JP7009827B2 - Vehicle information storage method, vehicle travel control method, and vehicle information storage device - Google Patents

Description

The present invention relates to a vehicle information storage method, a vehicle travel control method, and a vehicle information storage device.

In a system that provides a user with a stop position at which an autonomous vehicle stops to get an occupant on or off, when the destination of the vehicle is set, a plurality of vehicles are set according to the walking distance between the destination and the user. A method of specifying a stop position is known (Patent Document 1). In this system, a position on the lane is specified as a stop position.

U.S. Patent Application Publication No. 2016/370194

According to the conventional technology, when driving toward the premises of a facility, it is not possible to provide the user with location information for the vehicle to enter the premises, so that it is not possible to drive smoothly to the premises. There's a problem.

The problem to be solved by the present invention is to provide a vehicle information storage device and a vehicle information storage device for storing position information for a vehicle to enter the premises of a facility, and a vehicle traveling control method using the information. It is to be.

In the present invention, based on the map information including the POI and the position of the vehicle, the lane in which the vehicle traveled immediately before arriving at the POI is specified as the target lane, and the vehicle enters the facility indicated by the POI from the target lane. The above problem is solved by calculating the position on the target lane as the approach position, associating the POI with the approach position, and storing the POI approach position in the storage device.

According to the present invention, since the position information for the vehicle to enter the premises of the facility is stored, it is possible to smoothly drive to the premises based on the memorized position information.

FIG. 1 is a diagram showing a block configuration diagram of a driving knowledge extraction system in the first embodiment. FIG. 2 is an example for explaining the approach position calculation process. FIG. 3 is another example for explaining the approach position calculation process. FIG. 4 is a flowchart showing a control procedure of the driving knowledge extraction system in the first embodiment. FIG. 5 is a diagram showing a block configuration diagram of the vehicle travel control system in the second embodiment. FIG. 6 is a flowchart showing a control procedure of the vehicle travel control system in the second embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<< First Embodiment >>
In the present embodiment, a case where the vehicle information storage device according to the present invention is applied to a driving knowledge extraction system that cooperates with a server 100 and an in-vehicle device 200 mounted on a vehicle will be described as an example.

FIG. 1 is a diagram showing a block configuration of the driving knowledge extraction system 1. The driving knowledge extraction system 1 of the present embodiment includes a server 100 and an in-vehicle device 200. The driving knowledge extraction system 1, the server 100, the in-vehicle device 200, and each of the devices provided therein are computers equipped with an arithmetic processing unit such as a CPU and executing arithmetic processing.

First, the in-vehicle device 200 will be described. The vehicle-mounted device 200 of the present embodiment includes a vehicle controller 210, a detection device 220, a navigation device 230, an object detection device 240, an input device 250, an output device 260, and a vehicle-mounted communication device 270. Each device constituting the in-vehicle device 200 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.

The vehicle controller 210 of the present embodiment is an in-vehicle computer such as an engine control unit (ECU). Examples of the vehicle include an electric vehicle having an electric motor as a traveling drive source, an engine vehicle having an internal combustion engine as a traveling drive source, and a hybrid vehicle having both an electric motor and an internal combustion engine as a traveling drive source. The electric vehicle or hybrid vehicle using an electric motor as a traveling drive source includes a type in which a secondary battery is used as a power source for the electric motor and a type in which a fuel cell is used as a power source for the electric motor.

The vehicle controller 210 executes an approach position calculation process as a process of calculating position information (hereinafter, also referred to as approach position information) for a vehicle to enter the facility premises from a public road. A public road is a road that is widely used by the general public. In the present embodiment, the road information 233 described later stores information on public roads. The approach position calculation process will be described later.

The vehicle controller 210 of the present embodiment includes a detection device 220. The detection device 220 includes a vehicle speed sensor 221, an attitude sensor 222, and a steering angle sensor 223. The vehicle speed sensor 221 detects the speed and / or acceleration of the vehicle and outputs it to the vehicle controller 210. The direction of the speed and / or acceleration detected by the vehicle speed sensor 221 is not limited to the traveling direction of the vehicle, but also includes the vertical direction of the vehicle. The attitude sensor 222 is a sensor for detecting the attitude angle of the vehicle by detecting the position of the vehicle (including the height of the vehicle), the pitch angle of the vehicle, the yaw angle of the vehicle, and the roll angle of the vehicle. The posture angle is an angle indicating the traveling direction of the vehicle with respect to a certain reference direction on a plane on which the vehicle travels. In other words, it is the azimuth of your vehicle. For example, if the vehicle is traveling on a straight road and the attitude angle is assumed to be zero degrees, when this vehicle travels on a curve, the attitude angle gradually changes at an angle greater than zero, and when the curve ends, The posture angle is a constant angle. The attitude sensor 222 outputs the detected attitude angle to the vehicle controller 210. The attitude sensor 222 can exemplify an inertial measurement unit (IMU) such as a gyro sensor. The steering angle sensor 223 detects information such as steering amount, steering speed, and steering acceleration as operation information of the steering device 252, and outputs the information to the vehicle controller 210.

The vehicle-mounted device 200 of the present embodiment includes a navigation device 230. The navigation device 230 calculates a route from the current position of the own vehicle to the destination. As the route calculation method, a method known at the time of filing based on graph search theory such as Dijkstra's algorithm or A * can be used. The calculated route is sent to the vehicle controller 210.

The navigation device 230 includes a position detection device 231. The position detection device 231 is equipped with a Global Positioning System (GPS), and detects the traveling position (latitude / longitude) of the traveling vehicle. Another example of the position detection device 231 is an inertial navigation system (INS). The INS includes a gyro sensor and an acceleration sensor, calculates the speed by integrating the acceleration, calculates the distance by integrating the speed, and detects the moving direction with the gyro sensor. INS calculates the moving distance from a predetermined starting point based on the calculated result and the detected direction.

The position detection device 231 is not limited to any one of the above-mentioned devices, and may be, for example, a device configured by GPS and INS. In this case, the position detection device 231 accurately calculates the traveling position of the vehicle from the traveling position of the vehicle, which is an absolute position detected by GPS, and the relative traveling distance of the vehicle calculated by INS. Can be done. The position detection device 231 can detect the traveling position of the vehicle in units of, for example, several tens of centimeters. In the present embodiment, the position detection device 231 will be described as a device composed of GPS and INS.

Further, the method of detecting the traveling position of the own vehicle is not limited to the method of using the detection result of the position detection device 231 as it is. For example, the position detection device 231 includes an omnidirectional sensor. The omnidirectional sensor is provided, for example, at a predetermined position of the vehicle overlooking the surroundings of the vehicle, and scans the omnidirectional surroundings of the vehicle to generate a three-dimensional image diagram showing the omnidirectional surroundings of the vehicle. The traveling position of the vehicle can be detected by executing the map matching process using the generated image diagram and the map information 232 described later.

The navigation device 230 includes accessible map information 232 and road information 233. The map information 232 and the road information 233 may be configured as being physically separate from the navigation device 230 as long as they can be read by the navigation device 230, or the server 100 can be read via the in-vehicle communication device 270. It may be stored in.

The map information 232 is a so-called electronic map, and is information in which latitude / longitude and map information are associated with each other. The map information 232 has road information 233 associated with each point. POI (Point Of Insert) information indicating facility information is recorded in the map information 232. The POI information has a plurality of attribute information, and for example, the name of the facility, the latitude / longitude, and the telephone number are assigned as the attribute information to one POI information.

POI information represents commercial facilities such as restaurants and public facilities such as train stations, airports, and parks. On the other hand, information attached to each facility, such as a parking lot provided around each facility of a restaurant, a station, an airport, or a park, is not assigned as POI information. In addition, the facilities are not limited to the above-mentioned public structures, buildings and other facilities, but also include buildings for residential purposes such as detached houses and condominiums. For example, when a parking lot is provided in a detached house or an apartment house, the detached house or the apartment house itself is assigned to POI information, but the parking lot provided on the premises is assigned as POI information as information attached to the facility. I can't. Therefore, the navigation device 230 cannot search the information attached to each facility (for example, the position of the parking lot on the premises of the facility) from the POI information.

