JP2017041038A - Route search system, route search method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a route search system, a route search method and a computer program capable of performing route search while considering travelling suitability in an automatic drive control mode.SOLUTION: The route search system is configured to: when searching a recommended route for travelling in an automatic drive control mode, acquire a piece of information of a traffic limitation sign which requires a driver driving a vehicle in a manual drive mode to reduce the speed or stop the vehicle, which is disposed on a road surface or in the vicinity of the road constituting an intersection; identify a road as an object requiring to reduce the speed or stoppage of vehicle by means of the traffic limitation sign based on the acquired disposition information of the traffic limitation sign; and search a recommended route avoiding the object road.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a route search system, a route search method, and a computer program for searching for a recommended route when traveling by automatic driving control.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for a recommended route from the vehicle position to the destination when a desired destination is input, and sets the searched recommended route as a guide route. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  Further, in recent years, as a driving form of a vehicle, in addition to manual driving that travels based on a user's driving operation, part or all of the user's driving operation is executed on the vehicle side to assist the user in driving the vehicle. An automatic driving support system has been newly proposed. In the automatic driving support system, for example, the current position of the vehicle, the lane in which the vehicle travels, the positions of other vehicles in the vicinity are detected at any time, and the steering, drive source, brake, etc. Vehicle control is performed automatically. Here, traveling by the automatic driving support system has an advantage that the burden on the user's driving can be reduced. However, depending on road conditions, there are situations where it is difficult to perform driving by automatic driving control. For example, there is a large burden of attention to the surroundings when passing through an intersection with a curve mirror or a stop sign.

  In view of this, the navigation apparatus and the like are newly required to search for a recommended route in consideration of the suitability for traveling by the automatic driving control. For example, in Japanese Patent Laid-Open No. 9-229703, the degree of caution when a vehicle travels is calculated for each link based on the traveling direction of the vehicle at the intersection, the road shape, and the arrangement of the facilities, and a route that reduces the total caution level. A technique for preferentially selecting a recommended route has been proposed.

JP-A-9-229703 (page 3-5, FIG. 2)

  Here, as described above, as a situation where the burden of attention to the surroundings where it is difficult to perform driving by automatic driving control is large, features such as a curve mirror and a stop sign that prompt the vehicle to decelerate or stop (hereinafter referred to as a feature) There is a situation where the vehicle travels at an intersection where restricted features are installed. At an intersection where the above-mentioned restricted feature is installed, it is necessary to allow the vehicle to enter the intersection while checking the status of other vehicles traveling at the intersection. However, in Patent Document 1, the attention level is calculated in consideration of the road shape, the traveling direction of the vehicle, the arrangement of the facility, and the like, but the restricted feature is not considered. Therefore, a route search that fully considers the eligibility of traveling by automatic driving control cannot be performed, resulting in a disadvantageous event for the user such as interruption of traveling by automatic driving control. .

  The present invention has been made to solve the above-described conventional problems, and provides a route search system, a route search method, and a computer program capable of performing route search in consideration of eligibility for traveling by automatic operation control. The purpose is to provide.

  In order to achieve the above object, a route search system according to the present invention is a route search system that searches for a recommended route when traveling by automatic driving control, and is arranged on or around a road that forms an intersection, and is a user. The feature information acquisition means for acquiring arrangement information of the restricted feature that is a feature that prompts the vehicle to decelerate or stop during manual driving by the driving operation, and the restricted feature acquired by the feature information acquisition means Based on the arrangement information, target road specifying means for specifying a target road that is a target road that prompts the vehicle to decelerate or stop by the restricted feature, and the recommended route that prioritizes a route that avoids the target road Route search means for performing a search of

  The route search method according to the present invention is a route search method for searching for a recommended route when traveling by automatic driving control. Specifically, a route search method for searching for a recommended route when traveling by automatic driving control, wherein the feature information acquisition means is disposed on or around a road constituting an intersection, and a user's driving operation A step of acquiring restriction feature disposition information that is a feature that prompts the vehicle to decelerate or stop during manual driving, and a target road identification unit is configured to detect the restriction feature acquired by the feature information acquisition unit. A step of identifying a target road that is a target road that prompts the vehicle to decelerate or stop based on the placement information, and the route search means prioritizes a route that avoids the target road Performing a route search.

  The computer program according to the present invention is a computer program that searches for a recommended route when traveling by automatic operation control. Specifically, the computer is arranged on or around the road that forms the intersection, and obtains information on the arrangement of restricted features that are features that prompt the vehicle to decelerate or stop when driving manually by a user's driving operation. A target road that is a target road that is a target to prompt the vehicle to decelerate or stop by the restricted feature based on the feature information obtaining unit that performs and the placement information of the restricted feature obtained by the feature information obtaining unit The target road specifying means for specifying the route and the route search means for searching for the recommended route giving priority to the route that avoids the target road.

