Locator device, processing device, and onboard system

Abstract

A locator device according to an embodiment of the present disclosure comprises: a first processing circuit that, on the basis of a map database, can generate travel path data, which is represented by a vehicle coordinate system with reference to a vehicle and includes data indicating the position of a travel path in a partial region set in a direction in which the vehicle could travel with reference to the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system; and a first communication circuit that can transmit time-series data pertaining to the travel path data and time-series data pertaining to the conversion data.

Description

Locator device, processing device, and in-vehicle system

[0001] The present disclosure relates to a locator device, a processing device, and an in-vehicle system mounted on a vehicle.

[0002] In vehicles, driving assistance is often provided based on high-precision map data. For example, Patent Literature 1 discloses a technology in which a locator device generates map data for an area close to the vehicle and transmits the generated map data to an autonomous driving control unit.

[0003] Japanese Patent Application Laid-Open No. 2022-108069

[0004] A locator device according to an embodiment of the present disclosure includes a first processing circuit and a first communication circuit. The first processing circuit is capable of generating, based on a map database, roadway data expressed in a vehicle coordinate system based on the vehicle and including data indicating the position of roadways in a partial area set in a direction in which the vehicle may travel relative to the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system. The first communication circuit is capable of transmitting time-series data of the roadway data and time-series data of the conversion data.

[0005] A processing device according to an embodiment of the present disclosure includes a second communication circuit and a second processing circuit. The second communication circuit is capable of receiving roadway data expressed in a vehicle coordinate system based on the vehicle and including data indicating the position of a roadway in a partial area set in a direction in which the vehicle may travel relative to the vehicle, and transformation data for performing coordinate transformation from the vehicle coordinate system to an absolute coordinate system. The second processing circuit is capable of restoring the position of the roadway in the absolute coordinate system based on time-series data of the roadway data and time-series data of the transformation data.

[0006] An in-vehicle system according to an embodiment of the present disclosure includes a locator device and a processing device. The locator device includes a first processing circuit and a first communication circuit. The first processing circuit is capable of generating, based on a map database, roadway data expressed in a vehicle coordinate system based on the vehicle and including data indicating the position of a roadway in a partial area set in a direction in which the vehicle may travel relative to the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system. The first communication circuit is capable of transmitting time series data of the roadway data and time series data of the conversion data. The processing device includes a second communication circuit and a second processing circuit. The second communication circuit is capable of receiving the time series data of the roadway data and the time series data of the conversion data. The second processing circuit is capable of restoring the position of the roadway in the absolute coordinate system based on the time series data of the roadway data and the time series data of the conversion data.

[0007] The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one embodiment and, together with the description, serve to explain the principles of the disclosure.

[0008] FIG. 1 is an explanatory diagram illustrating an example configuration of a vehicle equipped with a driving assistance system including a locator device and a processing device according to an embodiment of the present disclosure. FIG. 2 is a block diagram illustrating an example configuration of the driving assistance system shown in FIG. 1. FIG. 3 is an explanatory diagram illustrating an example operation of the locator device shown in FIG. 1. FIG. 4 is another explanatory diagram illustrating an example operation of the locator device shown in FIG. 1. FIG. 5 is another explanatory diagram illustrating an example operation of the locator device shown in FIG. 1. FIG. 6 is another explanatory diagram illustrating an example operation of the locator device shown in FIG. 1. FIG. 7 is an explanatory diagram illustrating an example operation of the driving assistance device shown in FIG. 1. FIG. 8 is an explanatory diagram illustrating an example operation of a locator device according to a reference example. FIG. 9 is an explanatory diagram illustrating an example operation of a locator device according to a modified example.

[0009] When a locator device transmits roadway data to a downstream device, it is desirable to transmit roadway data over a wide area, including not only areas close to the vehicle but also areas far from the vehicle. Even in this case, it is expected that the amount of communication data can be reduced.

[0010] It is desirable to provide a locator device, a processing device, and an in-vehicle system that can transmit and receive road data over a wide area while minimizing the amount of communication data.