Road information 233 is defined by nodes and links connecting the nodes. The road information 233 includes information for specifying a road according to the position / region of the road, a road type for each road, a road width for each road, and road shape information. The road information 233 stores information about the road such as the road type, the road width, the road shape, the position of the road boundary line, and the like for each identification information of each road link. The road information 233 is road information about a public road as described above.

For example, when the in-vehicle device 200 is mounted on a vehicle traveling by an automatic driving operation (automatic driving) instead of a driving operation by the driver, the road information 233 stores highly accurate road information. Is preferable. In this case, the vehicle can travel based on the map information 232 which is the high-definition map information. In this embodiment, the map information 232 will be described as high-definition map information.

The navigation device 230 identifies the travel route on which the own vehicle travels based on the current position of the own vehicle detected by the position detection device 231. The travel route is a planned travel route of the own vehicle and / or a travel record route of the own vehicle. The travel route may be a route to the destination specified by the user, or may be a route to the destination estimated based on the travel history of the own vehicle / user. The travel route on which the own vehicle travels may be specified for each road, for each road for which the up / down direction is specified, or for each single lane in which the own vehicle actually travels. May be specified in. The navigation device 230 refers to the road information 233 to specify a road link (hereinafter, also referred to as a lane identifier or a lane ID) for each lane of the travel route on which the own vehicle travels.

The travel route includes specific information (coordinate information) of one or more points that the own vehicle will pass through in the future. The travel path includes at least one point suggesting the next travel position on which the own vehicle travels. The travel path may be composed of continuous lines or discrete points. Although not particularly limited, the traveling route is specified by a lane identifier, a lane identifier, and a link identifier. These lane identifiers, lane identifiers, and link identifiers are defined in map information 232 and road information 233. The navigation device 230 superimposes the specified travel route on the map included in the map information 232 and displays it on the display 261 included in the output device 260.

The in-vehicle device 200 includes an object detection device 240. The object detection device 240 detects the situation around the own vehicle. The object detection device 240 of the own vehicle detects the existence of an object including an obstacle existing around the own vehicle and the position of the object. Although not particularly limited, the object detection device 240 includes a camera 241. The camera 241 is an image pickup device including an image pickup device such as a CCD. The camera 241 may be an infrared camera or a stereo camera. The camera 241 is installed at a predetermined position of the own vehicle and images an object around the own vehicle. The circumference of the own vehicle includes the front, the rear, the left side, and the right side of the own vehicle. Objects include two-dimensional signs such as stop lines or lane boundaries marked on the road surface. Objects include three-dimensional objects. Objects include stationary objects such as signs. Objects include moving objects such as pedestrians, motorcycles, and four-wheeled vehicles (other vehicles). Objects include road structures such as guardrails, medians, and curbs.

The object detection device 240 may analyze the image data and identify the type of the object based on the analysis result. The object detection device 240 uses a pattern matching technique or the like to indicate whether the object included in the image data is a vehicle, a pedestrian, a sign, or a two-dimensional sign indicated on the road surface. Identify if it exists. The object detection device 240 processes the acquired image data and acquires the distance from the own vehicle to the object based on the position of the object existing around the own vehicle. In particular, the object detection device 240 acquires the positional relationship between the object and the own vehicle.

The object detection device 240 may use a radar device 242. As the radar device 242, a millimeter-wave radar, a laser radar, an ultrasonic radar, a laser range finder, or the like known at the time of filing can be used. The object detection device 240 detects the presence / absence of the object, the position of the object, and the distance to the object based on the received signal of the radar device 242. The object detection device 240 detects the presence / absence of the object, the position of the object, and the distance to the object based on the clustering result of the point cloud information acquired by the laser radar.

The input device 250 of this embodiment includes a direction indicator switch 251 and a steering device 252. The direction indicator switch 251 is a switch for blinking or turning off the direction indicator provided at a predetermined position of the vehicle by the operation of the driver. For example, the direction indicator switch 251 is arranged on the right side surface of the steering column when viewed from the driver, and the shape of the direction indicator switch 251 includes a lever shape. The direction indicator switch 251 outputs a signal indicating the blinking of the direction indicator to the vehicle controller 210 when the driver operates the direction indicator switch 251 to blink the direction indicator.

The steering device 252 includes a steering wheel operated by the driver, a steering column connected to the steering, a steering gear mechanism such as a rack and pinion connected to the steering column, and the steering gear mechanism and steering wheels. It is equipped with a steering link mechanism provided between them. In the present embodiment, the steering wheel operates via these mechanical mechanisms based on the rotation operation of the steering wheel of the driver. The steering wheel rotation operation by the driver is detected by the steering angle sensor 223, and the steering angle sensor 223 outputs the detection result to the vehicle controller 210.

The output device 260 of this embodiment includes a display 261. The display 261 superimposes the travel route specified by the navigation device 230 on the map included in the map information 232, and displays the map as route information to the occupants of the vehicle.

The vehicle-mounted communication device 270 of the present embodiment can communicate with the server communication device 40 of the server 100 via a telephone line network or the like. The in-vehicle communication device 270 transmits the approach position information acquired from the vehicle controller 210 to the server communication device 40, receives the information from the server communication device 40, and outputs the received information to the vehicle controller 210. Examples of the in-vehicle communication device 270 include a device having a mobile communication function of 4G LTE, a device having a Wifi communication function, and the like.

The timing at which the in-vehicle communication device 270 transmits / receives to / from the server communication device 40 is not particularly limited. For example, when the vehicle-mounted communication device 270 can always communicate with the server communication device 40 by 4G LTE, the vehicle-mounted communication device 270 may constantly exchange information with the server communication device 40. Further, for example, when the in-vehicle communication device 270 can intermittently communicate with the server communication device 40 by Wifi connection, the in-vehicle communication device 270 communicates with the server communication device 40 at the timing when the in-vehicle communication device 270 can communicate with the server communication device 40. Information may be exchanged. In this case, the vehicle-mounted communication device 270 temporarily stores the information input from the vehicle controller 210 in an external or built-in storage device (for example, HDD). Then, the in-vehicle communication device 270 reads information from the storage device and transmits it to the server communication device 40 at the timing when communication with the server communication device 40 is possible.

The vehicle controller 210 is a device that calculates position information for a vehicle to enter the facility premises from a public road. Specifically, the vehicle controller 210 executes an approach position calculation process by executing a ROM (Read Only Memory) in which a program for executing the approach position calculation process is stored and a program stored in the ROM. It is a computer including a CPU (Central Processing Unit) as a circuit and a RAM (Random Access Memory) that functions as an accessible storage device.

Specifically, the vehicle controller 210 of the present embodiment calculates the approach position information by executing the following processing. The vehicle controller 210 has a vehicle position detection process for detecting the position of the own vehicle on the map, a temporary stop determination process for determining whether or not the own vehicle has been temporarily stopped, and a POI in which the own vehicle is set as a destination. The POI arrival determination process for determining whether or not the vehicle has arrived at the vehicle and the approach position calculation process for calculating the approach position based on these processing results are executed.

The vehicle controller 210 executes each function in cooperation with the software for realizing each of the above functions or executing each process and the above-mentioned hardware.

First, the vehicle position detection process will be described. The vehicle controller 210 detects the traveling position of the vehicle based on the detection result of the position detection device 231. For example, when GPS and INS are used as the position detection device 231 as in the present embodiment, the vehicle controller 210 can use the detection result itself of the position detection device 231 as the traveling position of the vehicle. Further, for example, when an omnidirectional sensor is used as the position detection device 231, the vehicle controller 210 executes so-called map matching from a three-dimensional image diagram showing all directions around the vehicle and map information 232 to allow the vehicle to travel. The position can be detected. The processing result of the vehicle position detection process includes the traveling position of the vehicle and the lane ID of the lane in which the vehicle is traveling. The vehicle position detection process is not limited to the above-mentioned method, and the vehicle position detection process known at the time of filing the application of the present application can be appropriately used.

