JP6798206B2 - Recommended route determination system for mobiles - Google Patents

Description

The present invention relates to a recommended route determination system for mobile objects.

The cost value is calculated using the automatic operation cost table set so that the lower the cost value is calculated for the route suitable for traveling by automatic operation control, and the recommended route is based on the calculated cost value. A route search system for searching for is known (see, for example, Patent Document 1). In Patent Document 1, the automatic driving cost table is set so that a lower cost value is calculated for a route with less traffic.

International Publication No. 2015/129366

However, Patent Document 1 does not disclose how to evaluate the traffic volume of a route. Since there are innumerable starting points and innumerable destinations, there are innumerable routes. It is not easy to accurately grasp the traffic volume of each of the innumerable routes. It is difficult to determine an appropriate recommended route without accurately grasping the traffic volume of the route.

According to the present invention, it is a recommended route determination system for a moving body, that is, a road map storage device configured to store road map information and an environmental map storage configured to store environmental map information. In the device, the environment map information is position information representing a plurality of positions in space, and state quantity changeability of each of the plurality of positions, and is associated with the corresponding position information. The state quantity changeability is smaller when the change of the state quantity of the corresponding position with respect to time is small than when the change is large, and the environmental map storage device and the movement. Using the acquisition unit configured to acquire the position information of the departure point of the body and the position information of the destination, the road map information, the position information of the departure point of the moving body, and the position information of the destination. Therefore, the route state quantity changeability of the primary candidate is calculated by using the primary candidate determination unit configured to determine a plurality of primary candidates of the recommended route of the moving body and the environment map information. To determine whether or not the number of the configured calculation unit and the number of other moving objects moving on the primary candidate having the smallest root state quantity changeability among the primary candidates is less than the predetermined number. When it is determined that the number of the other moving bodies is less than the set number, the primary candidate having the smallest change in the route state quantity is determined as the recommended route of the moving body. When it is determined that the number of the other moving bodies is larger than the set number, any one of the primary candidates whose root state quantity changeability is smaller than a predetermined threshold value is selected as the moving body. A recommended route determination system for a moving body is provided, which comprises a recommended route determination unit configured to determine the recommended route of the moving body.

It is easier to determine a more appropriate recommended route.

It is the whole outline of the Example by this invention. It is a block diagram of a recommended route determination system. It is a block diagram of a vehicle control system. It is the schematic explaining the external sensor of the Example by this invention. It is a conceptual diagram of environmental map information. It is a time chart which shows an example of the change with respect to time of a state quantity. It is a time chart which shows another example of the change of a state quantity with respect to time. It is a time chart which shows still another example of the change of a state quantity with respect to time. It is the schematic explaining the detection method of the position information and the state quantity. Calculation of state quantity changeability It is the schematic which shows the example of the primary candidate. It is a diagram which shows the relationship between the root state quantity changeability and an override rate. It is a flowchart which shows the recommended route determination control routine of the Example by this invention. It is a flowchart which shows the target route setting control routine of the Example by this invention.

FIG. 1 shows a schematic overall view of an embodiment of the present invention. With reference to FIG. 1, DC represents a data center and V represents a mobile body. In the example shown in FIG. 1, the moving body V is a vehicle. In another embodiment, the moving body is a mobile robot. The data center DC includes a recommended route determination system 10 for a mobile body. On the other hand, each vehicle includes a control system 30. As shown in FIG. 1, the data center DC and a plurality of cars both V, and can communicate with each other via a communication network NW such as the Internet.

FIG. 2 shows a block diagram of the recommended route determination system 10 installed in the data center DC. Referring to FIG. 2, the recommended route determination system 10 includes a road map storage device 11, an environment map storage device 12, a communication device 13, and an electronic control unit (ECU, Electronic Computer Unit) 20.

The road map storage device 11 is configured to store road map information. Road map information includes, for example, road position information, road shape information (for example, road width, curve and straight line type, curve curvature, intersection, confluence and branch point positions, etc.). .. The road map information stored in the road map storage device 11 is transmitted to the electronic control unit 20 in response to a request from the electronic control unit 20. The road also includes an indoor passage where a moving body can move.