[0011] Some exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the following description illustrates one specific example of the present disclosure and should not be construed as limiting the present disclosure. For example, each element, including numerical values, shapes, materials, parts, the position of each part, and the connection method of each part, is merely an example and should not be construed as limiting the present disclosure. Furthermore, in the following exemplary embodiments, components not described in independent claims based on the highest concept of the present disclosure are optional and may be provided as needed. The drawings are schematic and are not intended to be drawn to scale. Throughout this specification and the drawings, components having substantially the same function and configuration are designated by the same reference numerals, and redundant description will be omitted. Furthermore, components not directly related to one embodiment of the present disclosure are not shown in the drawings.

[0012] 1 shows an example of the configuration of a driving assistance system 10 including a locator device and a processing device according to an embodiment. The driving assistance system 10 is mounted on a vehicle 1 and is configured to assist the driver in driving the vehicle 1 based on map data from a high-precision map database. The driving assistance system 10 includes an imaging device 11, a GNSS (Global Navigation Satellite System) antenna 12, a locator device 20, and a driving assistance device 30. The imaging device 11, the locator device, and the driving assistance device 30 are connected to a communication bus BUS.

[0013] The imaging device 11 is configured to generate captured images by capturing images of the area ahead of the vehicle 1. The imaging device 11 may be a monocular camera or a stereo camera. The imaging device 11 includes a lens and an image sensor. In this example, the imaging device 11 is disposed inside the vehicle 1 near the top of the windshield of the vehicle 1. The imaging device 11 generates a series of captured images by performing an imaging operation at a series of imaging timings according to a predetermined frame rate (e.g., 10 fps). The imaging device 11 then transmits image data of the generated captured images to the driving assistance device 30 via the communication bus BUS.

[0014] The GNSS antenna 12 is configured to receive signals transmitted from GNSS satellites such as the Global Positioning System (GPS).

[0015] Locator device 20 is configured to detect the position of vehicle 1 in an absolute coordinate system based on the signal received by GNSS antenna 12, and to generate various data necessary for driving assistance based on the detection result of the position of vehicle 1. Locator device 20 has a GNSS receiving unit 21, a processing unit 22, a storage unit 23, and a communication unit 24.

[0016] The GNSS receiving unit 21 is configured to detect the position of the vehicle 1 in the absolute coordinate system based on the signal received by the GNSS antenna 12 .

[0017] The processing unit 22 is configured using, for example, one or more processors, one or more memories, etc., and is configured to generate the roadway data DT and the differential position data E. The roadway data DT includes data indicating the position of a road on which the vehicle 1 may travel. The differential position data E includes data indicating the difference between the position and orientation of the vehicle 1 at two different image capture timings.

[0018] Specifically, the processing unit 22 sets a partial area R in a direction in which the vehicle 1 is likely to travel, with the vehicle 1 as the reference, at each imaging timing. Then, the processing unit 22 generates driving path data DT including data indicating the position of the driving path in this partial area R, based on the high-precision map database DB stored in the storage unit 23. This driving path data DT is expressed in a vehicle coordinate system with the vehicle 1 as the reference. Note that the driving path data DT may include various data about the driving path, in addition to data indicating the position of the driving path, such as data indicating the positions of road signs on the driving path and the contents of the signs.

[0019] 3 shows an example of the partial region R set by the processing unit 22, where (A) shows the position of the partial region R set at a certain image capture timing, and (B) shows the position of the partial region R set at the image capture timing next to the first image capture timing. In this example, the vehicle 1 is traveling on a road 100. In this example, an example of so-called left-hand traffic, where the vehicle 1 travels in the left lane of the road 100, will be described. However, the present invention is not limited to this, and the vehicle 1 may also travel in the right-hand lane of the road 100, where the vehicle 1 travels in the right ...-hand lane.

[0020] In this example, as shown in FIG. 3A , at a certain image capture timing, the processing unit 22 sets a partial region R in front of the vehicle 1, in this example, at a position a distance d1 away from the imaging device 11 of the vehicle 1. In the extension direction of the road 100 (the longitudinal direction in FIG. 3 ), the leading end of the partial region R is at position T1, and the trailing end of the partial region R is at position T2. ​​Then, the processing unit 22 generates road data DT including data indicating the position of the road in this partial region R, based on the high-precision map database DB stored in the storage unit 23. In this example, the data indicating the position of the road is data in which the lane markings on the road 100 are expressed as a sequence of points. The position of this sequence of points is expressed in the vehicle coordinate system. Then, the locator device 20 transmits this road data DT to the driving assistance device 30 via the communication bus BUS.