Here, the relationship between the place where the vehicle actually travels and the map information 232 will be described. Since the map information 232 is a so-called electronic map, it contains information different from the actual topography. For example, as described above, the map information 232 includes POI information as information on a predetermined facility, but does not include information attached to the facility (for example, a parking lot on the premises of the facility). Therefore, if the vehicle travels on a road (for example, a private road) on the premises of the facility, the position detection device 231 cannot specify the position of the vehicle in the map information 232. In this case, the vehicle controller 210 treats the state of the vehicle on the map as a state not related to the lane ID of the lane that can be identified by the map information 232. On the other hand, when the vehicle travels on a road that can be identified by the map information 232, the position detection device 231 can specify the position of the vehicle in the map information 232. In this case, the vehicle controller 210 is the vehicle on the map. Is treated as a state pending in the lane ID of the lane that can be identified by the map information 232. For example, when a vehicle makes a right or left turn on a road identifiable by map information 232 and enters the facility premises, the vehicle controller 210 changes the lane from the state in which the vehicle state on the map is related to the lane ID. Recognize that the status has been changed so that it is not related to the ID.

Next, the pause determination process will be described. The vehicle controller 210 determines whether or not the vehicle has paused based on the detection result of the vehicle speed sensor 221. For example, the vehicle controller 210 determines that the vehicle has stopped temporarily when the vehicle speed is 0 km / h. Further, the vehicle controller 210 may determine that the vehicle has temporarily stopped when the vehicle speed is equal to or lower than a predetermined speed. Examples of the predetermined speed include a speed of about 5 km / h. For example, the vehicle controller 210 detects that the vehicle speed is equal to or lower than a predetermined speed, and determines that the vehicle has temporarily stopped if the vehicle speed is maintained at the predetermined speed or lower for a predetermined period after the detection. ..

When the vehicle controller 210 determines that the vehicle has stopped temporarily, the vehicle controller 210 associates the pause determination result with the current traveling position of the vehicle detected by the vehicle position detection process and the operation of the direction indicator. The operation of the turn signal includes information on the lit or blinking turn signal (left turn signal, right turn signal, or two-sided turn signal). As a result, the vehicle controller 210 can handle the position on the temporarily stopped map and the operation of the turn signal in the paused state as one piece of information.

The information associated with the pause determination result is not limited to the position information on the map and the operation information of the direction indicator. For example, when the vehicle controller 210 determines that the vehicle has stopped temporarily, the vehicle controller 210 calculates the position of the vehicle in the width direction of the lane from the distance between the lane and the vehicle based on the detection result of the object detection device 240. Then, the vehicle controller 210 may associate the pause determination result with the information on the position of the vehicle in the width direction of the lane. The position of the vehicle in the width direction of the lane can be expressed by, for example, latitude and longitude. Further, the vehicle controller 210 may associate the posture angle of the vehicle in the state where the vehicle is paused based on the determination result of the pause and the detection result of the posture sensor 222.

Next, the POI arrival determination process will be described. The vehicle controller 210 determines whether or not the vehicle has arrived at the POI set as the destination based on the information input from the navigation device 230. For example, when the vehicle arrives at the end point of the travel route (POI set as the destination), the navigation device 230 outputs to the vehicle controller 210 that the vehicle has arrived at the destination. The vehicle controller 210 determines that the vehicle has arrived at the POI set as the destination.

Further, the vehicle controller 210 may determine whether or not the vehicle has arrived at the POI set as the destination by determining whether or not the vehicle is parked. As a parking determination method, there is a method of detecting the gear of the vehicle. For example, the vehicle controller 210 determines that the vehicle has parked by detecting that the gear is set to "parking" indicating a parking state. Further, the vehicle controller 210 may make a parking determination of the vehicle by giving priority to the determination result of whether or not the vehicle is parked rather than the information from the navigation device 230 described above.

Further, when the destination is not set in the navigation device 230, the vehicle controller 210 may use the POI located closest to the position where the vehicle is determined to be parked in the map information 232 as the POI as the destination. good. As a result, when the driver is driving without setting the destination in the navigation device 230, that is, when the driver is driving without using the navigation device 230, or when the driver heads for the destination. Even if the vehicle stops at a predetermined facility on the way, it can be determined whether or not the vehicle has arrived at the POI.

Next, the approach position calculation process will be described. The vehicle controller 210 calculates approach position information based on the respective processing results of the vehicle position detection process, the pause determination process, and the POI arrival determination result.

Specifically, first, the vehicle controller 210 identifies the lane ID of the lane in which the vehicle was traveling immediately before arriving at the POI. When the vehicle controller 210 determines that the vehicle has arrived at the POI, the vehicle controller 210 extracts the lane ID detected immediately before from the processing result of the vehicle position detection process, and runs the extracted lane ID immediately before the vehicle arrives at the POI. It is specified as the lane ID of the lane in which it was used. Hereinafter, for convenience of explanation, the lane in which the vehicle was traveling immediately before arriving at the POI will be referred to as a "target lane", and the lane ID of the lane in which the vehicle was traveling immediately before arriving at the POI will be referred to as "target lane". The lane ID will be referred to as "the lane ID".

The method for specifying the lane ID of the target lane is not limited to the above method, but may be the method shown below. The vehicle controller 210 may specify the lane ID of the target lane based on the detection result of the attitude sensor 222 or the steering angle sensor 223. For example, the vehicle controller 210 continuously monitors whether or not the angle formed by the direction of the lane and the traveling direction of the vehicle is within a predetermined angle from the detection result of the steering angle sensor 223. When the angle formed in the direction of the lane and the traveling direction of the vehicle is within a predetermined angle range, the vehicle controller 210 continuously processes the lane ID of the traveling lane as the lane ID of the target lane. Execute. When the vehicle makes a right or left turn on the road and enters the premises of the facility, the vehicle controller 210 detects that the angle formed in the direction of the lane and the traveling direction of the vehicle is out of the predetermined angle range. The lane ID updated immediately before is specified as the lane ID of the target lane. The predetermined angle is an experimentally determined value.

Next, the vehicle controller 210 calculates the position on the target lane for the vehicle to enter the premises of the facility as the approach position. For example, when the state of the vehicle on the map is switched from the state in which the lane ID of the target lane is pending to the state in which the vehicle is not, the vehicle controller 210 sets the switching position as the approach position. The approach position is represented by, for example, latitude and longitude. The method of calculating the approach position is not limited to the above-mentioned method, and may be the calculation method shown below.

The vehicle controller 210 may specify the position where the vehicle last paused on the target lane based on the processing result of the pause determination process, and calculate the specified position as the approach position. At that time, the vehicle controller 210 may calculate the amount of deviation between the above-mentioned switching position and the last stop position on the target lane in order to improve the calculation accuracy of the approach position. For example, the vehicle controller 210 may set the last stop position as the approach position when the amount of deviation, which is the distance between the two positions, is equal to or less than a predetermined distance. The predetermined distance is an experimentally obtained value, for example, about 3 m. When a vehicle turns right or left on the road and enters the premises of the facility, it is assumed that the vehicle temporarily stops on the lane while turning on the turn signal. In such a situation, the vehicle controller 210 appropriately calculates the approach position.

Further, for example, the vehicle controller 210 may calculate a position on the target lane where the steering angle is equal to or greater than a predetermined angle as an approach position based on the detection result of the steering angle sensor 223. At that time, in order to improve the calculation accuracy of the approach position, the vehicle controller 210 may calculate the amount of deviation between the above-mentioned switching position and the position where the steering angle is equal to or more than a predetermined angle on the target lane. .. For example, the vehicle controller 210 may set a position where the steering angle is equal to or greater than a predetermined angle as an approach position when the amount of deviation, which is the distance between the two positions, is not more than a predetermined distance. The predetermined distance may be the same as or different from the above-mentioned distance (for example, about 3 m). It is assumed that the vehicle enters the facility premises from the road without pausing. In such a situation, the vehicle controller 210 appropriately calculates the approach position.