  According to the route search system, the route search method, and the computer program according to the present invention having the above-described configuration, the road that prompts the vehicle to decelerate or stop is specified based on the arrangement information of the restricted feature, and the specified road is avoided. Therefore, it is possible to perform a route search in consideration of the eligibility of traveling by the automatic operation control. As a result, it is possible to provide a recommended route that prevents a disadvantageous event from occurring for the user such as the automatic operation control being interrupted while the vehicle is traveling by the automatic operation control.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the feature information memorize | stored in feature information DB. It is a flowchart of the route search processing program concerning this embodiment. It is the figure which showed the example in case the approach road which approachs an intersection becomes an object road. It is the figure which showed the example when the approach road which approachs an intersection does not become a target road. It is the figure which showed the example when the approach road which approachs an intersection does not become a target road. It is the figure which showed the example in case the approach road which approachs an intersection becomes an object road. It is the figure which showed an example of the control content of the automatic driving control set with respect to the driving planned route of a vehicle.

  Hereinafter, a route search system according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and information on a map around the vehicle and a route searched by the route search process described later for the user Such as a liquid crystal display 15 that displays voice guidance related to route guidance, a DVD drive 17 that reads a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like. And a communication module 18 that communicates with the information center. The navigation device 1 is connected to an in-vehicle camera 19 and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 20 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Various operation buttons 21 mounted on the vehicle such as an automatic driving start button are also connected.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 22, a vehicle speed sensor 23, a steering sensor 24, a gyro sensor 25, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 23 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31, a feature information DB 32, a predetermined program, and the like recorded on the hard disk, and stores predetermined data on the hard disk. And a recording head (not shown) which is a driver for writing. The data recording unit 12 may be constituted by a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. The map information DB 31 and the feature information DB 32 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 includes, for example, link data 33 related to roads (links), node data 34 related to node points, intersection data 35 related to each intersection, search data 36 used for processing related to route search and change, and facility related information. The storage means stores facility data, map display data for displaying a map, search data for searching for a location, and the like.

  The link data 33 includes, for each link constituting the road, the width of the road to which the link belongs, a gradient, a cant, a bank, a road surface state, a merged section, a road structure, the number of road lanes, the number of lanes The data indicating the decreasing part, the width narrowing part, the level crossing, etc. for the corner, the curvature radius, the intersection, the T-junction, the entrance and the exit of the corner, etc., the data indicating the road attribute, the downhill road, the uphill road, etc. In addition to general roads such as national roads, prefectural roads, and narrow streets, data representing roads are recorded for expressways such as national highways, urban highways, exclusive roads, general toll roads, and toll bridges. Is done.

  The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  Moreover, as the intersection data 35, it is memorize | stored in the various data regarding an intersection. Specifically, the position coordinates of the intersection, the type of road connected to the intersection, the connection angle, the road width, the number of lanes of the road, the traveling direction classification for each lane, and the like are stored.

  In addition, as the search data 36, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination is recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored. In particular, in the present embodiment, it is possible to search for a recommended route when traveling by automatic driving control, and data for searching for a recommended route when traveling by automatic driving control is also stored. The

  Here, as a traveling form of the vehicle, in addition to the manual driving traveling that travels based on the user's driving operation, the vehicle automatically travels along a predetermined route regardless of the user's driving operation. Traveling by operation control is possible. In the automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and steering and driving are performed so as to travel along a route preset by the vehicle control ECU 20. Vehicle control such as power source and brake is performed automatically. In the traveling by the automatic driving control according to the present embodiment, the lane change and the right / left turn are performed by the automatic driving control. However, the lane changing and the right / left turn may not be performed by the automatic driving control. The details of the automatic operation control are already known, and the description is omitted.

  In addition, the automatic driving control may be performed on all road sections, or the vehicle travels on a specific road section (for example, a highway with a gate (manned, unmanned or paid free) on the boundary). It is good also as a structure performed only between. In the following description, the automatic driving section in which the automatic driving control of the vehicle is performed is assumed to be all road sections including general roads and highways, and basically the automatic driving control is performed while the vehicle travels on the road. explain. However, when the vehicle travels in the automatic driving section, the automatic driving control is not necessarily performed, but the user selects to perform the automatic driving control (for example, the automatic driving start button is turned on) and the automatic driving control is performed. It is performed only in a situation where it is determined that it is possible to run the vehicle. That is, the automatic driving section is a section in which automatic driving control is permitted for the vehicle in addition to manual driving.

  Traveling by the above-mentioned automatic driving control has a merit that the burden on the user's driving can be reduced, but there are situations where it is difficult to perform driving by the automatic driving control depending on road conditions. For example, the vehicle travels at an intersection where a feature (hereinafter referred to as a restricted feature) that prompts the vehicle to decelerate or stop during manual driving such as a curve mirror or a stop sign is installed. Therefore, in the navigation device 1 according to the present embodiment, as described later, a recommended route is searched with priority given to a route that avoids a road that prompts the vehicle to decelerate or stop due to restricted features (hereinafter referred to as a target road). On the other hand, when the target road cannot be avoided and the target road is included in the recommended route, when the vehicle travels on the target road, the automatic driving control is automatically switched to the manual driving or the automatic driving control is started. Guiding the user to take over to manual operation. Furthermore, after the vehicle is switched from automatic driving control to manual driving, if the vehicle exits the target road, switching from manual driving to automatic driving control (return of automatic driving) is performed automatically or manually. Guidance is also provided to prompt the user to switch from driving to automatic driving control.