[0021] At the next imaging timing, as shown in Fig. 3(B), the vehicle 1 has traveled a distance A compared to the imaging timing of Fig. 3(A). Similarly, the processing unit 22 sets a partial area R in front of the vehicle 1 at a position that is a distance d1 away from the imaging device 11 of the vehicle 1. Then, the processing unit 22 generates driving path data DT including data indicating the position of the driving path in this partial area R, based on the high-precision map database DB stored in the storage unit 23. The locator device 20 then transmits this driving path data DT to the driving assistance device 30 via the communication bus BUS.

[0022] The leading edge position T1 of the partial region R shown in FIG. 3A and the trailing edge position T2 of the partial region R shown in FIG. 3B are substantially the same. As a result, the partial region R in FIG. 3A and the partial region R in FIG. 3B are not separated from each other and do not overlap with each other in the extension direction of the road 100. The processing unit 22 sets the two partial regions R at two adjacent image capture timings so that the two partial regions R are not separated from each other and do not overlap with each other. This allows the driving assistance system 10 to transmit data indicating the position of the road from the locator device 20 to the driving assistance device 30 without waste or omission. That is, for example, if the two partial regions R are separated from each other, some of the data indicating the position of the road will be missing. Furthermore, for example, if the two partial regions R overlap each other, data for the overlapping regions will be transmitted and received twice, resulting in waste. In the driving assistance system 10, two adjacent partial regions R in the time series are set so as not to be separated from each other and not to overlap each other, so that data indicating the position of the road can be transmitted and received without waste or omission.

[0023] FIG. 4 shows another example of the partial region R set by the processing unit 22. In this example, for example, the amount of communication data on the communication bus BUS is large, making it impossible to ensure a sufficient amount of communication data from the processing unit 22 to the driving assistance device 30. In this case, the amount of data in the roadway data DT must be reduced, and the processing unit 22 reduces the size of the partial region R. Specifically, the processing unit 22 shortens the length of the partial region R in the extension direction of the roadway 100 (the longitudinal direction in FIG. 4 ). As a result, the distance from the image capture device 11 of the vehicle 1 to the partial region R gradually decreases. If this situation continues for a long time, as shown in FIG. 4 , the processing unit 22 sets the partial region R at a position ahead of the vehicle 1, a distance d2 away from the image capture device 11 of the vehicle 1, which is shorter than the distance d1.

[0024] Even in this case, the position T1 of the leading end of the partial region R shown in Fig. 4A and the position T2 of the trailing end of the partial region R shown in Fig. 4B are substantially the same. In this way, the processing unit 22 sets the two partial regions R at two adjacent imaging timings so that they are not separated from each other and do not overlap each other.

[0025] FIG. 5 shows another example of the partial region R set by the processing unit 22. In this example, a traffic jam occurs in the lane on the road 100 in which the vehicle 1 is traveling. As a result, the vehicle 1 travels a short distance A between two adjacent image capture timings. Even in this case, the position T1 of the leading edge of the partial region R shown in FIG. 5(A) and the position T2 of the rear edge of the partial region R shown in FIG. 5(B) are substantially the same. By shortening the length of the partial region R in the extension direction of the road 100 (the vertical direction in FIG. 4), the processing unit 22 sets the two partial regions R so that they are not separated from each other and do not overlap each other at the two adjacent image capture timings.

[0026] In addition, at each imaging timing, the processing unit 22 generates differential position data E including data indicating the difference between the position of the vehicle 1 at that imaging timing and the position of the vehicle 1 at the previous imaging timing, and the difference between the orientation of the vehicle 1 at that imaging timing and the orientation of the vehicle 1 at the previous imaging timing.

[0027] FIG. 6 shows an example of the differential position data E. The differential position data E is expressed in an absolute coordinate system based on the high-precision map database DB. The absolute coordinate system is a coordinate system using the X direction and the Y direction. On the other hand, the vehicle coordinate system is a coordinate system using the x direction and the z direction. The differential position data E includes three parameters dX, dY, and dθ. As shown in FIG. 6, the parameter dX is the difference in the position of the vehicle 1 in the X direction between the two image capture times t11 and t12. As shown in FIG. 6, the parameter dY is the difference in the position of the vehicle 1 in the Y direction between the two image capture times t11 and t12. As shown in FIG. 6, the parameter θ is the difference in the orientation of the vehicle 1 between the two image capture times t11 and t12.