The environmental map storage device 12 is configured to store environmental map information. Environmental map information will be described later. The environmental map information is transmitted to the electronic control unit 20 in response to a request from the electronic control unit 20.

The communication device 13 is configured so that the electronic control unit 20 can communicate with the outside via the communication network NW.

The electronic control unit 20 is a computer equipped with a CPU (Central Processing Unit) or the like. In the embodiment according to the present invention, the electronic control unit 20 includes a storage unit 21, an acquisition unit 22, a primary candidate determination unit 23, a calculation unit 24, a determination unit 25, including a ROM (Read Only Memory) and a RAM (Random Access Memory). It includes a recommended route determination unit 26 and an environment map creation / update unit 27.

The acquisition unit 22 is configured to acquire the position information of the departure place and the position information of the destination of the vehicle V. On the other hand, the primary candidate determination unit 23 is configured to determine a plurality of primary candidates for the route of the vehicle V by using the road map information, the position information of the departure point of the vehicle V, and the position information of the destination. .. The calculation unit 24 is configured to calculate the recommended route state quantity changeability of the primary candidate by using the environmental map information. The determination unit 25 is configured to determine whether or not the number of other vehicles traveling on the primary candidate having the smallest route state quantity changeability among the primary candidates is less than a predetermined number. When the recommended route determination unit 26 determines that the number of other vehicles is less than the set number, the recommended route determination unit 26 determines the primary candidate having the smallest change in the route state quantity as the recommended route of the vehicle V, and the number of other vehicles is the set number. When it is determined that there are more than, one of the primary candidates whose route state quantity variability is smaller than the predetermined threshold value is determined as the recommended route of the vehicle V. .. The environment map creation / update unit 27 is configured to create environment map information and store it in the environment map storage device 12, and update the environment map information stored in the environment map storage device 12.

On the other hand, FIG. 3 shows a block diagram of the control system 30 mounted on the vehicle V. Referring to FIG. 3, the control system 30 of the vehicle V includes an external sensor 31, a GPS receiver 32, an internal sensor 33, a road map storage device 34, a storage device 35, a communication device 36, an HMI (Human Machine Interface) 37, and an actuator. 38 and an electronic control unit 40 are provided.

The external sensor 31 is configured to detect information outside or around the own vehicle V. The external sensor 31 includes at least one of a lidar (Laser Imaging Detection and Ranking), a radar (Radar), and a camera. In the embodiment according to the present invention, as shown in FIG. 4, the external sensor 31 includes a rider 31a, a radar 31b, and a camera 31c.

The rider 31a is a device that uses laser light to detect a road on which the vehicle is traveling or an external obstacle. In the example shown in FIG. 4, four riders 31a are attached to bumpers at the four corners of the vehicle V, respectively. The rider 31a sequentially irradiates the laser beam toward the entire circumference of the own vehicle V, measures the distance from the reflected light to the obstacle on the road and around the road, and measures the road and the obstacle around the entire circumference of the own vehicle V. Is detected in the form of a three-dimensional image. The three-dimensional images of roads and obstacles detected by the rider 31a are transmitted to the electronic control unit 40. On the other hand, the radar 31b is a device that detects an obstacle outside the own vehicle V by using radio waves. In the example shown in FIG. 4, four radars 31b are attached to bumpers at the four corners of the vehicle V, respectively. The radar 31b emits radio waves from the radar 31b around the own vehicle V, and measures the distance from the reflected wave to an obstacle around the own vehicle V. The obstacle information detected by the radar 31b is transmitted to the electronic control unit 40. In the example shown in FIG. 4, the camera 31c includes a front camera provided inside the windshield of the vehicle V. The front camera 31c photographs the front of the own vehicle V in color or monochrome, and the color or monochrome imaging information by the front camera 31c is transmitted to the electronic control unit 40.