The vehicle controller 210 includes the calculated approach position and information associated with the approach position (lane ID of the target lane, presence / absence of temporary stop, operation information of the direction indicator, posture angle of the vehicle, and information of the vehicle in the width direction of the target lane. The approach position information is created by associating the position and vehicle speed information with the POI.

After executing the approach position calculation process, the vehicle controller 210 transmits the approach position information to the server 100 via the vehicle-mounted communication device 270. The approach position information includes the approach position associated with the POI, the lane ID of the target lane, the determination result of suspension, the operation of the turn signal, the attitude angle of the vehicle, and the vehicle in the width direction of the target lane. Position and vehicle speed information are included. The approach position information may include a vehicle ID that can identify the vehicle.

Here, FIG. 2 is an example for explaining the approach position calculation process. FIG. 2 shows the parking lot P (of the facility F) in which the vehicle V1 arrives at the POI ₁ included in the map information 232 along the travel route specified by the navigation device 230 and is completed in the facility F indicated by the POI ₁ . The scene of trying to park in the parking lot in the site G) is shown. Specifically, the vehicle V1 is temporarily stopped on the lane R1 while blinking the left turn signal in an attempt to turn left and enter the site G of the facility F. Note that FIG. 2A is an enlarged view of a part (area A1) of FIG. 2B.

In FIG. 2, it is assumed that the information of the latitude and longitude indicated by POI ₁ is recorded in advance in the map information 232, but the information attached to the facility F is not recorded. That is, the map information 232 does not record information about the site G of the facility F and the parking lot P of the facility F. For example, when the display 261 displays a map information superimposed on the travel route in order to show the driver the travel route, the display 261 displays the position information of the POI ₁ indicating the facility F. The location information of the site G of the facility F and the location information of the parking lot P of the facility F are not displayed.

In the example of FIG. 2, the vehicle controller 210 is input from the navigation device 230 to the effect that the vehicle V1 has arrived at the POI ₁ set as the destination. The vehicle controller 210 determines that the vehicle V1 has arrived at POI ₁ , identifies the lane R1 as the target lane, and determines that the vehicle V1 is temporarily stopped on the lane R1 while blinking the left turn signal. judge. The vehicle controller 210 calculates the stop position on the lane R1 as the approach position E1 based on the determination result and the map information 232. The vehicle controller 210 associates the approach position E1 and the information associated with the approach position E1 (for example, the lane ID of the lane R1, the paused information, the information that the left turn signal is operated) with the POI ₁ , and the approach of the POI ₁ The location information is transmitted to the server 100.

FIG. 3 is another example for explaining the approach position calculation process. FIG. 3 shows a scene corresponding to FIG. 2, but unlike FIG. 2, a scene in which the vehicle V2 tries to park in the parking lot P provided in the facility F indicated by POI ₁ . Specifically, the vehicle V2 is temporarily stopped on the lane R2 while blinking the right turn signal in an attempt to turn right and enter the site G of the facility F. Note that FIG. 3A is an enlarged view of a part (area A1) of FIG. 3B.

Also in the example of FIG. 3, the vehicle controller 210 identifies the lane R2 as the target lane by the same method as described with respect to the example of FIG. 2, and the vehicle V2 blinks the right turn signal to lane. It is determined that the vehicle is paused on R2. The vehicle controller 210 calculates the stop position on the lane R2 as the approach position E2 based on the determination result and the map information 232. The vehicle controller 210 associates the approach position E2 and the information associated with the approach position E2 (for example, the lane ID of the lane R2, the paused information, the information that the right turn signal is operated) with the POI ₁ , and the approach of the POI ₁ The location information is transmitted to the server 100.

As described with reference to FIGS. 2 and 3, the approach position where the vehicle tries to enter the facility premises for one POI ₁ includes the approach position E1 on the lane R1 and the approach on the lane R2. There are two positions at position E2. In addition, the number of places that can be entered within the facility premises is not limited to one. In the example of FIG. 2 and the example of FIG. 3, the facility F is provided with two entrances / exits (area A1 and area A2) that can enter the site G. In the present embodiment, the vehicle controller 210 calculates the approach position corresponding to each of the configuration of the entrance / exit of the facility and the road around the facility. This makes it possible to specify the approach position corresponding to each travel route even when there are a plurality of travel routes for arriving at the POI.

Returning to FIG. 1, the server 100 will be described. The server 100 includes a control device 10, a database 20, a storage device 30, and a server communication device 40. The control device 10, the database 20, the storage device 30, and the server communication device 40 can exchange information with each other via a wired or wireless communication line. The server communication device 40 exchanges information with the in-vehicle device 200, exchanges information inside the server 100, and exchanges information with the outside of the driving knowledge extraction system 1.

The server communication device 40 can communicate with the vehicle-mounted communication device 270 of the vehicle-mounted device 200 by means of a telephone line network. The server communication device 40 receives one or more approach position information for a plurality of POIs from a plurality of vehicle-mounted devices 200 mounted on the plurality of vehicles, and outputs the received approach position information to the control device 10. Further, the server communication device 40 transmits the POI approach position information acquired from the control device 10 to the in-vehicle device 200. The server communication device 40 is not limited to receiving approach position information regarding a plurality of POIs from a plurality of vehicles, and the server communication device 40 is not limited to receiving approach position information with respect to a plurality of POIs. Information may be received.

The database 20 is a database that stores approach position information acquired from one vehicle or a plurality of vehicles. When a plurality of approach position information is acquired, the approach position information is stored in the database 20 for each POI. The database 20 may store map information 232 and road information 233 included in the in-vehicle device 200. In the present embodiment, it is assumed that the database 20 stores the map information 232 and the road information 233.

The storage device 30 includes one or more RAMs (Random Access Memory) that function as an accessible storage device. The processor 11 of the control device 10 described later has a POI approach position specifying function. The storage device 30 has a POI approach position identified from a plurality of approach position information stored in the database 20, and information associated with the POI approach position (whether or not there is a pause, operation of a turn signal, and a posture of the vehicle). Information on the corner, the position of the vehicle in the width direction of the target lane, and the vehicle speed) is stored as POI approach position information. The POI approach position is an approach position specified for each POI by the processor included in the control device 10 described later. Further, as described with reference to the examples of FIGS. 2 and 3, when there are a plurality of approach positions for each lane or for each entrance / exit for one POI, the POI approach position is set to one POI. It contains multiple associated entry points and information associated with each entry position.

Next, the control device 10 will be described. The control device 10 includes a processor 11. The processor 11 is an arithmetic unit that performs driving knowledge extraction processing. Specifically, the processor 11 has a ROM (Read Only Memory) in which a program for executing the driving knowledge extraction process is stored, and an operation circuit for executing the driving knowledge extraction process by executing the program stored in the ROM. A computer including a CPU (Central Processing Unit) as an engine and a RAM (Random Access Memory) that functions as an accessible storage device.

The processor 11 according to the present embodiment executes an approach position information storage process for storing the approach position information transmitted from the in-vehicle device 200 in the database 20 and a POI approach position information specifying process for specifying the POI approach position information as driving knowledge. do.

The processor 11 executes each function by the cooperation of the software for realizing each of the above functions or executing each process and the above-mentioned hardware.

First, the approach position information storage process will be described. The processor 11 stores the approach position information input from the server communication device 40 in the database 20.

Next, the POI approach position information specifying process will be described. Based on the plurality of approach position information stored in the database 20, the processor 11 determines the POI approach position, whether or not there is a pause associated with the POI approach position, the operation of the turn signal, the attitude angle of the vehicle, and the target. Information on the position of the vehicle and the vehicle speed in the width direction of the lane is specified as POI approach position information.