[0028] In this way, the processing unit 22 sets a partial area R at each imaging timing, and generates, based on the high-precision map database DB, road data DT including data indicating the position of the road in this partial area R. The processing unit 22 also generates differential position data E including the three parameters dX, dY, and dθ at each imaging timing.

[0029] The storage unit 23 is configured using a non-volatile storage device such as a semiconductor memory, and is configured to store a high precision map database DB.

[0030] The communication unit 24 is configured to transmit the roadway data DT and the differential position data E generated by the processing unit 22 to the driving assistance device 30 via the communication bus BUS.

[0031] The driving assistance device 30 is configured to assist the driver in driving the vehicle 1 based on data transmitted from the imaging device 11 and the locator device 20. The driving assistance device 30 has a communication unit 31 and a processing unit 32.

[0032] The communication unit 31 is configured to receive image data of the captured image transmitted from the imaging device 11 , and the travel path data DT and differential position data E transmitted from the locator device 20 .

[0033] The processing unit 32 is configured, for example, using one or more processors, one or more memories, etc., and is configured to perform processing based on the data received by the communication unit 31 and control the operation of the driving assistance system 10.

[0034] For example, the processing unit 32 recognizes a subject based on image data of a captured image transmitted from the imaging device 11, and provides driving assistance based on the recognition result. Specifically, the processing unit 32 can control the operation of the driving assistance system 10 so that the driving assistance system 10 notifies the driver of information about the recognized subject, for example.

[0035] Furthermore, processing unit 32 restores the position of a roadway along which vehicle 1 may travel, based on the time-series data of roadway data DT and the time-series data of differential position data E transmitted from locator device 20. Processing unit 32 then performs driving assistance based on the restored roadway position. Specifically, processing unit 32 can control the operation of driving assistance system 10 so that, when vehicle 1 is about to deviate from its driving lane, driving assistance system 10 warns the driver or performs deviation suppression control.

[0036] Here, locator device 20 corresponds to a specific example of a "locator device" in an embodiment of the present disclosure. Processing unit 22 corresponds to a specific example of a "first processing circuit" in an embodiment of the present disclosure. High-precision map database DB corresponds to a specific example of a "map database" in an embodiment of the present disclosure. Traveling path data DT corresponds to a specific example of "traveling path data" in an embodiment of the present disclosure. Differential position data E corresponds to a specific example of "conversion data" in an embodiment of the present disclosure. Communication unit 24 corresponds to a specific example of a "first communication circuit" in an embodiment of the present disclosure. Driving assistance device 30 corresponds to a specific example of a "processing device" in an embodiment of the present disclosure. Communication unit 31 corresponds to a specific example of a "second communication circuit" in an embodiment of the present disclosure. Processing unit 32 corresponds to a specific example of a "second processing circuit" in an embodiment of the present disclosure. Driving assistance system 10 corresponds to a specific example of an "in-vehicle system" in an embodiment of the present disclosure.

[0037] [Operation and Function] Next, the operation and function of the driving assistance system 10 of this embodiment will be described.

[0038] (Overall Operation Overview) First, the operation of the driving assistance system 10 will be described with reference to FIG. 2 . The imaging device 11 generates an image by capturing an image ahead of the vehicle 1 and transmits image data of the generated captured image to the driving assistance device 30 via the communication bus BUS. The GNSS antenna 12 receives signals transmitted from GNSS satellites such as GPS. The locator device 20 detects the position of the vehicle 1 in an absolute coordinate system based on the signals received by the antenna 12, and generates driving path data DT and differential position data E based on the detection result of the position of the vehicle 1. The locator device 20 then transmits the driving path data DT and differential position data E to the driving assistance device 30 via the communication bus BUS. The driving assistance device 30 assists the driver in driving the vehicle 1 based on the data transmitted from the imaging device 11 and the locator device 20. Specifically, the driving assistance device 30 recognizes a subject based on the image data of the captured image transmitted from the imaging device 11 and provides driving assistance based on the recognition result. Furthermore, driving assistance device 30 restores the position of a road on which vehicle 1 may travel, based on road data DT and differential position data E transmitted from locator device 20. Processing unit 32 then provides driving assistance based on the restored road position.