The GPS receiver 32 is configured to receive signals from three or more GPS satellites and thereby detect the absolute position of the own vehicle V (for example, the latitude and longitude of the own vehicle V). The absolute position information of the own vehicle V detected by the GPS receiver 32 is transmitted to the electronic control unit 40.

The internal sensor 33 is configured to detect the traveling state of the own vehicle V. The traveling state of the own vehicle V is represented by at least one of the speed, acceleration, and posture of the own vehicle. The internal sensor 33 includes one or both of a vehicle speed sensor and an IMU (Inertial Measurement Unit). In the embodiment according to the present invention, the internal sensor 33 includes a vehicle speed sensor and an IMU. The vehicle speed sensor detects the speed of the own vehicle V. The IMU is equipped with, for example, a three-axis gyro and a three-direction acceleration sensor, detects the three-dimensional angular velocity and acceleration of the own vehicle V, and detects the acceleration and attitude of the own vehicle V based on them. The running state information of the own vehicle V detected by the internal sensor 33 is transmitted to the electronic control unit 40.

The road map storage device 34 is configured to store road map information in the same manner as the road map storage device 11 described above. The road map information stored in the road map storage device 34 is transmitted to the electronic control unit 20 in response to a request from the electronic control unit 40.

The storage device 35 is configured to store a three-dimensional image of an obstacle detected by the rider 31a and a road map dedicated to autonomous driving created based on the detection result of the rider 31a. Three-dimensional images and road maps of these obstacles are updated constantly or regularly.

The communication device 36 is configured so that the electronic control unit 40 can communicate with the outside via the communication network NW.

The HMI 37 is configured to exchange information between the occupant of the own vehicle V and the control system 30. The HMI 37 is, for example, a display that provides the occupant with at least one of text information and image information, a speaker that provides the occupant with sound information, and an operating device operated by the occupant (for example, a button, a lever, a dial, a touch panel, etc.). To be equipped with.

The actuator 38 is configured to control the traveling operation of the own vehicle V in response to a control signal from the electronic control unit 40. The traveling operation of the vehicle V includes driving, braking and steering of the vehicle V. The actuator 38 includes at least one of a drive actuator, a braking actuator, and a steering actuator. In the embodiment according to the present invention, the actuator 38 includes a drive actuator, a braking actuator, and a steering actuator. The drive actuator controls the output of the engine or electric motor that provides the driving force of the vehicle V, thereby controlling the driving operation of the vehicle V. The braking actuator operates the braking device of the vehicle V, thereby controlling the braking operation of the vehicle V. The steering actuator operates the steering device of the vehicle V, thereby controlling the steering operation of the vehicle V.

The electronic control unit 40 is a computer like the electronic control unit 20 described above. In the embodiment according to the present invention, the electronic control unit 40 includes a storage unit 41 including a ROM and a RAM, an operation control unit 42, and a target route setting unit 43.

The driving control unit 42 is configured to control vehicle driving. On the other hand, the target route setting unit 43 is configured to set the target route of the vehicle V.

Next, the environmental map information of the embodiment according to the present invention will be described. The environmental map information of the embodiment according to the present invention has position information representing each of a plurality of positions in the space, and state quantity variability associated with the corresponding position information. In the embodiment according to the present invention, the position information is represented by longitude and latitude. Therefore, as shown in FIG. 5, the environmental map information M is in the form of a two-dimensional map. In the example shown in FIG. 5, a plurality of compartments SC having the same shape are provided, and the state quantity variability corresponding to the position information of the compartment SC is associated with each of the plurality of compartments SC. That is, when the position information of an arbitrary position is input, the section SC to which the position belongs is specified, and the state quantity changeability associated with the specified section SC is output. In FIG. 5, LG represents longitude and LT represents latitude. In another embodiment (not shown), location information is represented by longitude, latitude and altitude. In this case, the environmental map information M is in the form of a three-dimensional map.

The state quantity changeability at a certain position is calculated based on the state quantity at the certain position. In the embodiment according to the present invention, the state quantity at a certain position is represented by the probability that an object exists at the certain position. In this case, the state quantity is calculated, for example, in the form of continuous values from zero to one. In another embodiment (not shown), the state quantity is calculated in the form of discrete values.