First, the processor 11 extracts the approach position information associated with the same POI from the approach position information stored in the database 20.

Then, the processor 11 identifies the POI approach position from the approach position information included in the extracted approach position information in order to store it in the storage device 30 as driving knowledge. When there are a plurality of lane IDs of the target lane included in the approach position information, the processor 11 further classifies the extracted approach position information for each lane ID of the target lane, and for each lane ID of the target lane, Identify the POI entry position.

Next, a method of specifying the POI approach position will be described. The processor 11 executes a clustering process for the coordinates of the approach position. This is because it is assumed that the information on the approach position varies due to a detection error or the like. For example, the processor 11 classifies a plurality of approach positions into a plurality of groups for each coordinate from the coordinates (latitude, longitude) of the plurality of approach positions.

The processor 11 specifies the POI approach position for each group. The method of specifying the POI approach position is not particularly limited. When there are a plurality of approach positions in one group, for example, the processor 11 may calculate the average of the coordinates (latitude, longitude) of the plurality of approach positions and specify the average coordinates as the POI approach position. Further, even if the processor 11 captures the coordinates of a plurality of approach positions as a distribution and calculates the coordinates of the median value of the distribution, the plurality of approach positions are aggregated into one approach position and specified as the POI approach position. good.

When the processor 11 specifies the POI approach position for each group, the processor 11 corresponds to the specified POI approach position, information on whether or not there is a pause, operation information of the turn signal, information on the attitude angle of the vehicle, and the vehicle in the width direction of the target lane. Specify the position information and vehicle speed information of. A clustering process can be exemplified as a method for specifying such information. For example, the processor 11 extracts the approach position information including the coordinates of the specified POI approach position from the database 20, and groups the extracted approach position information for each of the above-mentioned information. Then, the processor 11 specifies each information for each group in order to store it in the storage device 30 as driving knowledge.

For example, the processor 11 can specify the frequency of whether or not the vehicle has paused at the POI approach position by executing the clustering process regarding the presence or absence of the pause. Then, the processor 11 specifies information on whether or not the vehicle is temporarily stopped at the POI approach position based on the specified frequency.

Similarly, for example, the processor 11 can specify the frequency with which the turn signal is operated at the POI approach position by performing a clustering process for the operation of the turn signal. Then, the processor 11 specifies the operation information of the turn signal at the POI approach position based on the specified frequency.

Similarly, for example, the processor 11 can specify the distribution of the vehicle speed at the POI approach position by executing the clustering process for the vehicle speed. Then, the processor 11 specifies the vehicle speed information at the POI approach position based on the specified distribution.

The method for specifying the above-mentioned three pieces of information is not particularly limited, and examples thereof include a method for specifying the average value and the median value of the distribution. In addition, each information may be specified by excluding outliers that deviate from the distribution in advance.

When the processor 11 specifies each of the above-mentioned information as the information associated with one POI approach position, the processor 11 creates the POI approach position information by associating the POI approach position and the POI approach position incidental information with the POI. The processor 11 stores the created POI approach position information in the storage device 30.

It should be noted that the processor 11 assumes that the POI approach position information is applied as driving knowledge to the driving control of a vehicle capable of traveling by automatic driving, and before specifying the POI approach position information, the approach position information A sorting process may be performed. As a criterion for selection, it can be exemplified whether or not the approach position information is transmitted from the in-vehicle device 200 included in the passenger car. A passenger car is a vehicle used by humans to move. In the case of a passenger car, when the vehicle arrives at the POI set as the destination, it is common to park in a parking lot on the premises of the facility in order to get off the vehicle and enter the facility. On the other hand, there are commercial vehicles as vehicles mainly used for business purposes (for example, freight transportation, passenger transportation, etc.).

Here, the commercial vehicle may not park on the premises of the facility even if it arrives at the POI set as the destination. In other words, commercial vehicles may not enter the facility premises when they arrive at the POI. For example, the driver of a commercial vehicle may stop on the shoulder of a road around the facility to carry out work such as carrying luggage. In this case, the in-vehicle device 200 included in the commercial vehicle may calculate the stop position on the road shoulder as the approach position. Then, the processor 11 specifies the POI approach position information based on the information calculated as the approach position even though the processor 11 has not entered the premises of the facility. The processor 11 executes the selection process of the approach position information from the viewpoint that it is not preferable to apply the POI approach position information thus identified to the travel control of a vehicle capable of traveling by automatic driving.

For example, the processor 11 extracts a vehicle ID indicating a passenger car from the approach position information stored in the database 20. By acquiring the approach position information corresponding to each extracted vehicle ID from the database 20, the processor 11 acquires the approach position information of the passenger car that is highly likely to have entered the premises of the facility. Then, the processor 11 executes the above-mentioned process and stores the POI approach position information based on the approach position information of the passenger car in the storage device 30. In this way, the accuracy of the POI approach position information can be improved by executing the sorting process for the type of vehicle in advance.

FIG. 4 is a flowchart showing a control procedure of the driving knowledge extraction system of the present embodiment. The control process for extracting driving knowledge of the present embodiment will be described with reference to the flowchart of FIG. The driving knowledge extraction control process described below is repeatedly executed at predetermined time intervals and is executed for each POI.

In step S101, the processor 11 acquires the approach position information including the same POI among the approach position information stored in the database 20.

In step S102, the processor 11 classifies the approach position information acquired in step S101 for each lane ID of the target lane. For example, when the road facing the entrance / exit that can enter the premises of the facility has two lanes, the processor 11 uses the approach position information including the lane ID of one target lane and the lane ID of the other target lane. Classify.

In step S103, the processor 11 executes a clustering process for the approach position to specify the POI approach position. For example, the processor 11 calculates the average of the coordinates of the approach position and specifies the average coordinate as the POI approach position.

In step S104, the processor 11 identifies the information associated with the POI approach position. For example, the processor 11 acquires a plurality of approach position information including the coordinates of the POI approach position specified in step S103 from the database 20. The processor 11 clusters information on whether or not there is a pause on the target lane, the operation of the turn signal, the posture angle of the vehicle, the position of the vehicle in the width direction of the target lane, and the vehicle speed for a plurality of approach position information. The process is executed and each information corresponding to the POI approach position is specified. The processor 11 identifies each piece of information associated with the POI approach position by calculating the average of each piece of information or by treating each piece of information as a distribution and calculating the median value.

In step S105, the processor 11 has the accompanying information of the POI approach position specified in step S103 and the POI approach position specified in step S104 (whether or not there is a pause on the target lane, the operation of the turn signal, the operation of the vehicle, and the vehicle. Information on the posture angle, the position of the vehicle in the width direction of the target lane, and the vehicle speed) is stored in the storage device 30 as POI approach position information, and the driving knowledge extraction process is completed. When the processor 11 detects that a plurality of lane IDs of the target lane exist in step S102, the processor 11 executes the processes of steps S103 to S105 for each lane ID of each target lane.

As described above, the in-vehicle device 200 of the present embodiment includes the vehicle controller 210, the detection device 220 for detecting the traveling state of the own vehicle, the navigation device 230 for detecting the traveling position of the own vehicle, and the in-vehicle communication device 270. To prepare for. The vehicle controller 210 acquires the traveling position of the own vehicle from the navigation device 230. The vehicle controller 210 identifies the lane in which the vehicle has traveled immediately before arriving at the POI as the target lane based on the map information 232 and the travel position. Then, the vehicle controller 210 calculates the position on the target lane for the vehicle to enter the site of the facility indicated by the POI from the target lane as the approach position. The vehicle controller 210 transmits the approach position information associated with the POI and the approach position to the server 100 via the vehicle-mounted communication device 270. In the server 100, the control device 10 identifies the POI approach position in which the POI and the approach position are associated from the approach position information transmitted from the in-vehicle device 200, and stores the POI approach position information including the POI approach position in the storage device 30. Remember. Thereby, the POI approach position information can be provided to the user as the position information for the vehicle to enter the premises of the facility.