[0039] (Detailed Operation) Processing unit 22 of locator device 20 generates, at each image capture timing, roadway data DT including data indicating the position of a roadway along which vehicle 1 may possibly travel, and differential position data E including data indicating the difference in the position and orientation of vehicle 1 between two different image capture timings. Then, communication unit 24 of locator device 20 transmits this roadway data DT and differential position data E to driving assistance device 30 via communication bus BUS. Driving assistance device 30 restores the position of a roadway along which vehicle 1 may possibly travel, based on the time-series data of roadway data DT and the time-series data of differential position data E transmitted from locator device 20.

[0040] FIG. 7 shows an example of a process for restoring the position of the road 100 in the processing unit 32 of the driving assistance device 30.

[0041] For example, the processing unit 32 of the driving assistance device 30 places a sequence of points indicating lane markings included in the driving road data DT on the plane of the absolute coordinate system based on the driving road data DT and the differential position data E obtained at the image capture timing t1. The position data of the sequence of points included in the driving road data DT is expressed in the vehicle coordinate system. Therefore, the processing unit 32 performs coordinate transformation using the differential position data E to convert the positions of the sequence of points in the vehicle coordinate system into positions in the absolute coordinate system.

[0042] As shown in Fig. 6 , the differential position data E indicates the difference in the position and orientation of the vehicle 1 between two image capture timings. Therefore, the processing unit 32 accumulates a plurality of past differential position data E, and can calculate the difference in the position and orientation of the vehicle 1 between a certain image capture timing that serves as a past reference and the current image capture timing based on this plurality of differential position data E. For example, the processing unit 32 can convert the positions of the sequence of points in the vehicle coordinate system into positions in the absolute coordinate system by using the position and orientation of the vehicle 1 in the absolute coordinate system at the reference image capture timing as initial values.

[0043] Similarly, the processing unit 32 of the driving assistance device 30 arranges, on the plane of the absolute coordinate system, a sequence of points indicating lane markings included in the driving road data DT, for example, based on the driving road data DT and differential position data E obtained at imaging timing t2. Furthermore, the processing unit 32 of the driving assistance device 30 arranges, on the plane of the absolute coordinate system, a sequence of points indicating lane markings included in the driving road data DT, for example, based on the driving road data DT and differential position data E obtained at imaging timing t3.

[0044] In this way, the processing unit 32 of the driving assistance device 30 restores the position of the road 100 by sequentially arranging the sequence of points indicating the lane markings in the absolute coordinate system based on the time-series data of the road data DT and the time-series data of the differential position data E. The processing unit 32 then provides driving assistance based on the restored position of the road 100.

[0045] As described above, driving assistance system 10 includes locator device 20 and a processing device (driving assistance device 30). Locator device 20 includes a first processing circuit (processing unit 22) that can generate, based on a map database (high-precision map database DB), driving path data DT that is expressed in a vehicle coordinate system based on vehicle 1 and includes data indicating the position of a driving path in partial region R that is set in a direction in which vehicle 1 may travel relative to vehicle 1, and conversion data (differential position data E) for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system, and a first communication circuit (communication unit 24) that can transmit time-series data of the driving path data DT and time-series data of the conversion data (differential position data E). The processing device (driving assistance device 30) is provided with a second communication circuit (communication unit 31) capable of receiving the time series data of the roadway data DT and the time series data of the converted data (differential position data E), and a second processing circuit (processing unit 32) capable of restoring the position of the roadway in the absolute coordinate system based on the time series data of the roadway data DT and the time series data of the converted data (differential position data E). As a result, the driving assistance system 10 can restore the positions of roadways over a wide area based on the time series data of the roadway data DT and the time series data of the differential position data E, as shown in FIG. 7 . Therefore, the driving assistance system 10 can transmit and receive road data over a wide area while minimizing the amount of communication data.

[0046] For example, as shown in FIG. 8 , if a predetermined partial region RR including the vehicle 1 is set at each of multiple image capture timings, the driving assistance system can only transmit and receive data on a narrow area of ​​the roadway. In other words, because the amount of communication data on the communication bus BUS is limited, it is difficult to transmit and receive data on a wide area of ​​the roadway. In such a case, the driving assistance system may have difficulty providing driving assistance when the vehicle 1 is traveling at a high speed, such as when the vehicle 1 is traveling on a highway. The driving assistance system 10 according to this embodiment can restore the position of the roadway over a wide area, as shown in FIG. 7 , by transmitting and receiving time-series data of the roadway data DT and time-series data of the differential position data E. Therefore, the driving assistance system 10 can transmit and receive data on a wide area of ​​the roadway while minimizing the amount of communication data. As a result, the driving assistance system 10 can easily provide driving assistance, for example, even when the vehicle 1 is traveling at a high speed.