The state quantity changeability at a certain position is a numerical value indicating the ease of change of the state quantity at a certain position with time. Specifically, the state quantity changeability at a certain position is smaller when the change in the state quantity at a certain position with time is small than when the change is large. In the examples according to the present invention, the state quantity changeability is calculated in the form of continuous values. In another embodiment (not shown), the state quantity variability is calculated in the form of discrete values. Next, the state quantity changeability will be further described with reference to FIGS. 6A, 6B, and 6C. In addition, in FIG. 6A, FIG. 6B, and FIG. 6C, the state quantities detected at various times at the same position are plotted.

The state quantity changeability is represented by, for example, the frequency of change of the state quantity with time and the degree of change. The state quantity of the example shown in FIG. 6A changes less frequently than the state quantity of the example shown in FIG. 6B. Therefore, the state quantity changeability of the example shown in FIG. 6A is smaller than the state quantity changeability of the example shown in FIG. 6B. On the other hand, the state quantity of the example shown in FIG. 6A has a smaller degree of change than the state quantity of the example shown in FIG. 6C. Therefore, the state quantity changeability of the example shown in FIG. 6A is smaller than the state quantity changeability of the example shown in FIG. 6C.

In the embodiment according to the present invention, as described above, the state quantity at a certain position is represented by the probability that an object exists at the certain position. Therefore, at a position where the state quantity changeability is relatively large, an object (for example, another vehicle, a pedestrian, etc.) passes through the position relatively frequently, and the state at the position is relatively unstable. I understand. On the other hand, at a position where the state quantity changeability is relatively small, the frequency with which the object passes through the position is relatively low, and it can be seen that the state at the position is relatively stable. As described above, the state quantity changeability at a certain position represents the stability of the state at the certain position.

In another embodiment (not shown), the state quantity at a position is represented by the color or luminance value of the object present at the position. When the state quantity is represented by the color of the object, the color of the object is detected by the color camera 31c of the external sensor 31. In this case, the state quantity is quantified using, for example, an RGB model. On the other hand, when the state quantity is represented by the luminance value of the object, the luminance value of the object is detected by at least one of the lidar 31a, the radar 31b, and the color or monochrome camera 31c of the external sensor 31. For example, the intensity of the reflected light obtained when the laser light emitted from the rider 31a is reflected on the object represents the brightness value of the object. Similarly, the reflected wave intensity of the radar 31b represents the brightness value of the object. Therefore, the brightness value of the object is detected by detecting the reflected light intensity or the reflected wave intensity.

In the embodiment according to the present invention, the environmental map information M is created as follows, for example. That is, first, the external sensor 31 of the vehicle V, for example, the rider 31a, is used to detect the position information representing the position and the state quantity of the position at different times for each of the plurality of positions in the space. .. This will be described with reference to FIG.

FIG. 7 shows a case where the laser beam emitted from the rider 31a of the vehicle V is reflected by the object OBJ. In this case, a reflection point is formed at the position PX as shown by a black circle in FIG. The rider 31a measures the relative position information of the position PX with respect to the rider 31a from the reflected light. From this measurement result, it can be seen that the object OBJ exists at the position PX. In the embodiment according to the present invention, the state quantity is represented by the object existence probability as described above, so that the state quantity at the position PX is 1. Further, the absolute position information of the position PX is calculated from the relative position information of the position PX with respect to the rider 31a and the self-position information (absolute position) of the vehicle V. Further, it can be seen that the object does not exist at the position PY which is not the reflection point indicated by the white circle in FIG. 7, and therefore the state quantity of the position PY, that is, the object existence probability becomes zero. In addition, the absolute position information of the position PY is calculated. In this way, the absolute position information and the state quantity of the positions PX and PY are calculated.

In the embodiment according to the present invention, the rider 31a repeatedly detects the object information at intervals of, for example, several tens of ms. In other words, the rider 31a detects object information at a plurality of different times. Therefore, the state quantities at a plurality of different times are calculated from the object information at a plurality of different times. Alternatively, even when the vehicle V travels a certain place a plurality of times, the object information at a plurality of different times is detected, and therefore the state quantities at a plurality of different times are calculated.