Further, in the server 100 of the present embodiment, the control device 10 acquires a plurality of approach position information regarding the same POI from one or a plurality of vehicles. The control device 10 identifies the POI approach position based on the acquired plurality of approach positions. This makes it possible to accurately identify the POI approach position even if there is an approach position that is erroneously calculated for some reason.

Further, in the server 100 of the present embodiment, when the entry position information of one POI includes the lane IDs of a plurality of target lanes, the control device 10 specifies the POI approach position for each of the plurality of target lanes. do. Thereby, the control device 10 can specify different POI approach positions for the configuration of the entrance / exit of the facility and the roads around the facility. As a result, even when there are a plurality of travel routes for arriving at the POI, it is possible to provide the user with information on the approach position according to each travel route.

In addition, in the in-vehicle device 200 of the present embodiment, the vehicle controller 210 continues whether or not the angle formed by the direction of the lane in which the vehicle travels and the traveling direction of the vehicle is within a predetermined angle range. Monitor. Then, when the angle formed by the direction of the lane and the traveling direction of the vehicle is within a predetermined angle range, the vehicle controller 210 continues the process of setting the lane ID of the traveling lane as the lane ID of the target lane. Execute. As a result, even when the vehicle turns right in the target lane and crosses the oncoming lane and enters the facility premises, it is possible to prevent the oncoming lane from being specified as the target lane.

Further, in the in-vehicle device 200 of the present embodiment, the vehicle controller 210 acquires vehicle speed information from the detection device 220, and calculates a position where the vehicle temporarily stops on the target lane as an approach position based on the vehicle speed information. This makes it possible to provide the user with a position where the vehicle can temporarily stop in order to enter the premises of the facility.

Further, in the vehicle-mounted device 200 of the present embodiment, the vehicle controller 210 acquires information on the steering angle from the detection device 220, and calculates a position on the target lane where the steering angle is equal to or greater than a predetermined angle as an approach position. As a result, an appropriate approach position can be calculated even when the vehicle enters the premises of the facility without temporarily stopping on the target lane.

In addition, in the server 100 of the present embodiment, the control device 10 specifies the position of the vehicle in the width direction of the target lane and the posture angle of the vehicle as information accompanying the POI approach position. As a result, it is possible to provide the user with information on the traveling control of the vehicle for entering the site.

Further, in the server 100 of the present embodiment, the control device 10 specifies at least one information of whether or not the vehicle is temporarily stopped, the operation of the turn signal, and the vehicle speed as the information accompanying the POI approach position. As a result, the same effect as the above-mentioned effect is obtained.

Further, in the in-vehicle device 200 of the present embodiment, the vehicle controller 210 determines whether or not the vehicle has arrived at the POI, and if the vehicle is parked, determines that the vehicle has arrived at the POI. As a result, when a commercial vehicle stops on the shoulder of the road around the facility for luggage transportation, etc., or a passenger car stops on the shoulder of the road around the facility for passengers to get on and off, the vehicle controller 210 becomes the POI. It is determined that the vehicle has not arrived, and the approach position is not calculated. As a result, the storage device 30 can store the position where the vehicle has entered the site for parking as the approach position.

In addition, in the in-vehicle device 200 of the present embodiment, the vehicle controller 210 uses the POI located closest to the position where the vehicle is determined to be parked as the POI as the destination. As a result, even if the driver is driving without setting a destination on the navigation device 230, or if the driver stops at a predetermined facility on the way to the destination, the approach position and the POI are properly associated with each other. be able to.

<< Second Embodiment >>
Next, a vehicle travel control system 2 that controls the travel of the vehicle by using the extracted POI approach position information by the driving knowledge extraction system 1 according to the above-described embodiment will be described.

FIG. 5 is a diagram showing a block configuration of the vehicle travel control system 2. The vehicle travel control system 2 of the present embodiment includes an in-vehicle device 300.

Compared to the in-vehicle device 200 of the above-described embodiment, the in-vehicle device 300 of the present embodiment includes a vehicle controller 310, a drive device 330, a braking device 331, and a storage device 30, and an in-vehicle communication device 270. Since it has the same configuration except that it does not have the above-mentioned embodiment, the description using FIG. 1 of the above-described embodiment is incorporated.

The vehicle-mounted device 300 of the present embodiment includes a vehicle controller 310, a detection device 220, a navigation device 230, an object detection device 240, an input device 250, an output device 260, a drive device 330, and a storage device 30. Each device constituting the in-vehicle device 300 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other. The vehicle controller 310 operates the drive device 330 and the input device 250 based on the POI approach position information stored in the storage device 30 and the travel path calculated by the navigation device 230.

The drive device 330 of the present embodiment includes a drive mechanism of the own vehicle. The drive mechanism includes an electric motor and / or an internal combustion engine that is a traveling drive source, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these traveling drive sources to the drive wheels, and a braking device that brakes the wheels. 331 and the like are included. The drive device 330 generates each control signal of these drive mechanisms based on the input signal by the accelerator operation and the brake operation and the control signal acquired from the vehicle controller 310, and executes the traveling control including the acceleration / deceleration of the vehicle. By transmitting control information to the drive device 330, traveling control including acceleration / deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, the torque distribution output to each of the electric motor and the internal combustion engine according to the traveling state of the vehicle is also sent to the drive device 330.

The vehicle controller 310 of the present embodiment is an in-vehicle computer such as an engine control unit (ECU), and electronically controls the driving of the vehicle. Examples of the vehicle include the electric vehicle, the engine vehicle, and the hybrid vehicle described above.

The vehicle controller 310 of the present embodiment automatically drives a vehicle by performing a destination change process of setting a POI approach position as an alternative destination and a route generation process of calculating a target speed at each point of the travel route. The route follow-up process for driving the vehicle and the approach travel control process for controlling the vehicle's travel to enter the facility premises are executed.

First, the destination change process will be described. When the occupant of the vehicle sets the POI as the destination via the navigation device 230, the vehicle controller 310 sets the POI approach position corresponding to the set POI as an alternative destination. For example, when the POI information is input from the navigation device 230, the vehicle controller 310 acquires the POI approach position information stored in the storage device 30. The vehicle controller 310 extracts POI approach position information corresponding to the POI set as the destination by pattern matching processing. Then, the vehicle controller 310 sets the coordinates of the POI approach position included in the POI approach position information as the destination of the vehicle.

When the POI approach position information includes the coordinates of a plurality of POI approach positions, that is, when there is a POI approach position for each lane or for each entrance / exit of the facility, the vehicle controller 310 has a plurality of POI approaches. Select a specific POI entry position from the position. For example, the vehicle controller 310 selects the POI approach position closest to the current vehicle position. Further, for example, the vehicle controller 310 selects the POI approach position closest to the coordinates of the POI. Further, for example, the vehicle controller 310 selects a POI approach position capable of entering the facility premises without crossing a lane (oncoming lane or the like). Further, for example, the vehicle controller 310 selects a POI approach position capable of entering the facility premises after the vehicle has paused. Further, for example, when the number of times the vehicle has entered the premises of the facility is associated with the POI approach position, the vehicle controller 310 selects the POI approach position having the largest number of approaches.

Next, the route generation process will be described. The vehicle controller 310 is at each point of the route and route on which the vehicle should travel, based on the travel route calculated by the navigation device 230 and the surrounding conditions of the vehicle input from the detection device 220 and the object detection device 240. Calculate the vehicle speed (speed profile). The vehicle speed profile is a discrete value represented by a target value of the vehicle speed at each position on the route. For example, the vehicle controller 310 corrects the travel route calculated by the navigation device 230 based on the situation around the own vehicle detected by the object detection device 240. Then, the vehicle controller 310 calculates the vehicle speed at each point of the modified route as a speed profile. The route generation process is not limited to the method described above, and the vehicle controller 310 can appropriately use the route generation process known at the time of filing the application.