[0047] Furthermore, in the driving assistance system 10, the transformation data is expressed in an absolute coordinate system and includes differential position data E indicating the difference between the position and orientation of the vehicle at two different times. This allows the driving assistance system 10 to reduce the amount of transformation data transmitted and received via the communication bus BUS. For example, if the transformation data includes data of a transformation matrix that can directly transform coordinates from the vehicle coordinate system to the absolute coordinate system, the amount of communication data increases. Specifically, for example, the amount of data for components related to translational movement in such a transformation matrix may increase. In the driving assistance system 10 according to this embodiment, the transformation data includes differential position data E. Therefore, it is only necessary to transmit and receive data representing the difference between the position and orientation of the vehicle at two different times, thereby reducing the amount of communication data.

[0048] Furthermore, in the driving assistance system 10, the first processing circuit (processing unit 22) is configured to generate time-series data of the roadway data DT by sequentially setting multiple partial regions R, and to generate time-series data of the converted data (differential position data E). The first processing circuit (processing unit 22) is configured to set two partial regions R, among the multiple partial regions R, that are adjacent to each other in the time series so that they are not separated from each other and do not overlap with each other. This allows the driving assistance system 10 to transmit and receive data indicating the position of the roadway without waste or omission. That is, for example, if two partial regions R are separated from each other, some of the data indicating the position of the roadway will be missing. Also, for example, if two partial regions R overlap with each other, data for the overlapping regions will be transmitted and received twice, resulting in waste. In the driving assistance system 10, two partial regions R that are adjacent to each other in the time series are set so that they are not separated from each other and do not overlap with each other. This allows the driving assistance system 10 to transmit and receive data indicating the position of the roadway without waste or omission.

[0049] [Effect] As described above, this embodiment includes a locator device and a processing device. The locator device includes a first processing circuit capable of generating, based on a map database, roadway data including data indicating the positions of roadways in a partial area defined in a direction in which the vehicle may travel relative to the vehicle, and transformation data for converting coordinates from the vehicle coordinate system to an absolute coordinate system, and a first communication circuit capable of transmitting time-series data of the roadway data and time-series data of the transformation data. The processing device includes a second communication circuit capable of receiving the time-series data of the roadway data and time-series data of the transformation data, and a second processing circuit capable of restoring the positions of roadways in the absolute coordinate system based on the time-series data of the roadway data and the time-series data of the transformation data. This makes it possible to transmit and receive roadway data over a wide area while minimizing the amount of communication data.

[0050] In this embodiment, the transformation data is expressed in an absolute coordinate system and includes differential position data that indicates the difference between the position and orientation of the vehicle at two different times, thereby reducing the amount of communication data.

[0051] In this embodiment, the first processing circuit generates time-series data of road data and time-series data of converted data by sequentially setting a plurality of partial areas. The first processing circuit can set two partial areas that are adjacent to each other in the time series so that they are not separated from each other and do not overlap each other. This allows data indicating the position of the road to be transmitted and received without waste or omission.

[0052] [Variation 1] In the above embodiment, coordinate transformation from the vehicle coordinate system to the absolute coordinate system is performed using differential position data E indicating the difference between the position and orientation of the vehicle at two different times, but this is not limited to this. Alternatively, for example, coordinate transformation from the vehicle coordinate system to the absolute coordinate system may be performed using transformation data including data of a transformation matrix that can directly perform coordinate transformation from the vehicle coordinate system to the absolute coordinate system. In this case, the positions of the sequence of points included in the roadway data DT can be transformed from the vehicle coordinate system to the absolute coordinate system using a single transformation data.