  In addition, the feature information DB 32 is a storage unit that stores information related to “restricted features” arranged on or around roads that form intersections throughout the country. Here, as described above, the “restricted feature” is a feature that prompts the vehicle to decelerate or stop when the vehicle is manually driven by a driving operation, and includes, for example, a temporary stop sign and a curve mirror.

  Here, FIG. 2 is a diagram showing an example of information related to the restricted feature stored in the feature information DB 32. As shown in FIG. 2, it is memorized whether or not a temporary stop sign is provided for each intersection in the whole country, and if it is provided, which road is included in the intersection. Has been. Similarly, it is stored whether or not the curve mirror is disposed, and if it is disposed, at which position and at which angle (specifically, the position and angle of the reflecting surface). Yes. When a plurality of curve mirrors are provided for one intersection, the position and angle are stored for each of the plurality of curve mirrors.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a route search processing program (see FIG. 3), which will be described later, is recorded in addition to the RAM 42 that stores route data when the route is searched and the control program. And an internal storage device such as a flash memory 44 for storing the program. The navigation ECU 13 has various means as processing algorithms. For example, the feature information acquisition means acquires the arrangement information of the restricted feature. The target road specifying means specifies a target road that is a target road for urging the vehicle to decelerate or stop by the restricted feature based on the arrangement information of the restricted feature. The route search means searches for a recommended route giving priority to a route that avoids the target road.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may comprise so that it may have a microphone and a speech recognition apparatus.

  The liquid crystal display 15 displays a map image including a road, traffic information, operation guidance, operation menu, key guidance, information on a planned travel route, news, weather forecast, time, mail, TV program, and the like. In place of the liquid crystal display 15, HUD or HMD may be used.

  In addition, the speaker 16 outputs voice guidance for guiding traveling along the planned traveling route and traffic information guidance based on an instruction from the navigation ECU 13 during manual driving traveling. In addition, when it is determined that there is a section (for example, a road on which restricted features are provided) where the automatic driving control cannot be performed in front of the vehicle during the driving by the automatic driving control, a voice prompting the user to take over to the manual driving The guidance is also output.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information, probe information, and the like transmitted from a traffic information center, for example, a VICS center, a probe center, and the like. In addition, a vehicle-to-vehicle communication device that performs communication between vehicles and a road-to-vehicle communication device that performs communication with roadside devices are also included.

  The vehicle exterior camera 19 is constituted by a camera using a solid-state imaging device such as a CCD, for example, and is installed above the front bumper of the vehicle or behind the rearview mirror and installed with the optical axis direction downward from the horizontal by a predetermined angle. Is done. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 20 performs image processing on the captured image, thereby detecting a lane line drawn on the road on which the vehicle travels, other vehicles in the vicinity, and the like. Perform operation control. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. Further, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator, and in this embodiment, the vehicle is controlled by controlling each drive unit after the automatic driving support is started in the vehicle. Implement automatic operation control.

  Here, navigation ECU13 transmits the instruction | indication signal regarding automatic driving | operation control with respect to vehicle control ECU20 via CAN before the driving | running | working start and after the driving | running | working start. And vehicle control ECU20 implements the automatic driving | operation control after a driving | running | working start according to the received instruction signal. The content of the instruction signal includes information for specifying the planned travel route and control details of automatic driving control performed on the vehicle with respect to the planned travel route (for example, going straight, changing lane to the right, turning to the right, turning to the right Etc.). Furthermore, when the planned driving route includes a section where the automatic driving control cannot be performed (for example, a road on which restricted features are arranged), the information specifying the section or the driving based on the automatic driving control before the section. Information that specifies the section to be handed over to manual driving is also transmitted. In addition, it is good also as a structure which not the navigation ECU13 but vehicle control ECU20 sets the control content of automatic driving | operation control. In this case, the vehicle control ECU 20 is configured to acquire information necessary for setting the control content of the automatic driving control such as the planned travel route, the vehicle state, and the surrounding map information from the navigation device 1.

  Next, a route search processing program executed by the CPU 41 in the navigation device 1 according to this embodiment having the above-described configuration will be described with reference to FIG. FIG. 3 is a flowchart of the route search processing program according to the present embodiment. Here, the route search processing program is a program that is executed when a predetermined operation for performing a route search is received in the navigation device 1 and searches for a recommended route from the departure point to the destination. The navigation device 1 is based on the premise that the vehicle basically travels to the destination by automatic driving control, and that the vehicle travels to the destination by manual driving without performing automatic driving control. Although it is possible to search for each recommended route, the following description will be given of a case where a recommended route is searched on the assumption that the vehicle travels by automatic driving control. Note that the program shown in the flowchart of FIG. 3 below is stored in the RAM 42 or ROM 43 provided in the navigation apparatus 1 and is executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the route search processing program, the CPU 41 obtains a departure place and a destination. Note that the departure point may be the current position of the vehicle or an arbitrary point (for example, a home) designated by the user. The destination is acquired based on a user operation (for example, a facility search or selection operation) received in the operation unit 14.