Next, the detected position information and state quantity are transmitted to the data sensor DC. Next, the environment map information M is created by the environment map creation / update unit 27 of the data sensor DC. Specifically, the state quantity changeability of each of the plurality of compartments SC (FIG. 5) is calculated. In the embodiment according to the present invention, the amount of change in the state quantity per unit time is calculated, and the state quantity changeability is calculated based on the amount of change in the state quantity per unit time. This will be described with reference to FIG.

In FIG. 8, a plurality of state quantities of positions belonging to the same compartment SC and detected at a plurality of different times are plotted as a function of time. In this case, first, the change amount dSQ1 (absolute value) of the state quantity in the time width dt1 and the change amount dSQ2 (absolute value) of the state quantity in the time width dt2 are sequentially calculated. Next, the changes in the state quantity per unit time dSQ1 / dt1, dSQ2 / dt2, ... Are sequentially calculated. Next, the state quantity changeability is calculated by simply averaging or weighted averaging the changes in the state quantity per unit time dSQ1 / dt1, dSQ2 / dt2, ... When a weighted average is used, in one example, the amount of change dSQ / dt per unit time of a state quantity with a newer detection time is weighted more, and the amount of change dSQ / dt per unit time of a state quantity with an older detection time. Is weighted less. In another example, the amount of change dSQ / dt per unit time of a state quantity with a newer detection time is weighted less, and the amount of change dSQ / dt per unit time of a state quantity with an older detection time is weighted more. To. Such calculation of the state quantity changeability is performed for each of the plurality of compartments SC. In the example shown in FIG. 8, the time widths dt1, dt2, ... Are equal to each other. In another embodiment (not shown), the time widths dt1, dt2, ... Are not necessarily equal to each other.

In another embodiment (not shown), a plurality of state quantities as a function of time are Fourier transformed, and the state quantity changeability is calculated from the result. Specifically, in one example, the intensity of a predetermined spectrum (frequency) is calculated as the state quantity changeability. In another example, the state quantity variability is calculated by simple averaging or weighted averaging the intensities of the various spectra.

Next, the position information of the section SC and the corresponding state quantity changeability are associated and stored in the environment map storage device 12. In this way, the environmental map information M is created.

In another embodiment (not shown), state quantity variability is calculated for each of the plurality of positions. Next, the state quantity changeability of the position belonging to the compartment SC is calculated by simple averaging or weighted averaging.

In the embodiment according to the present invention, the environmental map information M is further updated by the environmental map creation / updating unit 27. That is, first, the vehicle V newly detects the position information and the state quantity, and transmits the position information and the state quantity to the data sensor DC. The data center DC then identifies the compartment SC to which the newly detected location belongs. Then, the state quantity changeability associated with the specified compartment SC, that is, the state quantity changeability of the environmental map information M and the newly detected state quantity are, for example, weighted averaged, whereby the state quantity changeability is increased. Will be updated.

In the embodiment according to the present invention, such updating of the environmental map information M is repeated, for example, at regular time intervals. As a result, the environmental map information M is maintained in a more accurate state. Further, in the embodiment according to the present invention, the detection of the position information and the state quantity and the transmission to the data center DC are performed by the plurality of vehicles V. As a result, the environment map information M is created and updated with higher accuracy.

In another embodiment (not shown), the environment map creation / updating unit 27 is mounted on the vehicle V. In yet another embodiment (not shown), the environmental map creation / updating unit 27 and the environmental map storage device 12 are mounted on the vehicle V.