[0053] [Variation 2] In the above embodiment, one piece of roadway data DT is transmitted and received at each image capture timing. However, this is not limiting. Alternatively, for example, as shown in FIG. 9 , multiple pieces of roadway data DT may be transmitted and received. In this example, an intersection 101 is located ahead of the vehicle 1 on a roadway 100. The vehicle 1 may continue straight through the intersection 101 and turn left or right at the intersection 101. Therefore, the processing unit 22 of the locator device 20 sets three partial areas R (partial areas R1 to R3) in three directions in which the vehicle 1 may travel. Then, the processing unit 22 generates roadway data DT including data indicating the positions of the roadway in these three partial areas R1 to R3 based on the high-precision map database DB stored in the storage unit 23. The communication unit 24 of the locator device 20 then transmits this roadway data DT, along with differential position data E, to the driving assistance device 30 via the communication bus BUS.

[0054] In this example, three partial regions R are set, but the present invention is not limited to this. For example, if a lane for turning left at intersection 101 is provided on travel path 100 and vehicle 1 is traveling in that lane, processing unit 22 of locator device 20 may set only partial region R1. That is, in this case, since vehicle 1 is likely to turn left at intersection 101, only partial region R1 is set. If the turn signal of vehicle 1 indicates that vehicle 1 will turn left, processing unit 22 may set only partial region R1.

[0055] [Variation 3] In the above embodiment, the processing unit 22 generates the driving path data DT including data indicating the positions of the driving paths in this partial area R based on the high precision map database DB stored in the storage unit 23, but this is not limited to this. Instead, for example, the processing unit 22 may communicate with a server in which the high precision map database DB is stored, and generate the driving path data DT including data indicating the positions of the driving paths in this partial area R based on the high precision map database DB stored in this server.

[0056] [Other Modifications] Two or more of these modifications may be combined.

[0057] Although several embodiments of the present disclosure have been described above by way of example with reference to the accompanying drawings, the present disclosure is by no means limited to the above-described embodiments. Those skilled in the art will understand that various modifications and variations can be made without departing from the scope defined by the appended claims. The present disclosure is intended to encompass such modifications and variations to the extent that they fall within the scope of the appended claims and their equivalents.

[0058] For example, in the above embodiment, locator device 20 transmitted the traveling path data DT and the differential position data E at each imaging timing, but this is not limited to this. Alternatively, locator device 20 may transmit the traveling path data DT and the differential position data E, for example, once every two imaging timings. Furthermore, locator device 20 may transmit the traveling path data DT and the differential position data E periodically, for example, at timings different from the imaging timings.

[0059] The effects described in this specification are merely examples, and the effects of the present disclosure are not limited to the effects described in this specification. Therefore, other effects may be obtained with respect to the present disclosure.

[0060] Furthermore, the present disclosure may take the following aspects.

[0061] (1) A locator device comprising: a first processing circuit capable of generating, based on a map database, travel path data expressed in a vehicle coordinate system based on the vehicle and including data indicating the position of a travel path in a partial area set in a direction in which the vehicle may travel relative to the vehicle, and transformation data for performing coordinate transformation from the vehicle coordinate system to an absolute coordinate system; and a first communication circuit capable of transmitting time series data of the travel path data and time series data of the transformation data. (2) The transformation data is expressed in the absolute coordinate system and includes differential position data indicating a difference between the position and orientation of the vehicle at two different times. (3) The locator device described in (1) or (2), wherein the first processing circuit is capable of generating time series data of the travel path data and time series data of the transformation data by sequentially setting a plurality of the partial areas, and is capable of setting two of the plurality of partial areas that are adjacent to each other in time series so as not to be separated from each other and not to overlap each other. (4) The locator device according to any one of (1) to (3), wherein the first processing circuit is capable of changing the distance from the vehicle to the partial area. (5) The locator device according to any one of (1) to (4), wherein the first communication circuit is capable of transmitting time series data of the traveling path data and time series data of the converted data, and the first processing circuit is capable of changing the size of the partial area based on the degree of progress of the vehicle at adjacent times in the time series data. (6) The locator device according to any one of (1) to (5), wherein the vehicle may travel in a plurality of directions, and the partial area includes a plurality of partial areas respectively corresponding to the plurality of directions.(7) A processing device comprising: a second communication circuit capable of receiving roadway data expressed in a vehicle coordinate system based on a vehicle and including data indicating the position of a roadway in a partial area set in a direction in which the vehicle may travel based on the vehicle, and transformation data for performing coordinate transformation from the vehicle coordinate system to an absolute coordinate system; and a second processing circuit capable of restoring the position of the roadway in the absolute coordinate system based on time-series data of the roadway data and time-series data of the transformation data. (8) The processing device described in (7), wherein the second processing circuit is capable of performing driving assistance control of the vehicle based on the restored position of the roadway. (9) An in-vehicle system comprising: a locator device; and a processing device, wherein the locator device has a first processing circuit capable of generating, based on a map database, travel path data expressed in a vehicle coordinate system based on the vehicle and including data indicating the position of a travel path in a partial area set in a direction in which the vehicle may travel based on the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system; and a first communication circuit capable of transmitting time series data of the travel path data and time series data of the conversion data, wherein the processing device has: a second communication circuit capable of receiving the time series data of the travel path data and time series data of the conversion data; and a second processing circuit capable of restoring the position of the travel path in the absolute coordinate system based on the time series data of the travel path data and the time series data of the conversion data.