  Next, in S2, the CPU 41 executes a normal route search process for searching for a recommended route from the departure point to the destination acquired in S1. Specifically, based on the link data 33, the node data 34, the intersection data 35, the search data 36, etc., the link cost obtained by quantifying the appropriate degree as the route to the link (road) or the route to the intersection (node) An intersection cost obtained by quantifying the appropriate degree, a toll cost obtained by quantifying the cost required for traveling, and the like are calculated, and a recommended route is searched using each calculated search cost. For example, a known Dijkstra method is used, and a route having a minimum cost value is set as a recommended route. However, a route search method other than the Dijkstra method may be used.

  In S2, the cost value may be calculated in consideration of appropriateness for traveling by automatic driving control. That is, it is configured such that the lower the cost value is calculated for the route suitable for running by automatic driving control. For example, a route with a small number of necessary lane changes or a route with a small amount of traffic is suitable for traveling by automatic driving control, so a low cost value is calculated. However, unlike S8, which will be described later, in S2, the recommended route is searched without considering restricted features and target roads. In the following description, the recommended route specified by the route search process of S2 is set as the first route.

  Subsequently, in S3, the CPU 41 determines whether or not the first route specified by the route search process in S2 is a route that passes through the intersection (regardless of the passing direction).

  If it is determined that the first route specified by the route search process in S2 is a route passing through the intersection (S3: YES), the process proceeds to S4. On the other hand, when it is determined that the first route specified by the route search process in S2 is a route that does not pass through the intersection (S3: NO), the process proceeds to S9.

  In S4, the CPU 41 determines whether or not there is a temporary stop sign on the approach road entering the intersection for the first route specified by the route search process in S2. Here, the road on which the stop sign is arranged is a target road that is a target for urging the vehicle to decelerate or stop by the restricted feature. Therefore, in S4, it is determined whether or not the first route is a route that passes through the target road. Note that the stop sign arrangement information is acquired from the feature information DB 32 (FIG. 2). When the first route is a route that passes through a plurality of intersections, the determination of S3 is performed for each of the plurality of intersections. Then, it is determined whether or not there is a stop sign on the approach road at at least one intersection.

  If it is determined that there is a temporary stop sign on the approach road entering the intersection for the first route specified by the route search process of S2 (S4: YES), that is, the first route passes the target road. If it is determined that the route is a route to be performed, the process proceeds to S7 in order to determine whether another route that can avoid the target road can be searched. For example, as shown in FIG. 4, when the first route is a route passing through the intersection 50, and the temporary stop sign 52 is disposed on the approach road 51 entering the intersection 50, the vehicle It is necessary to enter the intersection 50 while paying considerable attention to the intersection road after temporarily stopping when entering the intersection 50. Therefore, it is difficult to continuously run the automatic driving control, and when the vehicle is driven along the first route, it is necessary to take over the manual driving before passing through the approach road 51. Here, when traveling by automatic operation control, a route that can travel without interrupting automatic operation control as much as possible is desirable even if the route becomes a detour to some extent. Therefore, in the present embodiment, when the first route as shown in FIG. 4 is specified, it is determined whether or not another route that can avoid the approach road 51 can be searched.

  On the other hand, if it is determined that there is no temporary stop sign on the approach road entering the intersection for the first route specified by the route search process of S2 (S4: NO), the process proceeds to S5.

  In S5, the CPU 41 determines whether or not a curve mirror is provided in the vicinity of the passing intersection (which may or may not be on the road) for the first route specified by the route search process in S2. Determine whether. In addition, about the arrangement | positioning position of a curve mirror, it acquires from feature information DB32 (FIG. 2). Further, when the first route is a route passing through a plurality of intersections, the determination of S5 is performed for each of the plurality of intersections. Then, it is determined whether or not a curved mirror is disposed around at least one intersection.

  When it is determined that a curve mirror is disposed around the passing intersection for the first route specified by the route search process of S2 (S5: YES), the process proceeds to S6. On the other hand, for the first route specified by the route search process of S2, if it is determined that no curve mirror is provided around the passing intersection (S5: NO), the first route is The route is recognized as not passing through the target road, and the process proceeds to S9.

  In S6, the CPU 41 determines whether or not the approach road entering the intersection is the target road that prompts the vehicle to decelerate or stop by the curve mirror for the first route specified by the route search process of S2, that is, the first route. Is a route passing through the target road. Whether or not the approach road is a target road that prompts the vehicle to decelerate or stop by the curve mirror, the road shape of each road constituting the intersection, the installation position of the curve mirror, the installation angle (specifically, The position is determined as follows in consideration of the position and angle of the reflecting surface) and the probe information.

  First, as shown in FIGS. 5 to 7, the CPU 41 arranges a range (hereinafter referred to as a “viewable range”) 54 in which the reflecting surface of the curve mirror 53 disposed around the intersection 50 can be visually recognized. It is specified from the road position of each road constituting the installation position, the arrangement angle, and the intersection. Next, the CPU 41 determines whether or not the identified visible range 54 includes an approach road 51 that enters the intersection 50. As shown in FIG. 5, when the viewable range 54 does not include the approach road 51 that enters the intersection 50, the reflecting surface of the curve mirror 53 cannot be seen from the vehicle located on the approach road 51. The curve mirror 53 does not prompt the approach road 51 to decelerate or stop, that is, it can be determined that the approach road is not the target road.