By the way, in the embodiment according to the present invention, in the vehicle V, the operation control unit 42 performs manual operation or automatic operation. Specifically, the operation control unit 42 determines whether or not automatic operation is possible during manual operation. Next, when the operation control unit 42 determines that the automatic operation is possible, the operation control unit 42 presents information to the driver that the automatic operation is possible, for example, via the HMI 37. Next, when the driver inputs an input for starting the automatic operation via the HMI 37, the operation control unit 42 starts the automatic operation. That is, the driving, braking, and steering, which are the traveling operations of the vehicle V, are controlled by the actuator 38. To explain in a little more detail, the operation control unit 42 performs information from the external sensor 31, information from the GPS receiver 32, information from the internal sensor 33, road map information in the road map storage device 34, and storage device 35 during automatic operation. Using a road map dedicated to automatic driving, a target route, etc., for example, identify the self-position, identify obstacles around the vehicle V, determine the course that is a function of the position and time, and the vehicle V The actuator 38 is controlled so as to travel according to the course. On the other hand, during the automatic operation, when the driver inputs to end the automatic operation via the HMI 37, the operation control unit 42 ends the automatic operation. That is, vehicle driving is switched from automatic driving to manual driving. In this case, the driving, braking, and steering, which are the traveling operations of the vehicle V, are performed by the driver. When the driver overrides during automatic driving, that is, when the driver operates the steering wheel by a predetermined threshold or more, when the accelerator pedal is depressed by a predetermined threshold or more, or when the brake pedal is pressed. The automatic operation is also terminated when the driver depresses more than the predetermined threshold.

Further, in the embodiment according to the present invention, when the target route is set by the target route setting unit 43, the driving control unit 42 operates the vehicle V so that the vehicle V travels along the target route during automatic driving. To control. On the other hand, during manual operation, the operation control unit 42 uses the HMI 37 to guide the driver along the target route.

By the way, the recommended route determination system 10 of the embodiment according to the present invention is configured to determine the recommended route of the vehicle V. Roughly speaking, when the vehicle V transmits the position information of the departure place and the position information of the destination to the recommended route determination system 10, the recommended route determination system 10 determines the recommended route, and the information of the recommended route is transmitted to the vehicle V. Send to. The determination and transmission of such a recommended route is performed for a plurality of vehicles.

Specifically, the driver of the vehicle V who needs the recommended route inputs the starting point and the destination via the HMI 37. As a result, the location information of the departure place and the location information of the destination are transmitted to the recommended route determination system 10. In another embodiment (not shown), when the driver of the vehicle V inputs the destination of the route via the HMI 37, the position information of the current location of the vehicle V as the departure point and the position information of the destination are sent to the recommended route determination system 10. Will be sent.

The transmitted location information of the departure place and the location information of the destination are acquired by the acquisition unit 22 of the recommended route determination system 10. Next, the primary candidate determination unit 23 of the recommended route determination system 10 determines a plurality of primary candidates for the recommended route by using the road map information of the road map storage device 11, the position information of the departure place, and the position information of the destination. Specifically, there can be innumerable candidates for the route from the starting point to the destination. Therefore, the primary candidate determination unit 23 determines a plurality of primary candidates for the route from among these innumerable candidates, for example, based on the mileage, the travel time, the width of the road, and the like.

FIG. 9 shows an example of the primary candidate. In the example shown in FIG. 9, three different primary candidates RC (1), RC (2), and RC (3) are shown. In FIG. 9, SL indicates the starting point and DST indicates the destination.

Next, the calculation unit 24 of the recommended route determination system 10 calculates the route state quantity changeability of the primary candidate using the environment map information M, respectively. The root state quantity changeability is a numerical value calculated by using the state quantity changeability of a plurality of intermediate points on the route. In the embodiment according to the present invention, the root state quantity changeability is calculated by summing the state quantity changes at these intermediate points. In one example, N intermediate points are formed by dividing the distances of the primary candidates into equal parts (N + 1). In another example, an intermediate point is formed each time a certain distance is traveled along the primary candidate from the starting point.