Next, the path tracking process will be described. The vehicle controller 310 calculates information for controlling various devices mounted on the vehicle-mounted device 300 including the steering device 252 and the drive device 330 based on the route and the speed profile generated by the route generation process. For example, the vehicle controller 310 calculates the steering angle so that the vehicle travels on the generated route. Further, for example, the vehicle controller 310 calculates a target vehicle speed so that the vehicle travels at the vehicle speed shown in the speed profile. Then, the vehicle controller 310 controls the steering device 252 based on the calculated steering angle, and also controls the drive device 330 based on the calculated target vehicle speed to execute automatic driving. As the path tracking process, the path tracking process known at the time of filing the present application can be appropriately used.

Next, the approach traveling control process will be described. The vehicle controller 310 controls each device included in the in-vehicle device 200 in order to bring the vehicle into the premises of the facility. First, the vehicle controller 310 determines whether or not the vehicle is traveling near the POI approach position by determining whether or not the lane ID of the currently traveling lane matches the lane ID of the target lane. .. When the lane ID of the currently traveling lane matches the lane ID of the target lane, the vehicle controller 310 determines that the vehicle is traveling near the POI approach position, and conversely, the two lane IDs do not match. In the case of, it is determined that the vehicle is not traveling near the POI approach position.

When the vehicle controller 310 determines that the vehicle is traveling near the POI approach position, the vehicle controller 310 refers to the information accompanying the POI approach position so that the vehicle can enter the facility premises from the POI approach position. And correct the speed profile. For example, the vehicle controller 310 corrects the speed profile so that when the vehicle speed at the POI approach position is 5 km / h, the vehicle speed decelerates to the POI approach position. Further, for example, when the position in the width direction of the lane at the POI approach position is 2 m from the white line on the left side, the vehicle controller 310 finely adjusts the traveling route so that the position in the width direction of the lane gradually shifts to the left side. ..

Further, when the POI approach position information includes the information of pausing and the information of operating the direction indicator, the vehicle controller 310 controls the traveling of the vehicle at the POI approach position based on the information. For example, the vehicle controller 310 corrects the speed profile to pause at the POI approach position and controls the turn signal to blink by the time it reaches the POI approach position.

Further, when the vehicle arrives at or around the POI approach position, the vehicle controller 310 notifies the driver that the control of driving is switched to the driver. Examples of the scene of notifying the driver include a scene where the vehicle cannot be temporarily stopped at the POI approach position and a scene where the vehicle arrives at the POI approach position. For example, the vehicle controller 310 notifies via the display 261 that the automatic driving is switched to the driving by the driver near the POI approach position. The method of notifying that the operation is switched is not limited to the display on the display 261 and may be, for example, a voice from a speaker.

FIG. 6 is a flowchart showing a control procedure of the vehicle travel control system of the present embodiment. The control process of the vehicle traveling control of the present embodiment will be described with reference to the flowchart of FIG.

When the driver sets the destination in the navigation device 230 in step S201, the POI information as the destination is input to the vehicle controller 310. The vehicle controller 310 extracts the POI approach position information corresponding to the input POI from the POI approach position information stored in the storage device 30. Then, the vehicle controller 310 sets the coordinates of the POI approach position included in the extracted POI approach position information as the destination of the vehicle.

In step S202, the vehicle controller 310 outputs the information of the alternative destination set in step S201 to the navigation device 230. The navigation device 230 sets the coordinates of the POI approach position as a new destination, and calculates a traveling route from the current vehicle position to the destination. The calculated travel route indicates the route to the destination.

In step S203, the vehicle controller 310 travels based on the travel route calculated in step S202 by the route generation process and the surrounding conditions of the vehicle input from the detection device 220 and the object detection device 240. Calculate the power path and velocity profile.

In step S204, the vehicle controller 310 calculates the steering angle and the target vehicle speed for the vehicle to actually travel based on the route and speed profile calculated in step S203 by the route tracking process.

In step S205, the vehicle controller 310 controls the steering device 252 and the driving device 330 based on the steering angle and the target vehicle speed calculated in step S204 to execute automatic driving.

In step S206, the vehicle controller 310 refers to the map information 232 and acquires the lane ID of the traveling lane.

In step S207, the vehicle controller 310 compares the lane ID acquired in step S206 with the lane ID of the target lane included in the POI approach position information extracted in step S201, and is the vehicle traveling in the target lane? Judge whether or not. If the two lane IDs match, the vehicle controller 310 determines that the vehicle is in the target lane, and conversely, if the two lane IDs do not match, the vehicle travels in the target lane. Judge that it is not. If the vehicle is traveling in the target lane, the process proceeds to step S208, and if the vehicle is not traveling in the target lane, the process returns to step S206.

In step S208, the vehicle controller 310 acquires information associated with the POI approach position from the POI approach position information extracted in step S201. The information accompanying the POI approach position includes information on the position in the width direction of the lane, the attitude angle of the vehicle, the presence / absence of a pause, the operation of the turn signal, and the vehicle speed at the POI approach position.

In step S209, the vehicle controller 310 determines whether or not it is necessary to operate the turn signal from the operation information of the turn signal acquired in step S208. If it is necessary to operate the turn signal, the process proceeds to step S210, and conversely, if it is not necessary to operate the turn signal, the process proceeds to step S211.

In step S210, the vehicle controller 310 operates the turn signal based on the operation information of the turn signal determined in step S210. For example, when a vehicle turns left at the POI approach position and enters the facility premises, the vehicle controller 310 blinks the left turn signal.

In step S211th, the vehicle controller 310 determines whether or not the vehicle can be paused at the POI approach position from the pause information acquired in step S208. Further, the vehicle controller 310 determines whether or not the vehicle has arrived at the POI approach position based on the map information 232. If the vehicle cannot be paused at the POI approach position, or if the vehicle arrives at the POI approach position, the process proceeds to step S212. On the contrary, if the vehicle can be temporarily stopped at the POI approach position and the vehicle has not arrived at the POI approach position, the vehicle waits in step S211.

In step S212, the vehicle controller 310 notifies the driver of the control of the driving of the vehicle. For example, the vehicle controller 310 notifies the driver that the driving control is switched via the display 261 and ends the driving control process.

As described above, the in-vehicle device 300 of the present embodiment includes a vehicle controller 310 capable of automatically controlling the driving of the vehicle, and a storage device 30 for storing POI approach position information. The vehicle controller 310 controls the running of the vehicle based on the POI approach position information stored in the storage device 30. As a result, appropriate driving for entering the premises of the facility can be performed at the POI approach position and its surroundings.

Further, in the present embodiment, the vehicle controller 310 sets the POI approach position to the destination of the vehicle. As a result, the vehicle can be automatically driven to a position where it can enter the premises of the facility.

Further, in the present embodiment, the vehicle controller 310 controls the running of the vehicle based on the information on the presence / absence of a pause, the operation of the turn signal, and the vehicle speed at the POI approach position. This makes it possible to automatically drive to the POI approach position as if driving by a driver.

In addition, in the present embodiment, the vehicle controller 310 notifies the driver that the automatic driving is switched to the driver's driving when the vehicle cannot be paused at the POI approach position. This makes it possible to seamlessly execute the transition from automatic driving to driving by the driver.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

For example, in the second embodiment described above, when the vehicle cannot be temporarily stopped at the POI approach position, a configuration is exemplified in which the driver is notified that the automatic driving is switched to the driving by the driver, but the present invention is not limited to this. .. For example, even if the POI approach position information includes information that allows the driver to pause at the POI approach position, the driver may be notified that the automatic operation will be switched to the driver's operation. good.