  On the other hand, as a case where the viewable range 54 includes the approach road 51 entering the intersection 50, there are situations as shown in FIGS. 6 and 7, for example. 6 and 7, the reflecting surface of the curve mirror 53 can be visually recognized from the vehicle located on the approach road 51. However, in FIG. 6, the curve mirror 53 is a case where the vehicle passes straight through the priority road. Therefore, it can be determined that the approach road 51 is not prompted to decelerate or stop, that is, the approach road 51 is not the target road. On the other hand, FIG. 7 shows the case where the vehicle turns right from the non-priority road into the priority road, and the vehicle checks the curve mirror 53 when entering the intersection 50 and pays considerable attention to the intersection road. It is necessary to enter the intersection 50 while paying. That is, the curve mirror 53 prompts the approach road 51 to decelerate or stop, and it can be determined that the approach road is the target road. Therefore, the CPU 41 uses the probe information to identify the situation shown in FIG. Specifically, the traveling mode of the vehicle at the intersection 50 is acquired using the probe information. When the approaching road 51 entering the intersection 50 is included in the viewable range 54 and the traveling mode in which the vehicle decelerates or stops on the approaching road 51, the CPU 41 enters the approaching road 51. Is determined to be a target road. On the other hand, when it is the driving | running | working aspect in which a vehicle does not decelerate or stop in the approach road 51, it determines with the approach road 51 not being an object road. Note that information other than probe information may be used to obtain the traveling mode of the vehicle at the intersection 50. For example, information acquired by inter-vehicle communication or travel history of the own vehicle may be used.

  Then, for the first route specified by the route search process of S2, when the approach road entering the intersection is determined by the curve mirror to be a target road that prompts the vehicle to decelerate or stop (S6: YES), That is, when it is determined that the first route is a route passing through the target road, the process proceeds to S7 in order to determine whether another route that can avoid the target road can be searched. For example, as shown in FIG. 7, when the first route is a route passing through the intersection 50 where the curve mirror 53 is disposed, when the vehicle enters the intersection 50, considerable attention is paid to the intersection road. It is necessary to enter the intersection 50 while paying. Therefore, it is difficult to continuously run the automatic driving control, and when the vehicle is driven along the first route, it is necessary to take over the manual driving before passing through the approach road 51. Here, when traveling by automatic operation control, a route that can travel without interrupting automatic operation control as much as possible is desirable even if the route becomes a detour to some extent. Therefore, in this embodiment, when the first route as shown in FIG. 7 is specified, it is determined whether or not another route that can avoid the approach road 51 can be searched.

  On the other hand, when it is determined that the approach road entering the intersection is not the target road that prompts the vehicle to decelerate or stop for the first route specified by the route search process of S2 (S6: NO) The first route is recognized as a route that does not pass through the target road, and the process proceeds to S9.

  In S7, the CPU 41 executes again the route search process for searching for the recommended route from the departure point to the destination acquired in S1. The route search process of S7 is basically the same process as the route search process of S2, but adds the cost of the target road determined to pass the first route in the determination processes of S3 to S6. By doing so, a recommended route is searched on condition that the target road is avoided. If it is determined that there is a stop sign on the approach road entering the intersection for the first route (S4: YES), the approach road entering the intersection where the stop sign is arranged is avoided. Identified as the target road to be. On the other hand, for the first route, when it is determined that the approach road entering the intersection is a target road that prompts the vehicle to decelerate or stop by the curve mirror (S6: YES), the reflection surface of the curve mirror can be visually recognized. An approach road that enters an intersection is identified as a target road to be avoided.

  In S7, the recommended route is searched with priority given to the route avoiding the target road by multiplying the cost of the target road by a predetermined number of times (for example, five times). Note that the cost of the target road may be infinite. In the following description, the recommended route specified by the route search process in S7 is set as the second route.

  Next, in S8, the CPU 41 determines whether or not the second route most recently searched in S7 is the same as the route previously searched in the route search process (S2 or S7). Here, as will be described later, the determination process of S3 to S6 is performed on the second route specified by the route search process of S7 as in the case of the first route. If it is determined that the second route is a route that passes through the target road in the same manner as the first route, the route search process of S7 is further performed, and a new second route is specified. . Therefore, in S8, when there are a plurality of second routes, that is, when the processing of S7 is performed a plurality of times, the second route searched in the past and the newly searched second route Make a comparison. On the other hand, when only one second route exists, that is, when the process of S7 is performed for the first time this time, only the first route is compared with the second route newly searched this time.

  If it is determined that the second route searched in S7 most recently is the same as the route searched in the route search process in the past (S8: YES), the process proceeds to S11. In addition, when the second route searched in S7 is the same route as the route searched in the route search process in the past, the route to the destination that does not pass through the target road cannot be searched, or temporarily Even if a route that does not pass through the target road can be searched, it is a very detour route, which is clearly inappropriate as a recommended route. In such a case, it can be determined that the first route is more suitable as the recommended route even if the vehicle passes the target road. Therefore, the first route is determined as the recommended route (S11).