Next, the determination unit 25 of the recommended route determination system 10 identifies the primary candidate having the smallest route state quantity changeability among the primary candidates. When the primary candidate having the smallest change in the route state quantity is referred to as the first rank candidate, the determination unit 25 then determines whether or not the number of other vehicles traveling on the first rank candidate is less than the predetermined number. To judge. In the embodiment according to the present invention, the determination unit 25 first calculates the number of other vehicles traveling on the first rank candidate, and then compares the number of other vehicles traveling on the first rank candidate with the set number. The number of other vehicles traveling on the first rank candidate is calculated as follows, for example. That is, when the recommended route transmitted from the recommended route determination system 10 to the other vehicle overlaps at least partially with the first ranking candidate, it can be considered that the other vehicle travels on the first ranking candidate. Therefore, if the number of other vehicles to which the recommended route that partially overlaps the first rank candidate is transmitted is counted, the number of the other vehicles represents the number of other vehicles traveling on the first rank candidate. There is.

Next, the recommended route determination unit 26 of the recommended route determination system 10 determines the recommended route. In the embodiment according to the present invention, when it is determined that the number of other vehicles traveling on the first rank candidate is less than the set number, the recommended route determination unit 26 determines the first rank candidate as the recommended route. On the other hand, when it is determined that the number of other vehicles traveling on the first rank candidate is larger than the set number, the recommended route determination unit 26 first determines the primary candidate based on the route state quantity changeability of the primary candidate. At least one secondary candidate is determined from among them. Specifically, the primary candidate whose root state quantity changeability is smaller than the predetermined threshold value is determined as the secondary candidate. Next, the recommended route determination unit 26 determines any one of the secondary candidates as the recommended route. In the embodiment according to the present invention, one randomly selected from the secondary candidates is determined as the recommended route.

The root state quantity changeability of a certain route represents the stability of the route. Specifically, a route having a small change in the root state quantity is more stable than a route having a large change in the root state quantity. That is, it is more suitable for vehicle driving. Then, the first-ranked candidate with the smallest route state quantity changeability is the most stable among the primary candidates, and is most suitable for vehicle driving. Therefore, it is preferable to determine the first ranking candidate as the recommended route.

However, since the first-ranked candidate for a certain vehicle is the most stable route among the primary candidates for the vehicle, there is a high possibility that it overlaps with the first-ranked candidate for another vehicle. Therefore, the number of other vehicles traveling on the first-ranked candidate may become excessively large. If the number of other vehicles traveling on the first candidate becomes excessively large, the stability of the first candidate decreases.

Therefore, in the embodiment according to the present invention, when the number of other vehicles traveling on the first rank candidate is small, the first rank candidate is determined as the recommended route. As a result, it is possible to secure the vehicle running along the most stable route. On the other hand, when the number of other vehicles traveling on the first-ranked candidate is large, one of the secondary candidates is determined as the recommended route. Since the root state quantity changeability of the secondary candidate is smaller than the above-mentioned threshold value, the secondary candidate is relatively stable. As a result, it is possible to secure vehicle traveling along a stable route without increasing the number of vehicles traveling in the first rank candidate.

Moreover, in the embodiment according to the present invention, the recommended route is determined based on the root state quantity changeability or the state quantity changeability, so that a more appropriate recommended route can be determined more easily.

Next, the recommended route determination unit 26 transmits the information of the recommended route thus determined to the vehicle V to which the position information of the departure place and the position information of the destination are transmitted. When the vehicle V receives the information on the recommended route, the target route setting unit 43 of the vehicle V sets the recommended route as the target route.

When the number of overrides per unit mileage is referred to as an override rate (for example, times / km), as shown in FIG. 10, the override rate decreases as the route state quantity changeability decreases. In the embodiment according to the present invention, when the override rate is a predetermined threshold rate, the root state quantity changeability becomes the above-mentioned threshold value. Therefore, in the embodiment according to the present invention, the primary candidate whose override rate is lower than the threshold rate is determined as the secondary candidate. As a result, a stable route is determined as a secondary candidate from the viewpoint of autonomous driving.