Further, for example, in the above-mentioned second embodiment, the configuration in which the vehicle travels to the POI set as the destination by automatic driving is exemplified, but the present invention is not limited to this. For example, even when the vehicle travels to the POI by the driver's driving, the vehicle controller may set the POI approach position as a new destination. Further, when the temporary stop is possible at the POI approach position, the vehicle controller may notify the driver that the temporary stop is possible at the POI approach position via the output device in the vicinity of the POI approach position. .. As a result, the driver can smoothly drive to the premises of the facility indicated by the POI.

Further, for example, in the second embodiment described above, the vehicle-mounted device 300 exemplifies a configuration including a storage device 30 that stores POI approach position information, but is not limited thereto. For example, a storage device 30 may be provided on the server side, and the vehicle-mounted device 300 and the server may exchange POI approach position information by communication.

Further, for example, in the present specification, the vehicle information storage device according to the present invention will be described by taking the configuration of the server 100 and the vehicle controller 210 of the in-vehicle device 200 constituting the driving knowledge extraction system 1 as an example. Is not limited to this. For example, the in-vehicle device 200 may include the control device 10, the database 20, and the storage device 30 included in the server 100.

1 ... Driving knowledge extraction system 100 ... Server 10 ... Control device 11 ... Processor 20 ... Database 30 ... Storage device 40 ... Server communication device 200 ... In-vehicle device 210 ... Vehicle controller 220 ... Detection device 221 ... Vehicle speed sensor 222 ... Attitude sensor 223 ... Steering angle sensor 230 ... Navigation device 231 ... Position detection device 232 ... Map information 233 ... Road information 240 ... Object detection device 241 ... Camera 242 ... Radar device 250 ... Input device 251 ... Direction indicator switch 252 ... Steering device 260 ... Output device 261 ... Display 270 ... In-vehicle communication device

Claims (18)

It is an information storage method for vehicles that executes information processing using a processor and stores the execution result in a storage device.
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, it is determined that the vehicle has arrived at the POI.
The lane in which the vehicle traveled immediately before it was determined that the vehicle had arrived at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle information storage method for storing information on a POI approach position in which the POI and the approach position are related in the storage device. The vehicle information storage method according to claim 1, wherein the POI approach position is specified based on the plurality of approach positions relating to the POI. The vehicle information storage method according to claim 2, wherein when the plurality of approach positions are present on the plurality of target lanes, the POI approach position is specified for each of the plurality of target lanes. It is an information storage method for vehicles that executes information processing using a processor and stores the execution result in a storage device.
Acquire the detection result of the sensor that detects the position of the vehicle,
When the angle formed by the direction of the lane in which the vehicle travels and the traveling direction of the vehicle is within a predetermined angle range, the target lane is the target lane based on the map information including the POI and the position of the vehicle. Specified as
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle information storage method for storing information on a POI approach position in which the POI and the approach position are related in the storage device . The detection result of the sensor that detects the running state of the vehicle is acquired, and the detection result is obtained.
The vehicle information storage method according to any one of claims 1 to 4, wherein the position on the target lane where the vehicle is stopped is calculated as the approach position. The vehicle information storage method according to claim 5, wherein a position on the target lane where the steering angle of the vehicle is equal to or greater than a predetermined steering angle is calculated as the approach position. It is an information storage method for vehicles that executes information processing using a processor and stores the execution result in a storage device.
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, the lane in which the vehicle traveled immediately before arriving at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
The storage device stores information on the POI approach position in which the POI and the approach position are associated with each other.
The detection result of the sensor that detects the running state of the vehicle is acquired, and the detection result is obtained.
The POI approach position information includes the position of the vehicle in the width direction of the target lane, the posture angle of the vehicle, the presence / absence of a temporary stop of the vehicle, the operation of the direction indicator of the vehicle, and the vehicle speed of the vehicle. A vehicle information storage method that includes at least one piece of information . The vehicle information storage method according to any one of claims 1 to 7 , wherein when the vehicle is parked, it is determined that the vehicle has arrived at the POI. The vehicle information storage method according to any one of claims 1 to 8 , wherein the POI existing at the position closest to the parked position of the vehicle and the approach position are associated with each other to obtain information on the POI approach position. It is a vehicle travel control method that controls the travel of a vehicle that can execute information processing using a processor and automatically drive based on the execution result.
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, it is determined that the vehicle has arrived at the POI.
The lane in which the vehicle traveled immediately before it was determined that the vehicle had arrived at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle travel control method for controlling the travel of the vehicle based on the information of the POI approach position in which the POI and the approach position are related. The traveling control method for a vehicle according to claim 10 , wherein the POI approach position is the destination of the vehicle. It is a vehicle travel control method that controls the travel of a vehicle that can execute information processing using a processor and automatically drive based on the execution result.
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, the lane in which the vehicle traveled immediately before arriving at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
The detection result of the sensor that detects the running state of the vehicle is acquired, and the detection result is obtained.
Based on the information of the POI approach position in which the POI and the approach position are related, the traveling of the vehicle is controlled.
The POI approach position information includes the position of the vehicle in the width direction of the target lane, the posture angle of the vehicle, the presence / absence of a temporary stop of the vehicle, the operation of the direction indicator of the vehicle, and the vehicle speed of the vehicle. A vehicle driving control method that includes at least one piece of information. The vehicle travel control method according to claim 12 , wherein when the vehicle cannot be temporarily stopped at the POI approach position, the driver of the vehicle is notified to drive the vehicle. A processor that executes information processing and
A storage device for storing the execution result of the processor is provided.
The processor
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, it is determined that the vehicle has arrived at the POI.
The lane in which the vehicle traveled immediately before it was determined that the vehicle had arrived at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle information storage device that stores information on a POI approach position in which the POI and the approach position are related in the storage device. A processor that executes information processing and
A storage device for storing the execution result of the processor is provided.
The processor
Acquire the detection result of the sensor that detects the position of the vehicle,
When the angle formed by the direction of the lane in which the vehicle travels and the traveling direction of the vehicle is within a predetermined angle range, the target lane is the target lane based on the map information including the POI and the position of the vehicle. Specified as
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle information storage device that stores information on a POI approach position in which the POI and the approach position are related in the storage device. A processor that executes information processing and
A storage device for storing the execution result of the processor is provided.
The processor
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, the lane in which the vehicle traveled immediately before arriving at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
The storage device stores information on the POI approach position in which the POI and the approach position are associated with each other.
The detection result of the sensor that detects the running state of the vehicle is acquired, and the detection result is obtained.
The POI approach position information includes the position of the vehicle in the width direction of the target lane, the posture angle of the vehicle, the presence / absence of a temporary stop of the vehicle, the operation of the direction indicator of the vehicle, and the vehicle speed of the vehicle. A vehicle information storage device that contains at least one piece of information. It is a vehicle travel control device that controls the travel of a vehicle that can be automatically driven based on the execution result of a processor that executes information processing.
The processor
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, it is determined that the vehicle has arrived at the POI.
The lane in which the vehicle traveled immediately before it was determined that the vehicle had arrived at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
A vehicle travel control device that controls the travel of the vehicle based on the information of the POI approach position in which the POI and the approach position are related. It is a vehicle travel control device that controls the travel of a vehicle that can be automatically driven based on the execution result of a processor that executes information processing.
The processor
Acquire the detection result of the sensor that detects the position of the vehicle,
Based on the map information including the POI and the position of the vehicle, the lane in which the vehicle traveled immediately before arriving at the POI was specified as the target lane.
The position on the target lane for the vehicle to enter the facility indicated by the POI from the target lane is calculated as an approach position.
The detection result of the sensor that detects the running state of the vehicle is acquired, and the detection result is obtained.
Based on the information of the POI approach position in which the POI and the approach position are related, the traveling of the vehicle is controlled.
The POI approach position information includes the position of the vehicle in the width direction of the target lane, the posture angle of the vehicle, the presence / absence of a temporary stop of the vehicle, the operation of the direction indicator of the vehicle, and the vehicle speed of the vehicle. A vehicle travel control device that contains at least one piece of information.

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