  On the other hand, when it is determined that the second route most recently searched in S7 is not the same as the route searched in the route search process in the past (S8: NO), the process returns to S3. Then, the determination process after S3 is performed on the newly searched second route. That is, it is determined whether or not the newly searched second route is a road that passes through the target road. When it is determined that the newly searched second route is a road that does not pass through the target road, the process proceeds to S9. On the other hand, when it is determined that the newly searched second route is a road that passes through the target road, the process proceeds to S7, and the cost of the target road that is determined to pass through the second route is also added. The route search process is executed again. Similarly, the processes of S3 to S8 are repeatedly executed until a second route that does not pass through the target road is searched or until the same route is searched.

  Next, in S9, the CPU 41 determines whether there is a second route specified by the route search process in S7, that is, whether there are a plurality of routes as recommended route candidates.

  If it is determined that there is a second route specified by the route search process of S7 (S9: YES), that is, if the first route and the second route exist as recommended route candidates, the process proceeds to S10. And migrate. On the other hand, if it is determined that there is no second route specified by the route search process in S7 (S9: NO), that is, if only the first route exists as a recommended route candidate, the process proceeds to S11. To do. Then, the first route is determined as a recommended route (S11).

  In S10, the CPU 41 compares the first route with the second route. Then, a more appropriate route as the recommended route is determined as the recommended route (S11). When there are a plurality of second routes, the first route is compared with the most recently searched second route, that is, the second route determined not to pass the target road in the determination process of S3 to S6. . However, all the second routes may be compared. The comparison target in S10 passes through the target road, but other factors (for example, required time to the destination, etc.) pass through the first route that is the route to the optimal destination and the target road. The second route is considered to be inferior to the first route due to other factors.

  Here, the comparison between the first route and the second route in S10 is performed, for example, by comparing the total length and required time of the first route and the second route. If the second route is shorter or the difference is less than the threshold with respect to the total length or the required time, the second route is recognized as being more suitable as the recommended route, and the second route is determined as the recommended route. (S11). On the other hand, if the first route is shorter and the difference between the first route and the second route is greater than or equal to the threshold value, the first route is recognized as being more suitable as the recommended route even if it passes through the target road. The first route is determined as a recommended route (S11). Information regarding the first route and the second route (for example, all routes, required time, the number of times that the automatic driving is predicted to be interrupted, etc.) is displayed on the liquid crystal display 15 to allow the user to select a recommended route. Also good.

  Thereafter, in S12, the CPU 41 determines whether or not the recommended route determined in S11 passes through the target road.

  When it is determined that the recommended route determined in S11 passes through the target road (S12: YES), the process proceeds to S13. On the other hand, when it is determined that the recommended route determined in S11 does not pass through the target road (S12: NO), the process proceeds to S14.

  In S <b> 13, the CPU 41 sets a takeover section for taking over from the traveling by the automatic driving control to the manual driving traveling for the section before passing through the target road. For example, a section within 300 m from the start point of the target road is set as the takeover section. When the vehicle that has started traveling subsequently reaches the takeover section, the automatic operation control is automatically switched to the manual operation, or the user is instructed to take over from the automatic operation control to the manual operation. Furthermore, after the vehicle is switched from automatic driving control to manual driving, if the vehicle exits the target road, switching from manual driving to automatic driving control (return of automatic driving) is performed automatically or manually. Guidance is also provided to prompt the user to switch from driving to automatic driving control.

  Thereafter, in S14, the CPU 41 determines the recommended route determined in S11 as the planned travel route (guide route) of the vehicle. Thereafter, the CPU 41 sets the control content (for example, going straight, changing lane to the right, turning to the right, turning to the right, etc.) for the vehicle on the planned travel route.

  For example, in the example shown in FIG. 8, it is the figure which showed an example of the control content of the automatic driving control set with respect to the driving planned route of a vehicle. The example shown in FIG. 8 is an example in which the recommended route passing through the target road is determined as the planned travel route, and the control content of the automatic driving control is set for the section excluding the section passing through the target road. The The control content of the automatic driving control is basically determined based on the planned travel route and the map information. For example, in a section where it is necessary to make a right or left turn at an intersection or the like, the control content of the automatic driving control is “right (left) turn”. "Is set. Also, “change lane to right (left)” is set for sections where lanes need to be changed at intersections or JCT. In addition, “takeover” is set to take over from driving by automatic driving control to manual driving driving in the section on the near side passing through the target road, and returning to driving by automatic driving control in the section after passing through the target road. “Return” to be set is set. And the information which specifies a driving planned route and the set control content are transmitted to vehicle control ECU20 via CAN. Further, when the planned travel route is a route that passes through the target road, information for specifying the target road and information for specifying the takeover section set in S13 are also transmitted. As a result, when the vehicle starts traveling, the vehicle control ECU 20 performs automatic driving control after the start of traveling according to the information received from the navigation device 1.