FIG. 11 shows a routine for executing the recommended route determination control of the embodiment according to the present invention. This routine is executed by interrupts at predetermined time intervals in the recommended route determination system 10. With reference to FIG. 11, in step 100, it is determined whether or not the position information of the departure place and the position information of the destination have been received from the control system 30 of the vehicle V. When the location information is not received, the processing cycle ends. When the position information is received, the process proceeds to step 101, and the primary candidate is determined. In the following step 102, the root state quantity changeability of the primary candidate is calculated. In the following step 103, the first ranking candidate is determined. In the following step 104, the number NOV of other vehicles traveling on the first rank candidate is calculated. In the following step 105, it is determined whether or not the number of other vehicles NOV is larger than the predetermined threshold value NOVX. When NOV ≦ NOVX, the process proceeds to step 106, and the first ranking candidate is determined as the recommended route. Then, the process proceeds to step 109. On the other hand, when NOV> NOVX, the process proceeds to step 107, and the secondary candidate is determined. In the following step 108, any one of the secondary candidates is determined as the recommended route. Then, the process proceeds to step 109. In step 109, the recommended route is transmitted to the vehicle V control system 30.

FIG. 12 shows a routine for executing the target route setting control of the embodiment according to the present invention. This routine is executed by interrupts at predetermined time intervals in the control system 30 of the vehicle V. With reference to FIG. 12, in step 200, it is determined whether or not the departure point and the destination have been input by the driver. When the input is not made, the processing cycle is terminated. On the other hand, when the input is made, the process proceeds to step 201, and the input location information of the departure place and the position information of the destination are transmitted to the recommended route determination system 10. In the following step 202, it is determined whether or not the recommended route information has been received from the recommended route determination system 10. If the recommended route information has not been received, the process returns to step 202. When the information on the recommended route is received, the process proceeds to step 203, and the recommended route is set as the target route.

In another embodiment (not shown), at least a portion of the recommended route determination system 10 is mounted on the vehicle V. In one example, the acquisition unit 22, the primary candidate determination unit 23, the calculation unit 24, the determination unit 25, and the recommended route determination unit 26 are provided in the vehicle V. In this case, the primary candidate determination unit 23 determines the primary candidate using the road map information of the road map storage device 11 of the vehicle V.

10 Recommended route determination system 11 Road map storage device 12 Environmental map storage device 20 Electronic control unit 22 Acquisition unit 23 Primary candidate determination unit 24 Calculation unit 25 Judgment unit 26 Recommended route determination unit

Claims (2)

It is a recommended route determination system for mobiles that determines recommended routes for each of a plurality of mobiles and transmits recommended routes corresponding to the plurality of mobiles .
A road map storage device that is configured to store road map information,
It is an environmental map storage device configured to store environmental map information, and the environmental map information includes position information representing a plurality of positions in space and state quantity changeability of each of the plurality of positions. It has the state quantity changeability associated with the corresponding position information, and the state quantity changeability changes when the change of the state quantity of the corresponding position with respect to time is small. Environmental map storage device, which is smaller than when it is large,
An acquisition unit configured to acquire the position information of the departure point and the position information of the destination of the moving body, and
With the primary candidate determination unit configured to determine a plurality of primary candidates for the recommended route of the moving body by using the road map information, the position information of the departure point of the moving body, and the position information of the destination. ,
A calculation unit configured to calculate the route state quantity changeability of the primary candidate using the environment map information, and a calculation unit.
Among the primary candidates, other mobiles that move on the primary candidate by counting the number of other mobiles to which the recommended route whose route state quantity changeability is at least partially overlapped with the primary candidate is transmitted. And a judgment unit configured to determine whether or not the number of other moving objects is less than a predetermined number.
When it is determined that the number of the other mobiles is smaller than the set number, the primary candidate having the smallest root state quantity changeability is determined as the recommended route of the mobile, and the number of the other mobiles is the setting. When it is determined that the number is larger than the number, any one of the primary candidates whose route state quantity variability is smaller than the predetermined threshold value is determined as the recommended route of the moving body. The recommended route determination unit that is configured and
Recommended route determination system for mobiles. The recommended route determination system for a moving body according to claim 1, wherein the state quantity at a certain position is represented by the probability that an object exists at the certain position or the color or brightness value of the object existing at the certain position. ..

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