerate after passing the intersection to determine whether it has overtaken an obstacle.

[0083] In addition, in this embodiment, when the connecting road has two or more lanes in each direction, the controller determines whether the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection, and if it determines that the host vehicle will enter a lane other than the lane closest to the host vehicle after passing through the target intersection, generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connecting lane. This makes it possible to prevent an oncoming vehicle turning right at the intersection from approaching the host vehicle in that lane and causing it to suddenly decelerate when the host vehicle enters a lane other than the lane closest to the host vehicle after passing through the intersection.

[0084] It should be noted that the above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, the elements disclosed in the above embodiments are intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

[0085] 6: Travel route generation device 7: Controller 100: Vehicle position estimation unit 101: Travel route generation unit 102: Road structure identification unit 103: Determination unit

Claims

1. A driving route generation method executed by a controller to generate a target driving route of the host vehicle to a destination and / or a waypoint, comprising: The controller: Determines whether the host vehicle should be on the priority side where it can drive preferentially over the movement of a pedestrian walking on a crosswalk or on the non-priority side where the movement of the pedestrian takes precedence over the driving of the host vehicle when the host vehicle passes through a target intersection and enters a connecting lane included in a connecting road connecting to the destination or the waypoint; When the host vehicle is on the non-priority side, generates a target driving route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane; The target intersection is an intersection that is connected to the destination or the waypoint by the connecting lane and is located on the near side of the traveling direction of the connecting lane. Driving route generation method.

2. The controller: Generates a first driving route from the current position of the host vehicle to the destination and / or the waypoint as the target driving route; On the first driving route, determines whether the host vehicle is on the priority side or the non-priority side when the host vehicle passes through the target intersection and enters the connecting lane; The driving route generation method according to claim 1, wherein when the host vehicle is on the non-priority side, the target driving route is changed from the first driving route to a second driving route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane.

3. The controller: Identifies, as the target intersection, an intersection that connects the lane on the destination or waypoint side of the connecting lane and the near side of the traveling direction; The driving route generation method according to claim 1 or 2, which determines whether the host vehicle is on the priority side or the non-priority side when the host vehicle passes through the target intersection and enters the lane on the destination or waypoint side.

4. The controller: Obtains a non-priority driving route in which the host vehicle passes through the target intersection on the non-priority side and enters the connecting lane, and a priority driving route in which the host vehicle passes through the target intersection on the priority side and enters the connecting lane; Calculates the cost of the non-priority driving route to be greater than the cost of the priority driving route; The driving route generation method according to any one of claims 1 to 3, which generates the target driving route including the priority driving route with a smaller cost.

5. The controller: As the preferred driving route, a preferred left-turn route in which the host vehicle turns left at the target intersection on the preferred side and enters the connecting lane, a preferred straight-ahead route in which the host vehicle goes straight at the target intersection on the preferred side and enters the connecting lane, and a preferred right-turn route in which the host vehicle turns right at the target intersection on the preferred side and enters the connecting lane are acquired. The cost of the preferred right-turn route is calculated to be greater than the cost of the preferred left-turn route and the cost of the preferred straight-ahead route. The driving route generation method according to claim 4, which generates the target driving route including the preferred left-turn route or the preferred straight-ahead route with a small cost.

6. The controller When the host vehicle passes through the target intersection on the non-preferred side and enters the connecting lane, among the approach lanes for entering the target intersection, the preferred approach lane that the host vehicle should travel before entering the target intersection in order to pass through the target intersection on the preferred side is specified. An intersection identification control for identifying an intersection that connects to the specified preferred approach lane on the front side in the traveling direction, and each time the intersection is identified by the intersection identification control, a lane identification control for identifying the preferred approach lane among the approach lanes for entering the identified intersection are repeatedly executed until the number of executions of the lane identification control reaches a predetermined number. After the lane identification control is executed the predetermined number of times, the preferred approach lane identified by the lane identification control is used to generate the target driving route on which the host vehicle travels. The driving route generation method according to any one of claims 1 to 5.

7. The controller Acquires the driving environment information of the crosswalk on the connecting road side at the target intersection. Based on the driving environment information, it is determined whether the crosswalk is congested by pedestrians. When the crosswalk is congested by pedestrians, the driving route generation method according to any one of claims 1 to 6, which generates the target driving route in which the host vehicle passes through the target intersection on the preferred side and enters the connecting lane.

8. The controller When the host vehicle turns left at the target intersection on the non-preferred side and enters the connecting lane, it is determined whether the speed difference between the vehicle speed of the host vehicle and the vehicle speed of an oncoming vehicle that turns right at the target intersection and enters the connecting lane becomes large. When it is determined that the vehicle speed difference has increased, the driving route generation method according to any one of claims 1 to 7, which generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connection lane.

9. The controller At the target intersection, when there is no traffic signal installed on the oncoming lane where the oncoming vehicle travels indicating that the oncoming vehicle can preferentially turn right at the target intersection and enter the connection lane, or when the time for the traffic signal installed on the oncoming lane to indicate that the oncoming vehicle can preferentially turn right at the target intersection and enter the connection lane is short, the driving route generation method according to claim 8, which determines that the vehicle speed difference has increased.

10. The controller Based on the position of the destination or the waypoint and the position of the target intersection, determines whether the destination or the waypoint is located within a predetermined distance from the target intersection, When it is determined that the destination or the waypoint is located within the predetermined distance from the target intersection, the driving route generation method according to any one of claims 1 to 9, which generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connection lane.

11. The controller Obtains driving environment information of a section between the destination or the waypoint and the target intersection in the connection lane, Based on the driving environment information, determines whether there is an obstacle that obstructs the driving of the host vehicle in the section, or whether there may be an obstacle, When it is determined that there is an obstacle or there may be an obstacle, the driving route generation method according to any one of claims 1 to 10, which generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connection lane.

12. The controller When the connecting road is a road with two or more lanes on one side, determines whether the host vehicle enters a lane other than the lane closest to the host vehicle after passing through the target intersection, When it is determined that the host vehicle enters a lane other than the lane closest to the host vehicle after passing through the target intersection, the driving route generation method according to any one of claims 1 to 11, which generates a target driving route for the host vehicle to pass through the target intersection on the priority side and enter the connection lane.

13. A travel route generation device comprising a controller that generates a target travel route of a host vehicle to a destination and / or a transit point, wherein the controller, in a scenario where the host vehicle passes through a target intersection and enters a connection lane included in a connection road connecting to the destination or the transit point, determines whether the host vehicle becomes a priority side that can travel preferentially with respect to the movement of a pedestrian walking on a crosswalk or a non-priority side that gives priority to the movement of the pedestrian over the travel of the host vehicle, when the host vehicle is on the non-priority side, generates the target travel route in which the host vehicle passes through the target intersection on the priority side and enters the connection lane, wherein the target intersection is an intersection that is connected to the destination or the transit point by the connection lane and is located on the near side of the traveling direction of the connection lane.