  As described above in detail, in the navigation device 1 according to the present embodiment, the route search method by the navigation device 1 and the computer program executed by the navigation device 1, the recommended route when traveling by automatic driving control is searched. In the above, the restriction information obtained is obtained by obtaining restriction feature arrangement information that is provided on or around the road constituting the intersection and that prompts the vehicle to decelerate or stop when the vehicle is driven manually by a driving operation. Based on the arrangement information of the feature, the target road that is the target road that prompts the vehicle to decelerate or stop by the restricted feature is identified (S4 to S6), and the recommended route that gives priority to the route that avoids the target road is specified. Since the search is performed (S7), it is possible to perform a route search in consideration of the suitability of travel by automatic driving control. As a result, it is possible to provide a recommended route that prevents a disadvantageous event from occurring for the user such as the automatic operation control being interrupted while the vehicle is traveling by the automatic operation control.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the present invention is applied when performing a route search at the start of traveling of the vehicle. For example, automatic driving is started while the vehicle is traveling in an automatic driving section by manual driving. It may be applied when the automatic driving start button is pressed. The departure point is the current position of the vehicle, and the destination is the destination if the destination is already set in the navigation device 1. On the other hand, when the destination is not set, for example, a point separated by a predetermined distance along the road is set as the destination.

  Further, in the present embodiment, the navigation device 1 is configured to set the control content of the automatic driving control performed on the vehicle (for example, straight ahead, lane change to the right, merge, etc.), but the control content of the automatic driving is It is good also as a structure which vehicle control ECU20 sets. Further, the control content of the automatic driving control is not necessarily set at the time of the route search, and may be set before reaching the automatic driving section.

  In the present embodiment, the vehicle control ECU 20 automatically controls all of the accelerator operation, the brake operation, and the handle operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle, without depending on the driving operation of the user. It has been described as an automatic operation control for traveling. However, in the automatic driving control, the vehicle control ECU 20 may control at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the operations of the vehicle. On the other hand, manual driving by the user's driving operation will be described as a case where the user performs all of the accelerator operation, the brake operation, and the steering wheel operation, which are operations relating to the behavior of the vehicle, among the vehicle operations.

  In the present embodiment, the navigation device 1 executes the route search processing program (FIG. 3), but the vehicle control ECU 20 may execute the program. In this case, the vehicle control ECU 20 is configured to acquire the current position of the vehicle, map information, traffic information, and the like from the navigation device 1.

  In addition to the navigation device, the present invention can be applied to a device having a route search function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described route search processing program (FIG. 3) may be configured to be implemented by either a server or a mobile terminal. However, when the present invention is applied to a portable terminal or the like, it is necessary that a vehicle capable of performing automatic driving control and the portable terminal or the like be connected so as to be communicable (regardless of wired wireless).

  Moreover, although the embodiment which actualized the route search system according to the present invention has been described above, the route search system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A route search system (1) for searching for a recommended route for traveling by automatic driving control, which is disposed on or around a road constituting an intersection (50), and is a vehicle during manual driving by a user's driving operation. The feature information acquisition means (41) for obtaining arrangement information of the restricted feature (52, 53) that is a feature that prompts the vehicle to decelerate or stop, and the restriction feature obtained by the feature information acquisition means Based on the arrangement information, the target road specifying means (41) for specifying the target road that is a target road that prompts the vehicle to decelerate or stop by the restricted feature, and the route that avoids the target road is prioritized. Route search means (41) for searching for a recommended route.
According to the route search system having the above-described configuration, a road that prompts the vehicle to decelerate or stop based on the arrangement information of the restricted feature is specified, and a recommended route that gives priority to a route that avoids the specified road is searched. Therefore, it is possible to perform a route search in consideration of eligibility for traveling by automatic operation control. As a result, it is possible to provide a recommended route that prevents a disadvantageous event from occurring for the user such as the automatic operation control being interrupted while the vehicle is traveling by the automatic operation control.

The second configuration is as follows.
The route search means (41) includes a first route search means (41) for searching for the recommended route without considering the target road (51), and a route searched by the first route search means, A route determination unit (41) for determining whether the route passes through the target road, and a route searched by the first route search unit by the route determination unit is determined to be a route passing through the target road. And a second route search means (41) for searching the recommended route again on condition that the target road is not passed.
According to the route search system having the above-described configuration, it is possible to set not only a route that does not pass through the target road as a recommended route but also a route that passes through the target road as a recommended route candidate.

The third configuration is as follows.
The route search means (41) compares the first route searched by the first route search means (41) with the second route searched by the second route search means (41), and the recommended route. Select.
According to the route search system having the above configuration, the recommended route candidate that does not pass through the target road is compared with the recommended route candidate that passes through the target road, so that it is more suitable as a recommended route when traveling by automatic driving control. It is possible to select a simple route as a recommended route.

The fourth configuration is as follows.
When the route search means (41) selects the first route searched by the first route search means (41) as the recommended route, the route search means (41) before passing the target road (51) in the recommended route. Furthermore, it has a section setting means (41) for setting a section to take over from traveling by automatic driving control to manual driving traveling.
According to the route search system having the above configuration, before the vehicle travels in a section where it is difficult to continuously perform the automatic driving control, the driving is appropriately taken over from the driving by the automatic driving control to the driving by the manual driving. It becomes possible to make it.