[0062] The processing unit 22 shown in FIG. 2 can be implemented by circuitry including at least one semiconductor integrated circuit, such as at least one processor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). The at least one processor can be configured to perform all or a portion of the various functions of the processing unit 22 shown in FIG. 2 by reading instructions from at least one non-transitory, tangible computer-readable medium. Such media can take various forms, including, but not limited to, various magnetic media such as hard disks, various optical media such as CDs or DVDs, and various semiconductor memories (i.e., semiconductor circuits) such as volatile or non-volatile memories. Volatile memories can include DRAM and SRAM. Non-volatile memories can include ROM and NVRAM. An ASIC is an integrated circuit (IC) specialized to perform all or a portion of the various functions of the processing unit 22 shown in FIG. 2. An FPGA is an integrated circuit designed to be configurable after manufacture to perform all or a portion of the various functions of the processing unit 22 shown in FIG. 2. The same applies to the processing unit 32 shown in FIG.

Claims

1. A locator device comprising: a first processing circuit capable of generating travel route data including data indicating a position of a travel route in a partial area set in a direction in which the vehicle may travel, represented in a vehicle coordinate system based on the vehicle, based on a map database, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system; and a first communication circuit capable of transmitting time-series data of the travel route data and time-series data of the conversion data.

2. The locator device according to claim 1, wherein the conversion data includes differential position data indicating differences in the position and orientation of the vehicle at two different timings represented in the absolute coordinate system.

3. The locator device according to claim 1, wherein the first processing circuit can generate time-series data of the travel route data by sequentially setting a plurality of the partial areas, and can also generate time-series data of the conversion data, and can set two of the plurality of partial areas adjacent to each other in time series so as not to be separated from each other and not to overlap each other.

4. The locator device according to claim 1, wherein the first processing circuit can change the distance from the vehicle to the partial area.

5. The locator device according to claim 1, wherein the first communication circuit can transmit time-series data of the travel route data and time-series data of the conversion data, and the first processing circuit can change the size of the partial area based on the degree of progress of the vehicle at adjacent timings in the time-series data.

6. The locator device according to claim 1, wherein the vehicle may travel in a plurality of directions, and the partial area includes a plurality of partial areas corresponding to the plurality of directions respectively.

7. A processing device comprising: a second communication circuit capable of receiving travel route data including data indicating a position of a travel route in a partial area set in a direction in which the vehicle may travel, represented in a vehicle coordinate system based on the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system; and a second processing circuit capable of restoring the position of the travel route in the absolute coordinate system based on the time-series data of the travel route data and the time-series data of the conversion data.

8. The processing device according to claim 7, wherein the second processing circuit is capable of performing driving support control of the vehicle based on the restored position of the travel route.

9. An in-vehicle system comprising: a locator device; and a processing device, wherein the locator device includes: a first processing circuit capable of generating travel route data including data indicating a position of a travel route in a partial area represented in a vehicle coordinate system based on a map database and set in a direction in which the vehicle may travel with respect to the vehicle, and conversion data for performing coordinate conversion from the vehicle coordinate system to an absolute coordinate system; a first communication circuit capable of transmitting time-series data of the travel route data and time-series data of the conversion data; the processing device includes: a second communication circuit capable of receiving the time-series data of the travel route data and the time-series data of the conversion data; and a second processing circuit capable of restoring the position of the travel route in the absolute coordinate system based on the time-series data of the travel route data and the time-series data of the conversion data.

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