The fifth configuration is as follows.
The target road specifying means (41) specifies an arranged road, which is a road on which the restricted feature (52, 53) is arranged, as the target road.
According to the route search system having the above-described configuration, it is possible to appropriately specify a target road as a target road that prompts the vehicle to decelerate or stop by a restricted feature installed on the road such as a stop sign. Become.

The sixth configuration is as follows.
The target road specifying means (41) determines the intersection based on the arrangement position of the restricted feature (52, 53), the arrangement angle of the restricted feature, and the road shape of the intersection (50). The target road is identified from the roads constituting the road.
According to the route search system having the above-described configuration, it becomes possible to appropriately specify a target road as a target road for urging the vehicle to decelerate or stop by a restricted feature having a directionality effect such as a curve mirror. .

The seventh configuration is as follows.
The vehicle includes a travel mode acquisition unit (41) that acquires a travel mode of the vehicle at the intersection (50), and the target road identification unit (41) is an intersection (where the restricted feature (52, 53) is disposed) 50), the target road is identified from among the roads constituting the intersection.
According to the route search system having the above configuration, a target road that is a target for encouraging the vehicle to decelerate or stop due to the restricted feature among the roads constituting the intersection cannot be specified only from the information about the restricted feature or the road shape. Even if it is a case, it becomes possible to specify an object road appropriately by using the running mode of the vehicle in an intersection.

The eighth configuration is as follows.
The target road specifying means (41) specifies, as the target road, a road on which a vehicle entering the intersection decelerates or stops among roads constituting the intersection (50).
According to the route search system having the above-described configuration, by specifying a road on which the vehicle actually decelerates or stops as a target road, the target that prompts the vehicle to decelerate or stop by the restricted feature among the roads constituting the intersection. It becomes possible to appropriately identify the target road.

1 Navigation device 13 Navigation ECU
41 CPU
42 RAM
43 ROM
50 intersection 51 approach road 52 stop sign 53 curve mirror 54 viewable range

Claims (10)

A route search system for searching for a recommended route when traveling by automatic driving control,
Feature information acquisition means for acquiring arrangement information of restricted features that are arranged on or around a road that constitutes an intersection and that prompts the vehicle to decelerate or stop when driving manually by driving operation;
Target road specifying means for specifying a target road, which is a target road for urging the vehicle to decelerate or stop by the restricted feature, based on the arrangement information of the restricted feature acquired by the feature information acquiring means; ,
Route search means for searching for the recommended route giving priority to a route that avoids the target road. The route search means includes
First route searching means for searching for the recommended route without considering the target road;
Route determining means for determining whether or not the route searched by the first route searching means is a route passing through the target road;
If it is determined by the route determination means that the route searched by the first route search means is a route that passes through the target road, the search for the recommended route is performed again on condition that the route does not pass through the target road. The route search system according to claim 1, further comprising second route search means for performing.   3. The route search unit according to claim 2, wherein the route search unit selects the recommended route by comparing the first route searched by the first route search unit and the second route searched by the second route search unit. Route search system.   When the route search means selects the first route searched by the first route search means as the recommended route, the vehicle is manually operated from automatic driving control before passing the target road on the recommended route. The route search system according to claim 3, further comprising section setting means for setting a section to take over for driving.   The route search system according to any one of claims 1 to 4, wherein the target road specifying unit specifies an arranged road that is a road on which the restricted feature is arranged as the target road.   The target road specifying means determines the target road from among roads constituting the intersection based on an arrangement position of the restricted feature, an arrangement angle of the restricted feature, and a road shape of the intersection. The route search system according to any one of claims 1 to 4, wherein the route search system is specified. Having a driving mode acquisition means for acquiring the driving mode of the vehicle at the intersection;
The route search system according to claim 6, wherein the target road specifying unit specifies the target road from among roads constituting the intersection based on a traveling mode of a vehicle at the intersection where the restricted feature is disposed. .   The route search system according to claim 7, wherein the target road specifying unit specifies a road on which a vehicle entering the intersection decelerates or stops among the roads constituting the intersection as the target road. A route search method for searching for a recommended route when traveling by automatic driving control,
The feature information acquisition means is arranged on or around the road constituting the intersection, and acquires the arrangement information of the restricted feature that is a feature that prompts the vehicle to decelerate or stop when the vehicle is driven manually by the driving operation. Steps,
The target road identifying means identifies a target road that is a road that is a target for urging the vehicle to decelerate or stop by the restricted feature based on the arrangement information of the restricted feature acquired by the feature information acquiring means. And steps to
A route search means, comprising: a step of searching for the recommended route giving priority to a route that avoids the target road. A computer program for searching for a recommended route when traveling by automatic operation control,
Computer
Feature information acquisition means for acquiring arrangement information of restricted features that are arranged on or around a road that constitutes an intersection and that prompts the vehicle to decelerate or stop when driving manually by driving operation;
Target road specifying means for specifying a target road, which is a target road for urging the vehicle to decelerate or stop by the restricted feature, based on the arrangement information of the restricted feature acquired by the feature information acquiring means; ,
Route search means for searching for the recommended route giving priority to a route avoiding the target road;
Computer program to make it function.

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